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Fort Pro Series User Manual

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Pro Series User Guide
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  • Page 1 Pro Series User Guide Pro Series User Guide 1.6.0 v1...
  • Page 2 All rights reserved. FORT Robotics is a trademark of FORT Robotics. Proprietary Information Notification: THE RIGHTS OF FORT ROBOTICS, INC. ARE INCLUDED IN THE INFORMATION DISCLOSED HEREIN. THIS DOCUMENT SHALL NOT BE REPRODUCED OR TRANSFERRED TO OTHER DOCUMENTS OR USED OR DISCLOSED TO OTHERS FOR ANY PURPOSE EXCEPT AS SPECIFICALLY AUTHORIZED IN WRITING BY FORT ROBOTICS, INC.

  • Page 3: About This Guide

    About this Guide PREFACE This document shows how to integrate the FORT Pro Series devices with your smart machines to enable secure transmission of wireless safety and control commands. It is intended for OEM developers who want to build safety solutions into their machines as well as integrators and end users of those machines.
  • Page 4 1.6.0 v1 Pro Series User Guide...

  • Page 5: Table Of Contents

    Wiring Inputs on EPC Sender..................Wiring Outputs on EPC Receivers................Selecting Automatic or Manual Reset for Relays ........... 3-10 Sample EPC-EPC Paired Configuration ............... 3-11 Mounting an EPC......................3-11 Selecting and Placing an Antenna ................3-12 Pro Series User Guide 1.6.0 v1...
  • Page 6 Tamper-proofing devices ................... Secure boot on devices ....................Secure device configuration..................Trusted communication ..................... Secure device update....................FORT Manager..................CHAPTER 7 Logging in for the First Time ..................Dashboard........................Personal Settings......................Devices ........................Configurations......................1.6.0 v1 Pro Series User Guide...
  • Page 7 Serial Communication between the two Safety Processors (SMCU)......Timeout Period for Safety Request Message ............Safety Processing ....................Safety Outputs ....................... Physical Outputs ....................Virtual Outputs ...................... User Selectable Safety Configurations................ Transferring Safety Configurations from Fort Manager to the EPC......Pro Series User Guide 1.6.0 v1...
  • Page 8 Proof Testing ......................Wireless Communication Loss................Updating EPC Firmware ..................... Updating SRC Pro Firmware ..................Calibrating Axis......................Troubleshooting ......................Revision History................... H-1 APPENDIX H October 2023 Release....................September 2023 Release ................... August 2023 Release....................viii 1.6.0 v1 Pro Series User Guide...
  • Page 9 July 2023, Release ...................... H-2 June 2023, Release..................... H-2 April 11, 2023, Release....................H-2 March 1, 2023, Release ....................H-3 Pre-releases........................ H-3 Warranty ...................... I-1 APPENDIX I Pro Series User Guide 1.6.0 v1...
  • Page 10 1.6.0 v1 Pro Series User Guide...

  • Page 11: List Of Tables

    EPC Connected Device Latency.................5-13 TABLE 5-20. SRC Pro System Status ..................... 5-14 TABLE 5-21. ISM Connection Status..................... 5-15 TABLE 5-22. TPDO4: (0x480 + Node ID) - EPC Heartbeat Message ..........5-15 TABLE 5-23. J1939 ........................5-15 Pro Series User Guide 1.6.0 v1...
  • Page 12 SRC Pro Failure Rates Good Maintenance Assumptions in FIT @SSI=2 ..... C-13 TABLE C-7. SRC Pro Failure Rates Good Maintenance Assumptions in FIT @SSI=2 EEC 61508 ..C-13 TABLE C-8. Table 50 Diagnostic Tests ..................C-15 TABLE E-1. Table 51 Recommended and Tested Relays ..............E-1 1.6.0 v1 Pro Series User Guide...

  • Page 13: List Of Figures

    PILZ 7751104 Relay Wiring Diagram ................. E-2 FIGURE E-4. IDEM SCR-3-1P-I Relay Wiring Diagram ..............E-3 OMRON G7SA-3A1B Relay Wiring Diagram .............. E-4 FIGURE E-5. FIGURE E-6. PANASONIC SFS3-L-DC12V-D Relay Wiring Diagram ..........E-5 Pro Series User Guide 1.6.0 v1 xiii...
  • Page 14 1.6.0 v1 Pro Series User Guide...

  • Page 15: Chapter 1 Introduction

    Introduction CHAPTER 1 This document shows how to integrate the FORT Pro Series devices with your smart machines to enable secure transmission of wireless safety and control commands. FORT helps protect people and organizations from injury, damage, and downtime with trusted control & communication for any machine. With built in functional safety and security, FORT’s Pro Series delivers machine control and communication you can trust.

  • Page 16: Key Features

    (1oo2) safety architecture. • Security is built in through tamper proofing device, secure boot, secure configuration, secure updates, and trusted communications. • Operates in temperatures from -40 °C to +85 °C. Pro Series User Guide 1.6.0 v1...

