ADLINK Technology ROScube-I Series User manual

Leading EDGE COMPUTING
ROScube-I Series
Embedded Real-Time Robotic Controller with
Intel® Xeon®/Core™ Processor
RQI-58/57/55/53, RQI-58-E/57-E/55-E/53-E
User’s Manual
Manual Rev.: 1.2
Revision Date: December 18, 2020
Part No: 50-1Z314-1020

ii Revision History
Leading EDGE COMPUTING
Revision History
Revision Release Date Description of Change(s)
1.0 2020-07-15 Initial release
1.1 2020-09-04
Updated section 4 and Appendix D; Updated
Important Safety Information and warning and
caution notes in Appendix B
1.2 2020-12-18
Updated CANbus module info, AC/DC adapter
P/N, airflow info, power source requirements;
added wall mounting note; updated WDT info,
paths in Appendix D: I/O Operation

Preface iii
ROScube-I Series
Preface
Copyright © 2020 ADLINK Technology Inc.
This document contains proprietary information protected by copy-
right. All rights are reserved. No part of this manual may be repro-
duced by any mechanical, electronic, or other means in any form
without prior written permission of the manufacturer.
Disclaimer
The information in this document is subject to change without prior
notice in order to improve reliability, design, and function and does
not represent a commitment on the part of the manufacturer.
In no event will the manufacturer be liable for direct, indirect, spe-
cial, incidental, or consequential damages arising out of the use or
inability to use the product or documentation, even if advised of
the possibility of such damages.
Environmental Responsibility
ADLINK is committed to fulfill its social responsi-
bility to global environmental preservation
through compliance with the European Union's
Restriction of Hazardous Substances (RoHS)
directive and Waste Electrical and Electronic
Equipment (WEEE) directive. Environmental pro-
tection is a top priority for ADLINK. We have
enforced measures to ensure that our products,
manufacturing processes, components, and raw
materials have as little impact on the environment as possible.
When products are at their end of life, our customers are encour-
aged to dispose of them in accordance with the product disposal
and/or recovery programs prescribed by their nation or company.
Battery Labels (for products with battery)
ᘄ㟁ụㄳᅇᨲ

iv Preface
Leading EDGE COMPUTING
California Proposition 65 Warning
WARNING: This product can expose you to chemicals
including acrylamide, arsenic, benzene, cadmium,
Tris(1,3-dichloro-2-propyl) phosphate (TDCPP), 1,4-
Dioxane, formaldehyde, lead, DEHP, styrene, DINP, BBP, PVC,
and vinyl materials, which are known to the State of California to
cause cancer, and acrylamide, benzene, cadmium, lead, mercury,
phthalates, toluene, DEHP, DIDP, DnHP, DBP, BBP, PVC, and
vinyl materials, which are known to the State of California to cause
birth defects or other reproductive harm. For more information go
to www.P65Warnings.ca.gov.
Trademarks
Product names mentioned herein are used for identification pur-
poses only and may be trademarks and/or registered trademarks
of their respective companies.
Conventions
Take note of the following conventions used throughout this
manual to make sure that users perform certain tasks and
instructions properly.
NOTE:
NOTE:
Additional information, aids, and tips that help users perform
tasks.
CAUTION:
Information to prevent minor physical injury, component dam-
age, data loss, and/or program corruption when trying to com-
plete a task.
ATTENTION: Informations destinées à prévenir les blessures
corporelles mineures, les dommages aux composants, la perte
de données et/ou la corruption de programme lors de l'exécu-
tion d'une tâche.
WARNING:
Information to prevent serious physical injury, component
damage, data loss, and/or program corruption when trying to
complete a specific task.
AVERTISSEMENT: Informations destinées à prévenir les bles-
sures corporelles graves, les dommages aux composants, la
perte de données et/ou la corruption de programme lors de
l'exécution d'une tâche spécifique.

