ez-wheel SWD Core User manual

SWD®Core
SAFETY DRIVE
Instruction manual
Version 1.0.x - 19/04/2022 - Translated from French

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Table of Contents
1. Preamble ........................................................................................................................................................ 7
1.1. Who is this manual for?......................................................................................................................... 7
1.2. Terminology........................................................................................................................................... 7
1.3. Additional resources.............................................................................................................................. 7
1.4. Declarations of conformity.................................................................................................................... 7
1.5. Important information about the manual............................................................................................. 7
1.6. Disclaimer .............................................................................................................................................. 8
2. Safety Instructions SWD® Core Precautions................................................................................................ 9
3. Description ................................................................................................................................................... 10
3.1. Presentation ........................................................................................................................................ 10
3.2. Technical characteristics of the engine ............................................................................................... 10
3.3. Specificities of the SWD® Core............................................................................................................. 11
3.4. Security features.................................................................................................................................. 11
3.5. Terms of Use........................................................................................................................................ 11
3.6. Weight ................................................................................................................................................. 11
3.7. Product Label....................................................................................................................................... 12
3.8. Applications ......................................................................................................................................... 12
4. Synoptic........................................................................................................................................................ 13
5. Interfaces...................................................................................................................................................... 14
5.1. Overview.............................................................................................................................................. 14
Identification of mechanical parts................................................................................................................ 14
Connectors and LEDs identification.............................................................................................................. 15
5.2. Connectors........................................................................................................................................... 16
I/O connector ............................................................................................................................................... 16
24 VDC connector......................................................................................................................................... 16
CAN connector ............................................................................................................................................. 16
USB connector.............................................................................................................................................. 17
ETH connector .............................................................................................................................................. 17
External brake connector ............................................................................................................................. 17
6. Mechanical assembly ................................................................................................................................... 18
6.1. Dimensions of the packaging and contents of the pack...................................................................... 18
6.2. Overall dimensions .............................................................................................................................. 19
6.3. Assembly plan...................................................................................................................................... 21
Machine implementation recommendations .............................................................................................. 21
Restriction of use.......................................................................................................................................... 22
Sealing of the product .................................................................................................................................. 22

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7. SWD® Core status LEDs................................................................................................................................. 23
7.1. SWD® Core LED display mode.............................................................................................................. 23
7.2. Status LED Status LED Display.............................................................................................................. 23
7.3. CAN Bus LED Display............................................................................................................................ 24
8. CAN Bus and CANopen Protocol .................................................................................................................. 25
8.1. Bus feature .......................................................................................................................................... 25
8.2. CAN Node IDENTIFIER.......................................................................................................................... 25
8.3. CAN bus termination resistance .......................................................................................................... 26
8.4. SWD® Core Product Identity................................................................................................................ 27
8.5. Network ManagemenT (NMT) protocol and State machine ............................................................... 27
8.6. PDO (Process Data Object) .................................................................................................................. 29
Communication settings............................................................................................................................... 29
Mapping parameters.................................................................................................................................... 33
Default values............................................................................................................................................... 34
8.7. EMCY (EMergenCY).............................................................................................................................. 36
Presentation ................................................................................................................................................. 36
Error codes ................................................................................................................................................... 37
1001h: Error Register .................................................................................................................................... 39
1003h: History of active errors ..................................................................................................................... 39
1014h: COB-ID of the EMCY message ........................................................................................................... 39
8.8. SRDO (Safety-Relevant Data Object) ................................................................................................... 40
Control of periodicity ................................................................................................................................... 40
Time control between frames ...................................................................................................................... 40
Data consistency check ................................................................................................................................ 41
Default values............................................................................................................................................... 42
8.9. Backup and restore of configurations ................................................................................................. 48
Communication settings............................................................................................................................... 49
Drive parameters.......................................................................................................................................... 50
Parameters SWD Core® ................................................................................................................................ 51
9. CiA 402: Engine Control Device Profile......................................................................................................... 52
9.1. State machine...................................................................................................................................... 53
6040hControlword ....................................................................................................................................... 55
6041hStatusword......................................................................................................................................... 56
Startup example ........................................................................................................................................... 57
Brake applied depending on configuration.................................................................................................. 57
Modes of operation...................................................................................................................................... 58
9.2. How 'velocity mode' works (vl)............................................................................................................ 59
Presentation ................................................................................................................................................. 59