  • Page 17: Overview

    Additionally, a Safe Remote Control Pro provides the ability to remotely control and maneuver the EUC. There are various ways to configure the system, using FORT Manager, depending on your specific situation, but at a basic level, every configuration has: •...

  • Page 18: Getting Started

    Getting Started The following bullets outline the process for getting your Pro Series devices up and running. Although we show Plan as the first step, this manual assumes that you have already determined how many devices you need and have purchased them.

  • Page 19: Registering Devices

    Registering Devices Before you can use your FORT Pro series devices, you must register them in FORT Manager, which is available as a web-based application or APIs. If you’ve already registered your devices, skip this procedure and go to the next chapter to add the devices to a configuration.
  • Page 20 Introduction Pro Series User Guide 1.6.0 v1...

  • Page 21: Configurations And Use Cases

    EPC to EPC Configuration Configurations and Use Cases CHAPTER 2 After you register your FORT Pro Series devices, you can add them to a configuration in FORT Manager, which is available as a web-based application. A configuration allows you to: •...

  • Page 22: Building An Epc To Epc Configuration

    ENDER (Requires ConfigManager or Admin role.) https://app.fortrobotics.com Navigate to the FORT Manager Web App ( ) and enter your credentials when prompted. Click the Config Management tile at the top of the dashboard or Config Manager in the left navigation pane.
  • Page 23 MPORTANT with the default timeout setting, test with a higher value to see if that fixes the problem. • Voltage Level Select the voltage from the dropdown, either 12 Volts (default) or 24 Volts. Pro Series User Guide 1.6.0 v1...
  • Page 24 Click OK to save the configuration settings. If you enable a CAN mode, each EPC receiver requires a Node ID or address; FORT Manager provides a default value, but in Step 12you have the option to change the CAN ID.

  • Page 25: Src Pro To Epc Configuration

    Click Save and Assign to save the new configuration. FORT Manager displays a message after it successfully saves the configuration. You can view and make changes to this configuration at any time by selecting it in the Configuration Management tab.

  • Page 26: Machine Select

    If an operator pushes the E-Stop button, the Endpoint Controller enters the safe state. If the Safe Remote Control Pro stops communicating with the Endpoint Controller, resulting in a timeout, the Endpoint Controller enters the safe state. Pro Series User Guide 1.6.0 v1...
  • Page 27 EUC is using the circuit for power, when the contactors open, the machine shuts off. The following figure illustrates the wiring for machines that don’t require autonomous (unsupervised) mode. See “Input 3 Asserted on EPC Receiver” on page 2-9 for the wiring for machines that do require autonomous. Pro Series User Guide 1.6.0 v1...

  • Page 28: Figure 2-3. Machine Select Supervised Mode

    SRC Pro. Wiring an EPC for use with Machines With Autonomous Capability The following figure illustrates the wiring for machines with autonomous capability that require operation in autonomous mode. Pro Series User Guide 1.6.0 v1...

  • Page 29: Building An Src Pro To Epc Configuration

    EMOTE (Requires ConfigManager or Admin role.) https://app.fortrobotics.com Navigate to the FORT Manager Web App ( and enter your credentials when prompted. Click the Config Management tile at the top of the dashboard or Config Manager in the left navigation pane.
  • Page 30 A higher value, which makes the EPC less sensitive to communication loss, means that if an EPC loses communication with its sender, the EUC will run for a longer period before stopping automatically. On the 2-10 Pro Series User Guide 1.6.0 v1...
  • Page 31 You cannot adjust the bitrate through the CANopen NMT protocol but must do so here or with the CLI tool. If you enable a CAN mode, each EPC receiver requires a Node ID or address; FORT Manager provides a default value, but in Step 11 you have the option to change the CAN ID.

  • Page 32: Hybrid Configuration (Src Pro And Epc To Epc)

    Endpoint Controller that is connected to a vehicle and the Safe Remote Control Pro (using machine select) can connect to any one Endpoint Controller at a time for safety and control functions. SRC Pro and EPC Hybrid Configuration FIGURE 2-5. Note these points about this configuration: 2-12 Pro Series User Guide 1.6.0 v1...

  • Page 33: Building A Hybrid Configuration

    Add new. FORT Manager opens a wizard to step you through the process of adding an E-Stop device to this configuration. 1. Although we refer to this as a global E-Stop on the EPC, you could use a solid state device instead of an E-Stop switch. The effect is the same: triggering the solid state device turns off Output 3 on the connected device.
  • Page 34 A hybrid configuration was previously called a Global E-Stop configuration and the FORT Manager interface reflects this name. Subsequent versions of FORT Manager will not use this terminology and in this guide, we refer to a hybrid configuration or a configuration with both SRC Pro and EPC senders.