Table of Contents v
ROScube-I Series
Table of Contents
Revision History...................................................................... ii
Preface.................................................................................... iii
List of Tables......................................................................... vii
List of Figures........................................................................ ix
1 Introduction ........................................................................ 1
1.1 Overview.............................................................................. 1
1.2 Features............................................................................... 1
1.3 Packing List ......................................................................... 1
1.4 Optional Accessories ........................................................... 2
2 Specifications..................................................................... 3
2.1 RQI-58(-E), RQI-57(-E)........................................................ 3
2.2 RQI-55(-E), RQI-53(-E)........................................................ 6
2.3 ROScube-I Series Functional Block Diagram...................... 9
2.4 Display Options.................................................................. 10
2.5 Mechanical Dimensions..................................................... 11
3 System Layout.................................................................. 15
3.1 Front Panel ........................................................................ 15
3.2 Internal I/O Connectors...................................................... 27
4 Getting Started ................................................................. 33
4.1 Attaching the DC Power Connector................................... 33
4.2 Mounting the ROScube-I Series ........................................ 34
A Appendix: Power...............................................................37
A.1 Power Consumption Reference......................................... 37

vi Table of Contents
Leading EDGE COMPUTING
B Appendix: BIOS Setup.......................................................39
B.1 Main ................................................................................... 40
B.2 Advanced ........................................................................... 41
B.3 Chipset............................................................................... 56
B.4 Security.............................................................................. 65
B.5 Boot ................................................................................... 67
B.6 Save & Exit ........................................................................ 69
C Appendix: Watchdog Timer..............................................71
C.1 WDT with Linux.................................................................. 71
D Appendix: I/O Operation....................................................73
D.1 DI/O ................................................................................... 73
D.2 I2C ..................................................................................... 75
D.3 LEDs .................................................................................. 77
D.4 Serial Ports ........................................................................ 78
Important Safety Instructions............................................... 79
Consignes de Sécurité Importante...................................... 81
Getting Service...................................................................... 85

List of Tables vii
ROScube-I Series
List of Tables
Table 2-1: Maximum Display Resolution Configurations ........... 10
Table 3-1: Front Panel I/O Legend ............................................ 15
Table 3-2: Front Panel I/O - Expansion Box Legend ................. 16
Table 3-3: DisplayPort Pin Definition ......................................... 18
Table 3-4: Applicable Cable Types............................................ 18
Table 3-5: Multi-I/O DB-50 Connector Pin Definition ................. 19
Table 3-6: CANbus Module Support Table................................ 21
Table 3-7: DI/DIO Parameter Table........................................... 21
Table 3-8: HDMI Connector Pin Definition................................. 22
Table 3-9: Ethernet Port Pin Definition ..................................... 24
Table 3-10: Active/Link LED Indicators........................................ 24
Table 3-11: Speed LED Indicators............................................... 24
Table 3-12: DC Power Input Pin Definition .................................. 25
Table 3-13: COM Port D-Sub 9-pin Signal Functions.................. 26
Table 3-14: Mainboard Connector Legend .................................. 28
Table 3-15: Function Module Connector Legend ........................ 29
Table 3-16: GPS Module Power Header Pin Definition ............... 30
Table 3-17: Power/Reset Header Pin Definition .......................... 31
Table 3-18: CANbus Wafer Connector Pin Definition.................. 31
Table A-1: Power Consumption ................................................. 37

viii List of Tables
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List of Figures ix
ROScube-I Series
List of Figures
Figure 2-1: ROScube-I Series Functional Block Diagram.................. 9
Figure 2-2: ROScube-I Series Top View.......................................... 11
Figure 2-3: ROScube-I Series Side View......................................... 12
Figure 2-4: ROScube-I Series Front View........................................ 13
Figure 3-1: Front Panel I/O .............................................................. 15
Figure 3-2: Front Panel I/O - Expansion Box ................................... 16
Figure 3-3: Digital Input Circuit......................................................... 20
Figure 3-4: Digital Output Circuit...................................................... 20
Figure 3-5: Ethernet Port and LEDs................................................. 24
Figure 3-6: DC Power Input ............................................................. 25
Figure 3-7: COM Port Pin Definition................................................. 26
Figure 3-8: Board Layout ................................................................. 27
Figure 3-9: Mainboard Connectors .................................................. 28
Figure 3-10: Function Module Connectors......................................... 29
Figure 3-11: GPS Module Power Header Pin Definition .................... 30
Figure 3-12: Clear CMOS Jumper Setting ......................................... 30
Figure 3-13: PWR/RESET Header Pin Definition .............................. 31

