ez-wheel SWD Starter Kit User manual

SWD® Starter Kit
For AGV & AMR
Instruction manual
V2 - 20/07/2022

INSTRUCTION MANUAL
SWD® Starter Kit
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Table of Contents
1. Preamble ........................................................................................................................................................ 4
1.1. Who is this manual for?......................................................................................................................... 4
1.2. Terminology........................................................................................................................................... 4
1.3. Additional resources.............................................................................................................................. 4
1.4. Declarations of conformity.................................................................................................................... 5
1.5. Important information about the manual............................................................................................. 5
1.6. Disclaimer .............................................................................................................................................. 5
2. Safety Instructions –SWD® Starter Kit Precautions ....................................................................................... 6
3. Description ..................................................................................................................................................... 7
3.1. A toolkit for robot developers ............................................................................................................... 7
3.2. Integrated Safety ................................................................................................................................... 8
3.3. Specificities of the SWD® Starter Kit...................................................................................................... 9
3.4. Safety features....................................................................................................................................... 9
3.5. Conditions of Use................................................................................................................................... 9
3.6. Weight ................................................................................................................................................... 9
3.7. Product Label....................................................................................................................................... 10
3.8. Applications ......................................................................................................................................... 10
4. Synoptic........................................................................................................................................................ 11
5. Interfaces...................................................................................................................................................... 13
5.1. Overview.............................................................................................................................................. 13
5.2. SWD® Core connectorsd...................................................................................................................... 13
I/O connector ............................................................................................................................................... 14
24 VDC connector......................................................................................................................................... 14
5.3. Safety laser scanner connectors.......................................................................................................... 14
Power+OSSD connector ............................................................................................................................... 15
Ethernet connector ...................................................................................................................................... 15
5.4. iMX6 connectors.................................................................................................................................. 15
Power connector .......................................................................................................................................... 15
CAN connector ............................................................................................................................................. 16
Ethernet connector ...................................................................................................................................... 16
5.5. Battery connectors .............................................................................................................................. 16
Power connector .......................................................................................................................................... 16
Charger connector........................................................................................................................................ 17
5.6. SWD® safety hub connectors............................................................................................................... 17
Emergency stop connector........................................................................................................................... 17
Switch ON and Batt ON connectors ............................................................................................................. 17

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6. Mechanical assembly ................................................................................................................................... 18
6.1. Dimensions of the packaging and contents of the pack...................................................................... 18
6.2. Overall dimensions .............................................................................................................................. 19
6.3. Mechanical specifications.................................................................................................................... 20
7. Safety features ............................................................................................................................................. 21
7.1. Overview of safety features ................................................................................................................ 21
Safety features available from the SWD® Core safety drives....................................................................... 21
7.2. Use of safety features in the SWD® Starter Kit.................................................................................... 22
7.3. Safety fields configuration................................................................................................................... 23
7.4. Safety loops configuration................................................................................................................... 24
8. Starting the SWD® Starter Kit ....................................................................................................................... 25
8.1. Power on.............................................................................................................................................. 25
8.2. Display and status................................................................................................................................ 25
8.3. Connection to Control Page................................................................................................................. 25
8.4. Safety features monitoring.................................................................................................................. 26
8.5. Hand control for teleoperation ........................................................................................................... 27
Appendices....................................................................................................................................................... 28
1. Quick start .................................................................................................................................................... 28
Power on........................................................................................................................................................... 29
Display and status............................................................................................................................................. 29
Connection to the web Control Page hosted on the embedded PC................................................................. 29
Safety features monitoring............................................................................................................................... 30
Hand control for teleoperation (for demonstration)........................................................................................ 30
Table of figures
Figure 1 –Safety and Control synoptic of the product ......................................................................................... 11
Figure 2 –Power Supply synoptic of the product ................................................................................................. 12
Figure 3 –Overview of interfaces ......................................................................................................................... 13
Figure 4 - Overall dimensions, top view................................................................................................................ 19
Figure 5 - Overall dimensions, front view ............................................................................................................. 19
Figure 6 - Use of Safety Features .......................................................................................................................... 22
Figure 7 - Safety fields of the safety laser scanner................................................................................................ 23
Figure 8 - Configuration of safety loops in SWD® Core......................................................................................... 24