  • Page 35: Loading A Configuration Onto Your Devices

    Loading a Configuration onto Your Devices After you build a configuration, you need to load it onto your devices by using the FORT CLI (Command Line Interface) Tool in a Linux environment. We provide separate instructions for: •...

  • Page 36: Loading A Configuration Onto An Src Pro

    Manager. Return to the CLI tool where you are prompted to enter the device serial number: Type the serial number (found on the EPC device name place and also in FORT Manager on the Devices page) and press Enter. Press Enter to load the configuration to the device.
  • Page 37 Return to the CLI tool where you are prompted to enter the device serial number: Enter device serial number: Type the serial number (found on the SRC Pro device and also in FORT Manager on the Devices page) and press Enter.

  • Page 38: Connecting Epcs To A Network

    In a configuration with an Endpoint Controller as the sender, the devices communicate over an Ethernet or Wi-Fi network. In FORT Manager, you specify which one to use and identify the network attributes (gateway, netmask, name server, etc.) as well as the IP address for each device.

  • Page 39: Installation - Wire And Mount Endpoint Controller

    EPC Receivers” on page 3-8 EPC I/O Connector Pinout (TE 1-776228-1 FIGURE 3-1. The suggested mating connector to this port is a TE 770680-1 and the cable is the FORT #100-0256 ⚠ N Integration Cable. Pro Series User Guide 1.6.0 v1...

  • Page 40: Connecting Pins Together

    Wire colors apply to the FORT Part #100-0256 integration cable. c. Connect Pins 7 & 8 together at the same place. d. Connect Pins 14 & 15 together at the same power source. We highly recommend ordering and using the FORT supplied integration cable (#100-0256). ⚠ I MPORTANT Consult with customer support before using a custom cable.

  • Page 41: Shielding

    Ground unused wires at alternate ends to nearby ground pins. The following diagram shows examples of both correct and incorrect grounding: Examples of Correct and Incorrect Grounding FIGURE 3-2. Pro Series User Guide 1.6.0 v1...

  • Page 42: Engine Cranking

    In an SRC Pro to EPC configuration the built-in E-Stop button is pre-defined to control Output 3 so you must connect safety relays on the receiver Endpoint Controller(s) to Output 3. The following diagram illustrates these relationships. Pro Series User Guide 1.6.0 v1...

  • Page 43: Wiring Inputs On Epc Sender

    SIL 3 rating ideally requires a SIL 3 or PLe rated input device. Note that you can configure the safety PLC with pulse testing enabled on the outputs tied to the EPC, which is essentially the same as using an OSSD device. Pro Series User Guide 1.6.0 v1...

  • Page 44: Figure 3-4. Solid State Device Wired To Epc

    • You can use a PNP or P-Channel solid state safety sensor. The following figure shows a diagram of an E-Stop switch wired to one of the dual channel inputs on an Endpoint Controller sender. Pro Series User Guide 1.6.0 v1...

  • Page 45: Table 3-2. Requirements For Devices Connected To Epc Inputs

    24V DC, 3 mA. Other devices Evaluate whether devices to use are appropriate to satisfy the requirements of safety category levels. Keep the following points in mind when wiring inputs on an Endpoint Controller: Pro Series User Guide 1.6.0 v1...

  • Page 46: Wiring Outputs On Epc Receivers

    E-Stop to one input and a light curtain or some other SSD to the other. • You configure the inputs in FORT Manager when you build a configuration. Be certain that the actual wiring you do matches the values you specify in FORT Manager (E-Stop Type Device, Solid State Device, Not Used), otherwise the system will not perform properly.

  • Page 47: Figure 3-6. Output Diagram

    ⚠ W ARNING from working. See “I/O Connector Pinout and Cable” on page 3-1 for details of the EPC I/O connector and cable to use for connecting an Endpoint Controller receiver to the EUC. Pro Series User Guide 1.6.0 v1...

  • Page 48: Selecting Automatic Or Manual Reset For Relays

    Consult the documentation that comes with your relay devices for information about how to wire relays and configure them for manual or automatic reset. In addition, be aware of the following warning regarding relays: 3-10 Pro Series User Guide 1.6.0 v1...

  • Page 49: Sample Epc-Epc Paired Configuration

    AUTION exposed to any amount of water, you must mount the EPC vertically. Mounting the EPC horizontally allows water to pool and block airflow through a membrane, potentially causing the EPC to malfunction. Pro Series User Guide 1.6.0 v1 3-11...

  • Page 50: Selecting And Placing An Antenna

    Selecting and Placing an Antenna FORT offers a variety of antenna options for our senders and receivers. The antennas for the Safe Remote Control Pro are built into the device so you must select one prior to purchase. The antennas for senders and receivers are accessories and you can purchase them at any time.