xListofFigures
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Introduction 1
ROScube-I Series
1 Introduction
1.1 Overview
The ADLINK ROScube-I Series Embedded Real-Time Robotic
Controller is powered by the Intel®Xeon®/Core™ processor, and
features exceptional I/O connectivity enabling a wide variety of
sensors and actuators for unlimited robotic applications. Also sup-
ported are Intel®VPU and NVIDIA GPU cards for computation of
AI algorithms and inference calculations. ROScube-I is a perfect
platform for development of industrial use service robotic applica-
tions such as autonomous mobile robots (AMR) and autonomous
mobile industrial robots (AMIR).
1.2 Features
Xx86-64 mainstream architecture for ROS 2 development
XComprehensive I/O for connecting a wide range of devices
XRuggedized, secure connectivity with locking USB ports
XExternal PCIe Gen3 expansion with ruggedized cassette
(“E” expansion box models only)
XIntegrated hard and soft real-time mechanism
1.3 Packing List
Before unpacking, check the shipping carton for any damage. If
the shipping carton and/or contents are damaged, inform your
dealer immediately. Retain the shipping carton and packing mate-
rials for inspection. Obtain authorization from your dealer before
returning any product to ADLINK. Ensure that the following items
are included in the package.
XROScube-I Series Fanless Embedded Computer
XAccessory Box
ZDC power terminal block
ZWall-mount brackets
ZScrew pack
ZCANbus cable x2 (one for PEAK, one for FARO-FP900)

2Introduction
Leading EDGE COMPUTING
1.4 Optional Accessories
XAC/DC Adapter
Z160W (P/N: 31-62120-0010)
Z220W (P/N: 31-62149-0000)
Z280W (P/N: 31-62162-1010-A0, for “E” expansion box
models)
XWi-Fi Module: Intel® Wireless-AC9260 M.2 2230, Dual-
Band 2x2 Wi-Fi + Bluetooth 5 kit (P/N: TBD)
XCANbus Module: Dual channel: FARO-FP900
(P/N: 92-97142-0020)
XDDR4 SO-DIMM Memory
Z8 GB DDR4 2400 MHz Dual Channel non-ECC memory
(P/N: 29-6B800-L430)
Z16 GB DDR4 2400 MHz Dual Channel non-ECC memory
(P/N: 29-6BC00-L430)

Specifications 3
ROScube-I Series
2 Specifications
2.1 RQI-58(-E), RQI-57(-E)
RQI-58(-E) RQI-57(-E)
System Core
Processor Intel® Xeon® E-2276ME 45W Intel® Core™ i7-9850HE 45W
Cores 6 6
Base Freq. 2.8 GHz 2.7 GHz
MAX Turbo
Freq. 4.5 GHz 4.4 GHz
Chipset Mobile Intel® CM246
Memory 32GB DDR4 2400MHz installed, dual SODIMMs
I/O Interface
Display 2x DP++ and 1x HDMI
Ethernet 4x Intel® GbE: 3x i211AT + 1x i219 iAMT support
Serial Ports COM1/2: RS-232/422/485
USB
2x USB 3.1 Gen1 Type A with lockable connectors
4x USB 3.1 Gen 1 Type A
4x USB 2.0 Type A
Multi-I/Os on
DB 50
connector
(supports
real time OS)
• Two channels I2C
• 8x Digital Input: VIH: 2 to 5.25V; VIL: 0 to 0.8V
• 8x Digital Output: VOH: 2.4 to 5V; VOL: 0 to 0.5V; current:
24mA/per channel
Optional (if modules installed on system):
• Dual Channel: FARO-FP900, PEAK IPEH-003049*
• Single Channel: PEAK IPEH-003048*
*Note: Modules support real time OS
Mini PCIe 2x full size (one for CANbus, one for Wi-Fi or LTE)
M.2 1x Socket 1, Key A and A+E key, 2230 for Wi-Fi
USIM 1 for Mini PCIe
TPM 2.0 Supported
LED
Indicators
• Watchdog Timer
• Drive Activity
• Diagnostic
• 5x User Defined