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This document should be read carefully before the first use of the product.
1. Preamble
1.1. Who is this manual for?
This manual is intended for skilled robotics integrators.
The SWD® Starter Kit saves a lot of development time, but needs some core competencies in:
•Automation, functional safety, and robotics
•Embedded Linux, Python and C++
•ROS development environment
1.2. Terminology
The terms used in this manual are related to the technical field of industrial machinery and more particularly to
driverless industrial trucks and drive systems controlled by fieldbus.
For a precise reading of the manual, a good knowledge of the following standards is recommended:
-Machinery Directive (2006/42/EC)
-Safety requirements for driverless industrial trucks and their systems (ISO 3691-4)
-Variable speed power electric drives (EN 61800-5)
-CANopen Application Profile for Motor Drives (CiA 402)
Dictionary of acronyms:
AGV:
AGC:
AMR:
CAN:
LiDAR:
OSSD:
SBC:
SDI[p/n]:
SLAM:
SLS:
SRDO:
STO:
Automatic Guided Vehicle
Automatic Guided Cart
Autonomous Mobile Robot
Controller Area Network
Light Detection And Ranging
Output Signal Switching Device
Safe Brake Control
Safe Direction Indication [positive/negative]
Simultaneous Localization And Mapping
Safety Limited Speed
Safety-Relevant Data Objects
Safe Torque Off
1.3. Additional resources
The SWD® Starter Kit uses SWD® Core safety drives, the following SWD® Core documents are available from
ez-Wheel:
-SWD® Core datasheet
-SWD® Full Range Brochure Safety Wheel Drive Series Overview
-2D and 3D mechanical plans of the SWD® Core

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1.4. Declarations of conformity
The SWD® Core product is developed in accordance with legal requirements applicable in the European Union.
The SWD® Core declarations of conformity (DoC) are being established by ez-Wheel.
1.5. Important information about the manual
Important information –Read carefully

Parameterizable value
Additional information
1.6. Disclaimer
The technical information included in this manual is subject to change without prior notice. No responsibility is
assumed for the completeness, up-to-date or accuracy of the data and illustrations provided.
The textual and visual data included in this manual are the property of ez-Wheel SAS. The trademarks ez-Wheel
and SWD Safety Wheel Drive are registered.
Designations may be trademarks and/or copyrights of their respective manufacturers, the use of which by third
parties for their own purposes could infringe the rights of such owners.
"INSTRUCTION MANUAL"
©2021 BY EZ-WHEEL - FIRST EDITION, OCTOBER 2021
ALL RIGHTS RESERVED
EZ-WHEEL SAS
LE MOULIN DE L’ABBAYE - 135 ROUTE DE BORDEAUX
16400 LA COURONNE - FRANCE

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2. Safety Instructions –SWD® Starter Kit Precautions
Do not open.
Do not expose to a heat source.
Do not expose to fire.
Do not insert metal parts into the connectors.
Under no circumstances should the product receive any modifications not authorized by
ez-Wheel.
Do not attempt to modify the technical performance of the product.
The product must not be used for use beyond the technical performance specified by ez-
Wheel.
Inappropriate use results in the cancellation of the warranty.
Opening the product results in the cancellation of the warranty.

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3. Description
3.1. A toolkit for robot developers
The SWD® Starter Kit is made of combinable, modular devices for mobile robotics.
The SWD® Starter Kit introduces key technologies for mobile robots' development
•SWD® Safety Wheel Drive: the world’s first drive with embedded safe motion control
•Safety Laser Scanner: the smallest laser scanner for safety critical applications
•ROS Robot Operating System: the reference middleware for robotics
1
SWD® Core safety drives
2
Safety laser scanner
3
Embedded PC with ROS
4
Battery
1
2
3
4

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3.2. Integrated Safety
The SWD® Starter Kit provides the simplest AGV/AMR safety architecture ever:
•SWD integrates motor drivers
•Unique, fully certified safe motion features
•Safety encoder integrated into SWD
The robot architecture is therefore extremely simplified compared to conventional AGVs or AMRs:
✓Drives interfaced directly with safety laser scanners
✓Replaces safety encoders, PLCs, and motor drivers
Batteries
Industrial
PC
SWD SWD
Safety
Scanner
Safety
Hub
SWD® Core
drives with integrated
safety