  • Page 51: Table 3-5. Rules For Using Approved Antennas

    RSS-Gen Issue 5 EN 300 220 RED 2014/53/EU SRC Pro CFR title 47, part 15, subpart RSS-247, Issue 2 EN 301 489-1 & -3 C, section 15.247 RSS-Gen Issue 5 EN 300 220 RED 2014/53/EU Pro Series User Guide 1.6.0 v1 3-13...
  • Page 52 Installation — Wire and Mount Endpoint Controller 3-14 Pro Series User Guide 1.6.0 v1...

  • Page 53: Understanding And Using An Src Pro

    Remote Control Pro to an Endpoint Controller, and explains the modes in which it connects to an Endpoint Controller. SRC Pro Features The following figure highlights the Safe Remote Control Pro Features: SRC Pro Features FIGURE 4-1. Pro Series User Guide 1.6.0 v1...

  • Page 54: Modes

    • The remote detects lack of motion for the timeout period (user configurable in one minute increments from 2 - 10). Menu Mode Menu Mode allows you to change system settings on the Safe Remote Control Pro. Pro Series User Guide 1.6.0 v1...

  • Page 55: Connecting The Src Pro To An Epc

    On the SRC Pro LCD screen, use the arrow keys to navigate to the Machine tab. The screen shows a list of devices that you added to the configuration in FORT Manager. Use the arrow keys to highlight a machine and press 1 to select it.

  • Page 56: Connecting An Src Pro To A Different Epc

    At any time after connecting to an EPC in supervised mode you can change its mode to autonomous if the Figure 2-4, “Input 3 Asserted machine has autonomous capability and has been wired appropriately as described in on EPC Receiver,” on page 9 Pro Series User Guide 1.6.0 v1...
  • Page 57 Wait for the connection to be established and when confirmed, press 1 to close the window. After the mode change is successful, press the Menu button to close the prompt. Pro Series User Guide 1.6.0 v1...

  • Page 58: Viewing The Connection Status

    When the EPC installed on a machine is turned off, the relays will open and put the machine in a safe state, but the displayed mode associated with the machine will remain as before. Pro Series User Guide 1.6.0 v1...
  • Page 59 SRC Pro to connect to Machine-2. Later, Machine-1 moves out of range of the SRC Pro, or it is turned off, but since the SRC Pro doesn't have communication with that EPC, it continues to show the mode as AUTO. Pro Series User Guide 1.6.0 v1...
  • Page 60 Understanding and Using an SRC Pro Pro Series User Guide 1.6.0 v1...

  • Page 61: Can Application Support

    You can find a sample EDS (Electronic Data Sheet) file to download from the Customer Support Portal in the Controller article. The following table provides an overview of the different types of CANopen joystick data. Pro Series User Guide 1.6.0 v1...

  • Page 62: Joystick And Button Data Representation

    The following table lists the TPDO1 (0x180 + Node ID — default Node ID is 3) buttons. TPDO1 conveys the Boolean values of the Safe Remote Control Pro’s buttons. Each sub index is an 8-bit unsigned integer (UINT8) The following table shows the TPDO1 buttons. Pro Series User Guide 1.6.0 v1...

  • Page 63: Table 5-2. Tpdo1 Buttons

    Each value is a full range 16-bit signed integer (int16) that produces a zero-value when the trigger is at rest/centered. The axis shows a positive value when pulled up and a negative value when pushed down. Pro Series User Guide 1.6.0 v1...

  • Page 64: Canopen Limitations

    • The default device Node ID is 3. You cannot change the device address through the CANopen NMT functionality but must do so by using FORT Manager. Contact FORT support if you require a value other than the default and need more information.

  • Page 65: Address Claiming

    The EPC CAN supports the standard J1939 Address Claim functionality. The Endpoint Controller’s Manufacturer Code is 1262 (decimal). Left Joystick - J1939 Basic Joystick Message The following table shows the basic message fields for the left joystick. Pro Series User Guide 1.6.0 v1...

  • Page 66: Table 5-6. J1939 Left Joystick Basic Messages

    Left third 2 bits button been pressed. As per j1939 DA it is Joystick button 3 (left arrow) 2 bits Keypad Pause button has been pressed. As per j1939 DA it is Joystick button 2 Pro Series User Guide 1.6.0 v1...

  • Page 67: Left Joystick - J1939 Extended Joystick Message 1

    As per j1939 DA it is Joystick button 9 (button 3 on device) Left Joystick - J1939 Extended Joystick Message 1 The following table shows the J1939 extended message 1 for the left joystick. Pro Series User Guide 1.6.0 v1...

  • Page 68: Right Joystick - J1939 Basic Joystick Message 2

    The EPC supports receiving messages that can change settings on a connected SRCP. If an SRCP is not connected, though, any received commands are ignored. SRCP control messages are received on CANopen via RPDO1 and RPDO2 as shown in the following tables: Pro Series User Guide 1.6.0 v1...

  • Page 69: Src Pro Settings Message

    Byte Offset Size Description Value Setting Key SRC Pro Setting to Change Setting Value Value of the setting (little endian) Reserved for Future Use The following table shows the Safe Remote Control Pro setting keys. Pro Series User Guide 1.6.0 v1...