4 Specifications
Leading EDGE COMPUTING
Storage
M.2 B Key or
B+M Key 256GB mSATA SSD
PCIe Expansion (“E” models w/ expansion box only)
PCIe Slots 1x PCIe x16 Gen3
1x PCIe x4 Gen3
Physical
Dimensions
Standard: 210 (W) x 240 (D) x 86 (H) mm (8.27" x 9.45" x 3.39")
“E” models w/ expansion box: 210 (W) x 240 (D) x 165(H) mm
(8.27” x 9.45” x 6.5”)
Weight Standard: 3.6 kg (8 lbs)
“E” models w/ expansion box: 4.6 kg (10.1 lbs)
Mounting Wall mount
Power
DC Input 9 to 32V (± 10% tolerance)
AC Input
Optional: 160W, 220W or 280W AC/DC power adapter
(see “Optional Accessories” on page 2, 280W for “E” expansion
box models)
Power
Switch 1x power ON/OFF button
System
Reset Hardware reset button
Ext. Power
Header 1x extended power on/off button for robot system
Environmental
Operating
Temperature
(w/ ind. storage, 0.6m/s airflow)
-20°C to 70°C (-4°F to 158°F) (single SODIMM only)
-20°C to 60°C (-4°F to 140°F) (w/ dual SODIMMs)
Storage
Temperature -40°C to 85°C (-40°F to 185°F) (excluding storage)
Humidity approx. 95% @ 40°C (104°F) (non-condensing)
Vibration IEC 60068-2-6: 1G, 5-500Hz, 3 axes
IEC 60068-2-64: Operating 5Grms, 5-500 Hz, 3 axes w/ M.2 SSD
Shock MIL-STD-202G Method 213B,Table 213-I Condition A
Operating: 100G, half sine 11ms duration w/ M.2 SSD
RQI-58(-E) RQI-57(-E)

Specifications 5
ROScube-I Series
Environmental (cont’d)
EMS
IEC 61000-4-2 (ESD, contact: ±8kV, air: ±15kV)
IEC 61000-4-3 (RS, 10V/m from 80-1000MHz, 3V/m from 1400-
2000MHz, 1V/m from 2000-2700MHz, 1kHZ sine wave, 80% AM)
IEC 61000-4-4 (EFT, ±2kV at 5KHz on power port, ±1kV at 5KHz
on signal port)
IEC 61000-4-5 (Surge, ±2kV line to earth CM on power port,
±1kV line to earth CM on signal port)
IEC 61000-4-6 (CS, 10Vrms with 1kHz sine wave, 80% AM from
0.15MHz-80MHz)
IEC 61000-4-8 (power-frequency magnetic fields)
IEC 61000-4-11 (voltage DIPs & voltage interruptions)
EMI CE & FCC Class B with validated AC/DC adapter
(EN61000-6-4/-2)
Safety UL/cUL, CB
RQI-58(-E) RQI-57(-E)

6 Specifications
Leading EDGE COMPUTING
2.2 RQI-55(-E), RQI-53(-E)
RQI-55(-E) RQI-53(-E)
System Core
Processor Intel® Core™ i5-8400H 45W Intel® Core™ i3-9100HL 25W
Cores 4 4
Base Freq. 2.5 GHz 1.6 GHz
MAX Turbo
Freq. 4.2 GHz 2.9 GHz
Chipset Mobile Intel® CM246
Memory 16GB DDR4 2400MHz installed,
single SODIMM (max 32GB)
8GB DDR4 2400MHz installed,
single SODIMM (max 32GB)
I/O Interface
Display 2x DP++ and 1x HDMI
Ethernet 4x Intel® GbE: 3x i211AT + 1x i219 iAMT support
Serial Ports COM1/2: RS-232/422/485
USB
2x USB 3.1 Gen1 Type A with lockable connectors
4x USB 3.1 Gen 1 Type A
4x USB 2.0 Type A
Multi-I/Os on
DB 50
connector
(supports
real time OS)
• Two channels I2C
• 8x Digital Input: VIH: 2 to 5.25V; VIL: 0 to 0.8V
• 8x Digital Output: VOH: 2.4 to 5V; VOL: 0 to 0.5V; current:
24mA/per channel
Optional (if modules installed on system):
• Dual Channel: FARO-FP900, PEAK IPEH-003049*
• Single Channel: PEAK IPEH-003048*
*Note: Modules support real time OS
Mini PCIe 2x full size (one for CANbus, one for Wi-Fi or LTE)
M.2 1x Socket 1, Key A and A+E key, 2230 for Wi-Fi
USIM 1 for Mini PCIe
TPM 2.0 Supported
LED
Indicators
• Watchdog Timer
• Drive Activity
• Diagnostic
• 5x User Defined