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3.3. Specificities of the SWD® Starter Kit
The SWD® Starter Kit is a demonstration platform based on AMR use case, including:
•One safety laser scanner in front/center position
•Two SWD® Core safety drives with 125mm wheels
•An ARM iMX6 PC controller with Linux Ubuntu 20.04 OS and ROS Noetic metasystem
•A 24 VDC 9 Ah Ni-MH rechargeable battery
•A chassis and complete wiring with two E-Stops
The SWD® Starter Kit is not a complete, functional AMR:
•Navigation has to be done
•No fleet management software
3.4. Safety features
Motor disconnection
STO SIL2/PLd with E-Stops buttons
Motion control
SLS, SDI SIL2/PLd with safety laser scanner detection zones
Braking
SBC SIL2/PLd, configurable with STO
3.5. Conditions of Use
Temperatures
0 to +40°C
IP index
IP66 for SWD® Core, IP65 for safety laser scanner, IP54 for battery, NC for others
Maintenance period
5 years
3.6. Weight
Total weight
29,5 Kg

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3.7. Product Label
1
Commercial identification of the product
2
Legal pictograms
3
Identification of the manufacturer
4
Serial Number
5
Geographical origin of the product
6
Product information
Product performance
7
Manufacturing date
8
Address of manufacturer
3.8. Applications
The SWD® Starter Kit is intended for development of mobile robotics applications such as:
-Industrial AGVs, AGCs and AMRs
-Logistics AGVs, AGCs and AMRs
-Cobots and mobile robot arms
-Mobile platforms
123
4
5
7
8
6

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4. Synoptic
Figure 1 –Safety and Control synoptic of the product
Safety
Direct connection of safety sensors and switches to SWD safe inputs :
•Emergency Stop L ➔SWD L - STO inputs
•Emergency Stop R ➔SWD R - STO inputs
•Safety laser scanner OSSD outputs ➔SWD R - programmable inputs
CANopen Safety between SWD L and R is used to replicate the safety inputs from one drive to the
other one
Control
CANopen from iMX6 to SWD L and R, uses CiA 402 velocity control mode for speed and direction
control. Ethernet from safety laser scanner to iMX6, is used to get data for SLAM and ROS-based
algorithms
CANopen and CANopen Safety frames are transmitted on the same physical CAN bus
STO1/2
OSSD1/2
OSSD3/4
CANopen + Power
Ethernet
STO1/2
OSSD1/2
OSSD3/4
STO1/2
STO1/2

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Figure 2 –Power Supply synoptic of the product
Power supply
-All devices powered by Ni-MH 24V / 9Ah battery
-Battery to junction box
-Junction box to SWD L, SWD R, safety laser scanner and iMX6
-Activation signal, from the ON/OFF button to the activation input of the battery
Charging
The external charger can be directly connected on the battery panel connector:
Switch On
GND/24V
GND/24V
Battery On
GND/24V

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5. Interfaces
5.1. Overview
The SWD® Starter Kit is using the SWD® safety hub interface to centralize the connections of all devices and
facilitate the overall wiring.
Figure 3 –Overview of interfaces
5.2. SWD® Core connectorsd
The I/O connector and 24 VDC connector of the SWD® Core are used in the SWD® Starter Kit.
The other connectors (CAN, USB, Ethernet, and Brake) are not used, please refer to the Instruction Manual of
the SWD® Core for details on the complete connections of the product.
The same connector types and pin numbers are used in the SWD® Core, and the associated
connection featured on the SWD® safety hub. The following pinout description is therefore valid for
both.
Battery connectors
24V / GND / ON
23
4
5
6
7
8
9
11
12
1
10
SWD Core L. connectors
Safe inputs
24 VDC
23
4
5
6
7
8
9
11
12
1
10
SWD Core R. connectors
Safe inputs
24 VDC
23
4
5
6
7
8
9
11
12
1
10
SE2L connector
Power + OSSD
iMX6 connectors
CAN
E-Stop L.
E-Stop R.
ON/OFF button
4
2
3
1
Ethernet
Ethernet
Power
15
Charger