  • Page 70: Src Pro User Display Text String Message

    User Display Text Message Format TABLE 5-13. Byte Offset Size Description Value User Text Key Segment User Text String 6 ASCII Characters The following keys are currently defined by the system for user strings: 5-10 Pro Series User Guide 1.6.0 v1...

  • Page 71: Status Messages

    Proprietary Message All EPC status messages use the same CANopen TPDO or J1939 PGN format and are differentiated by an ID field within the message data itself, as shown in the following table: Pro Series User Guide 1.6.0 v1 5-11...

  • Page 72: Epc Output Status 1 Message

    Reserved for future use Reserved Reserved for future use EPC Connected Device Latency Message The rate (trigger) for this message is 1 second. This message requires EPC firmware 1.6.0 or later. ⚠ N 5-12 Pro Series User Guide 1.6.0 v1...

  • Page 73: Src Pro System Status Message

    The rate (trigger) for this message is normally 1 second unless no data is received from the SRC Pro for 5 seconds or more, in which case it is 10 seconds. This message requires EPC firmware 1.6.0 or later. ⚠ N Pro Series User Guide 1.6.0 v1 5-13...

  • Page 74: Ism Connection Status Message

    • Bits 6:0: Reserved ISM Connection Status Message The message rate (trigger) is 1 second but is enabled only when ISM is configured. This message requires EPC firmware 1.6.0 or later. ⚠ N 5-14 Pro Series User Guide 1.6.0 v1...

  • Page 75: Epc Heartbeat Message

    The following table shows the J1939 PGN for the EPC Heartbeat Message. J1939 TABLE 5-23. Description Direction Freq (Hex) 65280 0xFF00 EPC Heartbeat - J1939 Proprietary Message Transmit 5 Hz The following table shows the EPC heartbeat message format. Pro Series User Guide 1.6.0 v1 5-15...

  • Page 76: Table 5-24. Epc Heartbeat Message Format

    0011 - Not Applicable (EPC to EPC Pairing) Output 2 Mode Reserved for future use Output 3 Mode Reserved for future use 1. This message format has been replaced by “EPC Output Status 1 Message” for EPC 1.6.0 and later. 5-16 Pro Series User Guide 1.6.0 v1...

  • Page 77: Chapter 6 Security

    Technology (NIST) guidance for device security best practices. With security defined as the state of being free from danger or threat, FORT’s security mission is to ensure that every capability we deliver in any form — hardware, software, cloud, mobile, any data, or something else — works correctly and completely throughout its life cycle, without inspection or influence from malicious actors.

  • Page 78: Secure Device Configuration

    • Step 1 - A user creates or updates a configuration in FORT Manager. • Step 2 - FORT Manager uses FORT’s digital signing service to apply a digital signature to the configuration. • Step 3 - A user loads the configuration file to their FORT devices.
  • Page 79 Secure device update • Devices also have update rollback capabilities — in case of failure, the device rolls back to the last known good firmware. Pro Series User Guide 1.6.0 v1...
  • Page 80 Security Pro Series User Guide 1.6.0 v1...

  • Page 81: Chapter 7 Fort Manager

    FORT Manager is invite-only. If you don’t have an account, ask the person at your company who initially set up the FORT Manager account (your FORT Manager Admin) to create one for you. If you don’t know your company’s FORT Manager Admin, reach out to us at support@fortrobotics.com.

  • Page 82: Figure 7-1. Dashboard

    FIGURE 7-1. • Items in the left pane enable you to navigate to different pages in FORT Manager, as well as to open a new browser window to go directly to the FORT Robotics support website or to the API Portal.

  • Page 83: Personal Settings

    (Requires Device Manager or Admin role) Click Devices and click Add device in the upper right corner. Type the serial number for the device (found on the back plate of the device or emailed to you by FORT) and click Continue.

  • Page 84: Configurations

    (Requires Config Manager or Admin role to build a configuration) The Configurations page enables you to see, as well as build or manage (with appropriate permissions), configurations for your organization. With a configuration you build out all of the wired or wireless pairings between your Pro Series devices.

  • Page 85: Users

    • Operator — Read-only permissions across FORT Manager but can’t make changes. • Is not able to see the Users, Organization, or Firmware pages. • (Outside of FORT Manager) Is able to execute the CLI tool to load configurations to devices or to update the firmware on a device.

  • Page 86: Organization

    MFA requirement that an administrator has enabled. The first time a user logs into their account after an admin requires MFA, FORT Manager guides them through the process of setting up an authenticator app by scanning a QR code. Subsequently, users must provide the code from the authenticator app in addition to their password each time that they log in.
  • Page 87 EPC Technical Specifications APPENDIX A This appendix provides details of the Endpoint Controller hardware. Pro Series User Guide 1.6.0 v1...