Specifications 7
ROScube-I Series
Storage
M.2 B Key or
B+M Key 128GB mSATA SSD 64GB mSATA SSD
PCIe Expansion (“E” models w/ expansion box only)
PCIe Slots 1x PCIe x16 Gen3
1x PCIe x4 Gen3
Physical
Dimensions
Standard: 210 (W) x 240 (D) x 86 (H) mm (8.27" x 9.45" x 3.39")
“E” models w/ expansion box: 210 (W) x 240 (D) x 165(H) mm
(8.27” x 9.45” x 6.5”)
Weight Standard: 3.6 kg (8 lbs)
“E” models w/ expansion box: 4.6 kg (10.1 lbs)
Mounting Wall mount
Power
DC Input 9 to 32V (± 10% tolerance)
AC Input
Optional: 160W, 220W or 280W AC/DC power adapter
(see “Optional Accessories” on page 2, 280W for “E” expansion
box models)
Power
Switch 1x power ON/OFF button
System
Reset Hardware reset button
Ext. Power
Header 1x extended power on/off button for robot system
Environmental
Operating
Temperature
(w/ ind. storage, 0.6m/s airflow)
-20°C to 70°C (-4°F to 158°F) (single SODIMM only)
-20°C to 60°C (-4°F to 140°F) (w/ dual SODIMMs)
Storage
Temperature -40°C to 85°C (-40°F to 185°F) (excluding storage)
Humidity approx. 95% @ 40°C (104°F) (non-condensing)
Vibration IEC 60068-2-6: 1G, 5-500Hz, 3 axes
IEC 60068-2-64: Operating 5Grms, 5-500 Hz, 3 axes w/ M.2 SSD
Shock MIL-STD-202G Method 213B,Table 213-I Condition A
Operating: 100G, half sine 11ms duration w/ M.2 SSD
RQI-55(-E) RQI-53(-E)

8 Specifications
Leading EDGE COMPUTING
Environmental (cont’d)
EMS
IEC 61000-4-2 (ESD, contact: ±8kV, air: ±15kV)
IEC 61000-4-3 (RS, 10V/m from 80-1000MHz, 3V/m from 1400-
2000MHz, 1V/m from 2000-2700MHz, 1kHZ sine wave, 80% AM)
IEC 61000-4-4 (EFT, ±2kV at 5KHz on power port, ±1kV at 5KHz
on signal port)
IEC 61000-4-5 (Surge, ±2kV line to earth CM on power port,
±1kV line to earth CM on signal port)
IEC 61000-4-6 (CS, 10Vrms with 1kHz sine wave, 80% AM from
0.15MHz-80MHz)
IEC 61000-4-8 (power-frequency magnetic fields)
IEC 61000-4-11 (voltage DIPs & voltage interruptions)
EMI CE & FCC Class B with validated AC/DC adapter
(EN61000-6-4/-2)
Safety UL/cUL, CB
RQI-55(-E) RQI-53(-E)

Specifications 9
ROScube-I Series
2.3 ROScube-I Series Functional Block Diagram
Figure 2-1: ROScube-I Series Functional Block Diagram
PCIe x1
Intel®
PCH CM246
Intel®
Coffee Lake-H
Processor
DDR4 SO-DIMM
CH0
CH1 DDR4 SO-DIMM
HDMI DP to HDMI
LS PTN3360 DDI3
I211
RJ45 PCIe
I219
RJ45 PCIe
AFM
CONN
AFM Board
PCIe
PCIe I211
I211
RJ45
RJ45
LPC COM IC
NCT5104D COM2 232
COM1 232/485
Type-A 2.5A
USB 3.1
Type-A 1.8A Lockable
USB 3.1
Type-A 1.8A Lockable
USB 3.1
Type-A 2.5A
USB 3.1
Type-A 1A
USB 3.1
Type-A 1A
USB 3.1
Type-A 1A x4
USB 2.0
Wafer
I2C1 Wafer
I2C0
Mini PCIe
USB 2.0
Mini PCIe PCIe USB 2.0
M.2
PCIe x1
M.2 PCIe
USB 3.1
TPM 2.0 LPC
BP
CONN
PEG PCIe x16
PCIe x4
PEG PCIe x16 75W
PCH PCIe x4 25W
Dual DP
DDI1
DDI2
USB 2.0
Wafer
8DO
8DI Connector
Extension box
models ony

10 Specifications
Leading EDGE COMPUTING
2.4 Display Options
With computing and graphic performance enhancement from its
8th and 9th Generation Intel® processors, the ROScube-I Series
controller can support three independent displays in the following
configurations.
Table 2-1: Maximum Display Resolution Configurations
Port Resolution
Display Option 1 DisplayPort1 4096x2304@60Hz
Display Option 2 DisplayPort2 4096x2304@60Hz
Display Option 3 HDMI 1.4 (Native) 4096x2160@30Hz