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I/O connector
The I/O connector is type M12 - 12 pin A-coded.
It is used for the CAN interface between the drives and the iMX6, and for the safety loops coming from the
safety laser scanner and E-Stops.
Pin #
Designation
1
CAN H - used for CANopen Safety
2
INSafe_3 - used for SLS
3
CAN L - used for CANopen Safety
4
Power supply 24 VDC (2A) - disabled
5
STO_1 - used for E-Stop
6
GND Power Supply (2A) - unused
7
INSafe_1 - used for SDI
8
STO_2 - used for E-Stop
9
INSafe_4 - used for SLS
10
INSafe_2 - used for SDI
11
GND - unused
12
ON - unused
24 VDC connector
The 24 VDC power connector is of type M12 Power - 5-pin L-coded (4 pin + FE).
It is used to distribute the battery power on the drives.
Pin #
Designation
1
+ Power supply 24 VDC (16A)
2
+ Power supply 24 VDC (16A)
3
GND Power Supply (16A)
4
GND Power Supply (16A)
FE
Mechanical earth connected to the chassis
5.3. Safety laser scanner connectors
The Power+OSSD connector and Ethernet connector of the safety laser scanner are used in the SWD® Starter
Kit.
Please refer to the safety laser scanner User Manual for details on the complete connections of the product.
The original connector of the safety laser scanner has been replaced by a M12 Power+OSSD connector
to get homogeneous connections with the SWD® products.
The same connector types and pin numbers are used in the safety laser scanner, and the associated
connection featured on the SWD® safety hub. The following pinout description is therefore valid for
both.
1
23
4
FE

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Power+OSSD connector
The Power+OSSD connector is type M12 - 12 pin A-coded.
It is used for the safety loops going to the SWD® Core safety drives.
Pin #
Designation
1
24 VDC
2
GND
3
OSSD1
4
OSSD2
5
OSSD3
6
OSSD4
7
NC
8
NC
9
NC
10
NC
11
NC
12
NC
Ethernet connector
The Ethernet connector is a M8 4-pin A-coded.
It is used to exchange non-safe data between the safety laser scanner and the iMX6 PC.
Pin #
Designation
1
TD+
2
RD+
3
RD-
4
TD-
5.4. iMX6 connectors
The Power connector, CAN connector and Ethernet connector of the iMX6 embedded PC are used in the SWD®
Starter Kit.
Please refer to the TEK3-IMX6 BOX PC Product Manual for details on the complete connections of the product.
Power connector
The Power connector is a Molex 43025-0200 (2-pin Micro-Fit 3.0)
It is used to bring the battery power on the PC.
Pin #
Designation
1
GND
2
DC Voltage input (8-36 VDC)

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CAN connector
The CAN connector is a Molex 43025-1200 (12-pin Micro-Fit 3.0)
It is used for the CANopen interface between the drives and the iMX6.
Pin #
Designation
1
Ground for CAN
2
NC
3
CAN Bus 1A high
4
CAN Bus 1A low
5
NC
6
NC
7
NC
8
NC
9
NC
10
NC
11
NC
12
NC
Ethernet connector
The Ethernet connector is a standard RJ45 for 10/100 Mbps transmission.
It is used to exchange non-safe data between the safety laser scanner and the iMX6 PC.
Pin #
Designation
1
TD+
2
TD-
3
RD+
4
NC
5
NC
6
RD-
7
NC
8
NC
5.5. Battery connectors
The Power connector and Charger connector of the Mobility Module battery are used in the SWD® Starter Kit.
Please refer to the Mobility Module User Manual for details on the complete connections of the
product.
Power connector
The Power connector is a Neutrik Speakon 4-pin.
It is used to power the kit and to turn ON and OFF the battery.
Pin #
Designation
1+
24 VDC
2+
GND
1-
RD+
2-
ON signal

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Charger connector
The Charger connector is a Neutrik XLR 5-pin.
It is used to connect the charger to the battery.
Pin #
Designation
1
Charger+
2
NC
3
NC
4
NC
5
GND
5.6. SWD® safety hub connectors
The SWD® and Scanner connectors of the SWD® safety hub follow the pinouts of the above-described
connectors.
Emergency stop connector
The Emergency stop connectors are of type M8 4-pin A coded.
They are used to connect the two normally closed switches of an E-Stop button (2NC type).
Pin #
Designation
1
SW1 NC1
2
SW1 NC2
3
SW2 NC1
4
SW2 NC2
Switch ON and Batt ON connectors
The Switch ON and Batt ON connectors are of type M8 3-pin A coded.
They are used to forward the ON button signal to the activation signal of the battery.
Pin #
Designation
1
SW
3
GND
4
NC
1
5

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6. Mechanical assembly
6.1. Dimensions of the packaging and contents of the pack
For all engine logistics operations alone, preferably use the original packaging.

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6.2. Overall dimensions
Figure 4 - Overall dimensions, top view
Figure 5 - Overall dimensions, front view

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6.3. Mechanical specifications
The casters are designed to support a maximum load of 40 kg per caster, but the plastic chassis, for
demonstration purpose only, is not designed to carry load.
Do not step or put loads on the
chassis of the Starter Kit!