  • Page 88: Epc Mechanical Drawing

    The following figure shows a mechanical drawing of the EPC 1001. Note that all models have the same dimensions. EPC-1001 Mechanical Drawing FIGURE A-1. The following table shows the recommended connectors for an Endpoint Controller device. 1.6.0 v1 Pro Series User Guide...

  • Page 89: Recommended And Absolute Maximum Ratings (Epc

    Dimensions 228 mm x 176 mm x 70 mm 6.85" x 8.99" x 2.40" Operating and Storage -40 °C 85 °C Temperature Safety Input Specifications The following table provides specifications for the safety inputs: Pro Series User Guide 1.6.0 v1...

  • Page 90: Safety Output Specifications

    Input state for logic OFF/LOW 0VDC 0 ~ 1VDC Less Than 8VDC Input Impedance a. This applies to 12 VDC and 24 VDC supplied EPC Equipment. Safety Output Specifications The following table provides specifications for the safety outputs: 1.6.0 v1 Pro Series User Guide...

  • Page 91: Wireless Radio Specifications (Epc

    TABLE A-5. Specification Minimum Typical Maximum Frequency 902 MHz 928 MHz Bandwidth 600 kHz Channels Receive Sensitivity -100 dBm Modulation 2-GFSK European ISM Radio (EPC) The following table provides specifications for the European ISM radio: Pro Series User Guide 1.6.0 v1...

  • Page 92: Bluetooth Low Energy (Ble) Radio (Epc

    Endpoint Controller’s dual safety outputs to prevent any motion of the equipment under control (EUC) when the Endpoint Controller receives an emergency stop from either the connected remote device or its wired emergency stop 1.6.0 v1 Pro Series User Guide...

  • Page 93: Table A-9. Can Bus Specifications

    500 mV Diff Input Resistance 30 k 80 k Single Input Resistance 15 k Driver output current -100 mA 100 mA during short-circuit conditions during short-circuit conditions Driver input current -4 mA 4 mA Pro Series User Guide 1.6.0 v1...
  • Page 94 1.6.0 v1 Pro Series User Guide...
  • Page 95 SRC Pro Technical Specifications APPENDIX B This appendix provides details of the Safe Remote Control Pro hardware. Pro Series User Guide 1.6.0 v1...

  • Page 96: Src Pro Mechanical Drawing

    The following drawing shows the dimensions of the Safe Remote Control Pro 1000. Models SRC Pro 1001 and 1002 have larger antennas coming out the top. SRC Pro Mechanical Drawing FIGURE B-1. Recommended and Absolute Maximum Ratings (SRC Pro) The following table lists the technical specifications for the Safe Remote Control Pro: 1.6.0 v1 Pro Series User Guide...

  • Page 97: Wireless Radio Specifications (Src Pro

    Prior to ordering and deployment, consult local regulations to ensure that you are installing the proper radio. North America ISM Radio (SRC Pro) The following table provides the specifications for North America ISM radio 902-928 MHz: Pro Series User Guide 1.6.0 v1...

  • Page 98: European Ism Radio (Src Pro

    The following table provides specifications for the BLE radio: BLE Radio Specifications TABLE B-4. Specification Minimum Typical Maximum BLE Version Baud Rate 1 Mbps Power (conducted RF output) 4 dBm Receive Sensitivity -99d dBm 1.6.0 v1 Pro Series User Guide...

  • Page 99: Appendix C Safety

    The only safety relevant function of an EPC or SRC pro is related to handling of the emergency stop (E-Stop) command. A given Endpoint Controller, based on how it is configured by the customer (using FORT Manager), can act as a sender that reads the safety input state and transfers each change in state (i.e., emergency stop requests) or it can act as a...

  • Page 100: Safety Behavior Of An Src Pro

    Although this document fulfills implied functional safety requirements in accordance with IEC 61508 ⚠ N and FORT Robotics engineering development processes, in the event of a conflict between the documents referenced and the contents of this guide, the current document applies.

  • Page 101: Figure C-1. 1Oo2 Safety Architecture

    SMCUs without modifying their content (Redundant with black channel requests). The following diagrams show the flow of safety data and commands, from one Endpoint Controller (EPC) to another Endpoint Controller, and from an SRC Pro to an EPC. Pro Series User Guide 1.6.0 v1...

  • Page 102: Safety Inputs

    The following external physical input devices are supported: • E-Stop (Emergency Stop) type switches that are internally redundant (the E-Stop switch has two mechanical switches built inside it). 1.6.0 v1 Pro Series User Guide...

  • Page 103: Virtual Inputs

    In summary: only assembling the safety message and processing the incoming safety request message is safety relevant. The rest of the communication chain is considered a black channel. Pro Series User Guide 1.6.0 v1...

  • Page 104: Serial Communication Between The Two Safety Processors (Smcu

    EPC must receive at least one valid safety message within 250 ms of receiving the last valid safety message or else it will turn off its outputs. The allowed timeout periods that can be chosen by the customer (using FORT Manager) are 250 ms, 500 ms, 750 ms and 1000 ms (1 sec).

  • Page 105: Safety Outputs

    1 cannot affect the output of input-output pair 2 and the user will not be allowed to create such a configuration. The output of each input-output pair must be configured by the user, using FORT Manager. SRC Pro Safety Outputs The SRC Pro is a transmitter device and therefore only supports one virtual output that indicates the state of the built- in emergency stop switch.

  • Page 106: Virtual Outputs

    The following information is applicable to an EPC only, not to an SRC Pro. A user must configure an Endpoint Controller with FORT Manager before the device can be used in a runtime “Configurations and Use Cases” on page 2-1 application.

  • Page 107: Transferring Safety Configurations From Fort Manager To The Epc

    Transferring Safety Configurations from Fort Manager to the EPC When a user configures an Endpoint Controller with FORT Manager, FORT Manager is not in direct communication with the Endpoint Controller that is being configured. Therefore, FORT Manager stores the configuration parameters “Loading a Configuration...

  • Page 108: Drop Restrictions (Epc

    The Safe Remote Controller Pro is designed and built to operate in extreme environmental conditions. As such, we’ve subjected it to rigorous mechanical and electrical tests. Humidity and Dust Restrictions (SRC Pro) The SRC Pro has no humidity restrictions (tested to MIL-STD-810H) or dust restrictions (IP6x verified). C-10 1.6.0 v1 Pro Series User Guide...

  • Page 109: Vibration Restrictions (Src Pro

    (FMEDA) tests performed by Exida corporation. The following two tables list the failure rates for the EPC using a site safety index (SSI) of 2 (good site maintenance practices). Pro Series User Guide 1.6.0 v1 C-11...

  • Page 110: Table C-3. Epc Failure Rates (Sender) Good Maintenance Assumptions In Fit @Ssi=2

    # = No Effect Failures The analysis shows that the EPC has a safe failure fraction (SFF) greater than 99% indicating that it meets hardware architectural constraints for up to SIL 3 as a single device. C-12 1.6.0 v1 Pro Series User Guide...

  • Page 111: Fmeda Summary (Src Pro

    However, not all online tests run every 10 ms and for those that do run every 10 ms, the software does some filtering on the faults to avoid the system entering a safe state Pro Series User Guide 1.6.0 v1 C-13...
  • Page 112 The following table provides a summary of the diagnostic tests that are performed on the inputs, outputs, and internal parts of the system, how frequently they are performed, whether there is filtering, and the criteria for declaring a fault (i.e., entering a safe state). C-14 1.6.0 v1 Pro Series User Guide...

  • Page 113: Table C-8. Table 50 Diagnostic Tests

    250 ms, 500 ms, 750 ms, or 1 sec as set by the user in FORT Manager). If a timeout is detected, the outputs are turned off until a valid safety message is received. Pro Series User Guide 1.6.0 v1 C-15...
  • Page 114 The tests are based on the requirements of the safety manual of the safety processors. If a test fails, the system resets. During the reset, the outputs are forced OFF by the hardware. C-16 1.6.0 v1 Pro Series User Guide...

  • Page 115: Downloading The Tool

    This chapter explains how to download and install the CLI Configuration tool and provides an overview of its functions. Downloading the Tool If you don’t have CLI tool or want to be certain you have the most current version, you can download it from FORT Manager by using the following procedure. CLI C...
  • Page 116 “Loading a Configuration onto an EPC” on page 2-15 • “Loading a Configuration onto an SRC Pro” on page 2-16 • “Updating EPC Firmware” on page G-4 • “Updating SRC Pro Firmware” on page G-5. 1.6.0 v1 Pro Series User Guide...

  • Page 117: Appendix E Recommended Relays

    Table 51 Recommended and Tested Relays TABLE E-1. Manufacturer Model Supply Voltage Allen-Bradley MSR127TP EATON ESR5-NV3-30 PILZ 751104 IDEM SCR-3-1P-i OMRON G7SA-3A1B PANASONIC SFS3-L-DC12V-D , MSR127TP LLEN RADLEY Allen-Bradley MSR127TP Relay Wiring Diagram FIGURE E-1. Pro Series User Guide 1.6.0 v1...

  • Page 118: Figure E-2. Eaton Esr5-Nv3-30 Relay Wiring Diagram

    EATON ESR5-NV3-30 Eaton ESR5-NV3-30 Relay Wiring Diagram FIGURE E-2. PILZ 751104 PILZ 7751104 Relay Wiring Diagram FIGURE E-3. 1.6.0 v1 Pro Series User Guide...

  • Page 119: Figure E-4. Idem Scr-3-1P-I Relay Wiring Diagram

    IDEM SCR-3-1P-I IDEM SCR-3-1P-I Relay Wiring Diagram FIGURE E-4. Pro Series User Guide 1.6.0 v1...

  • Page 120: Figure E-5. Omron G7Sa-3A1B Relay Wiring Diagram

    OMRON G7SA-3A1B OMRON G7SA-3A1B Relay Wiring Diagram FIGURE E-5. 1.6.0 v1 Pro Series User Guide...

  • Page 121: Figure E-6. Panasonic Sfs3-L-Dc12V-D Relay Wiring Diagram

    PANASONIC SFS3-L-DC12V-D PANASONIC SFS3-L-DC12V-D Relay Wiring Diagram FIGURE E-6. Pro Series User Guide 1.6.0 v1...
  • Page 122 1.6.0 v1 Pro Series User Guide...

  • Page 123: Appendix F Notifications And Certifications

    The declaration of conformity is available upon request. Certifications The Endpoint Controller is in the process of certification for functional safety by Exida corporation. Pro Series User Guide 1.6.0 v1...
  • Page 124 1.6.0 v1 Pro Series User Guide...

  • Page 125: Appendix G Product Maintenance

    If a device fails for any reason, do the following: • Discontinue use. • Reboot the device. https:// If rebooting does not resolve your issue, fill out a request on the customer support portal: support.fortrobotics.com/ to address the issue. Pro Series User Guide 1.6.0 v1...

  • Page 126: Proof Testing

    In the meantime, to keep your system functioning, you can use FORT Manager to replace the damaged device in your “Configurations and Use Cases” on page 2-1 network if you have another device available. See Proof Testing Before integrating an Endpoint Controller with your work environment — and at periodic intervals — you must perform some basic safety (proof) tests to detect dangerous hidden failures in the EPC’s safety system.

  • Page 127: Wireless Communication Loss

    Endpoint Controller opens the safety relays to initiate the E-Stop command. While performing safety tests on your Pro Series devices, verify that communication loss isn’t affecting the performance of your equipment or causing unsafe operation. You can experiment with different values for the timeout while testing —...

  • Page 128: Updating Epc Firmware

    FORT Customer Support notifies all customers through email regarding relevant firmware updates. The email includes an attachment with the firmware upgrade file, which is also available for download in FORT Manager. If you are not Support Portal sure whether your firmware is up to date, or if you are eligible for updates, fill out a request on the get help.

  • Page 129: Updating Src Pro Firmware

    Use the arrow keys to navigate to Version Info and press Enter. Updating SRC Pro Firmware All Safe Remote Control Pros come with the latest firmware preinstalled at the time of shipment. FORT releases periodic updates to the Safe Remote Control Pro firmware for performance, safety, and security reasons.
  • Page 130 FORT Customer Support notifies all customers through email regarding relevant firmware updates. The email includes an attachment with the firmware upgrade file. The file is also available for download in FORT Manager as described in the following procedure. If you are not sure whether your firmware is up to date, or if you are eligible for updates, fill...

  • Page 131: Calibrating Axis

    2 at any point to exit the menu without applying the new calibration settings. Let go of all fingersticks and thumbsticks when complete and press 1 to select the Finish option and accept the new calibration settings. Press 1 or 2 to close. Pro Series User Guide 1.6.0 v1...

  • Page 132: Troubleshooting

    If a device is not functioning properly, for any reason, we recommend discontinuing use and rebooting it to see if that https:// corrects the problem. If it doesn’t, fill out a request on the customer support portal: support.fortrobotics.com/ to address the issue. 1.6.0 v1 Pro Series User Guide...
  • Page 133 Troubleshooting Pro Series User Guide 1.6.0 v1...
  • Page 134 G-10 1.6.0 v1 Pro Series User Guide...

  • Page 135: Appendix H Revision History

    The 1.6.0 release includes the following major changes: • The “FORT Manager” chapter has been updated with information about FORT Manager 2.0, the current version. • The “CAN Application Support” chapter has been updated with new messages for EPC 1.6.0.

  • Page 136: July 2023, Release

    “Product Maintenance” on page G-1 • Rewrote the section “I/O Connector Pinout and Cable” on page 3-1 to be clear that the information in the table is about the connector signals, not about the cable. 1.6.0 v1 Pro Series User Guide...

  • Page 137: March 1, 2023, Release

    March 1, 2023, Release • Rewrote instructions for using the CLI tool to update firmware, including information on using FORT Manager to “FORT CLI Configuration Tool” download the tool and the firmware. Added the appendix: that describes how to download and install the CLI tool.
  • Page 138 1.6.0 v1 Pro Series User Guide...

  • Page 139: Appendix I Warranty

    We provide non-safety critical firmware updates to customers whose device has an active Guardian allows you to get firmware and software updates, extended support, and warranty coverage beyond the limited one-year hardware warranty term. Pro Series User Guide 1.6.0 v1...
  • Page 140 1.6.0 v1 Pro Series User Guide...

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