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Speed limits .................................................................................................................................................. 62
Speed limit and safety features.................................................................................................................... 64
Ramps........................................................................................................................................................... 64
Ramp function control.................................................................................................................................. 67
9.3. Configuration....................................................................................................................................... 69
6007hAbort connection option code ........................................................................................................... 69
605AhQuick stop option code...................................................................................................................... 69
605BhShutdown option code....................................................................................................................... 70
605ChDisable operation option code........................................................................................................... 70
605DhHalt option code ................................................................................................................................ 70
605EhFault reaction option code................................................................................................................. 71
10. Security features .......................................................................................................................................... 72
10.1. Overview of security features.............................................................................................................. 72
Security features in the SWD® Core ............................................................................................................. 72
Typical use of security features.................................................................................................................... 72
10.2. Summary of security levels.................................................................................................................. 74
10.3. Control of security functions ............................................................................................................... 75
Activation modes.......................................................................................................................................... 75
Types of sensors for activation..................................................................................................................... 75
Configuring the activation of a security command via the CANopen .......................................................... 75
Configuring commands associated with security entries............................................................................. 79
Activation of the STO by emergency stop via the I/O Connector interface, compliance up to SIL3 / PLe /
Cat4 .............................................................................................................................................................. 80
Rearming the STO by pressing the 1NO button connected to the INSafe_1 input, Holds up to 100h......... 81
Activation of the STO by emergency stop, compliance up to SIL3 / Ple, and reset by NO button on single
input, maintains beyond 100h using a safety relay...................................................................................... 81
Activation of a software safety function by 2 NC switch, compliance up to SIL2 / PLd / Cat3..................... 83
Permanent deactivation of the STO, activation of another function by 2NC switch, compliance up to SIL2 /
PLd................................................................................................................................................................ 84
STO activation by OSSD outputs, compliance up to SIL3/Ple ....................................................................... 84
Use of single inputs, compliance up to SIL2 / PLd ........................................................................................ 85
Activation of the STO by two emergency stops, compliance up to SIL3 / Ple, and activation of two other
functions by OSSD signals, compliance up to SIL2 / PLd .............................................................................. 85
Deferring safety inputs in a system using multiple SWD® Core drives......................................................... 86
Connecting to a CANopen safety calculator................................................................................................. 87
10.4. Security features.................................................................................................................................. 87
Activating the STO ........................................................................................................................................ 87
Activating IDW.............................................................................................................................................. 89
Enabling SLS.................................................................................................................................................. 90

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10.5. Signature.............................................................................................................................................. 91
Calculation method ...................................................................................................................................... 91
Signature of the SRDO.................................................................................................................................. 93
Signature STO ............................................................................................................................................... 93
Signature SLS ................................................................................................................................................ 94
Signature SDI ................................................................................................................................................ 95
10.6. Periodic inspections............................................................................................................................. 95
10.7. CANopen safety - SRDO....................................................................................................................... 96
Constraints related to the calculation of system characteristics ................................................................. 96
User Responsibilities .................................................................................................................................... 96
Reaction time ............................................................................................................................................... 97
Table of figures
Figure 1 - General synoptic of the product ........................................................................................................... 13
Figure 2 - Overview of mechanical interfaces....................................................................................................... 14
Figure 3 - Connectors Identification...................................................................................................................... 15
Figure 4 - Rear view, LEDs and brake connector identification............................................................................. 15
Figure 5 - Overall dimensions, side view............................................................................................................... 19
Figure 6 - Overall dimensions, top view................................................................................................................ 19
Figure 7 - Overall dimensions, front view ............................................................................................................. 20
Figure 8 - Overall dimensions, rear view - connectors.......................................................................................... 20
Figure 9 - Internal electrical diagram of the CAN bus ........................................................................................... 25
Figure 10 - Enabling the Internal Termination Resistor ........................................................................................ 26
Figure 11 - CAN Bus Initialization Diagram............................................................................................................ 27
Figure 12 - NMT State Machine Diagram of a CANopen Device ........................................................................... 28
Figure 13 - Description des PDO ........................................................................................................................... 32
Figure 14 - TPDO mapping .................................................................................................................................... 33
Figure 15 - RPDO mapping .................................................................................................................................... 33
Figure 16 - Drive State Management Interface..................................................................................................... 52
Figure 17 - CiA 402, State Machine and Transitions ............................................................................................. 53
Figure 18 - Configuring Functions according to the states of the CiA 402 state machine .................................... 55
Figure 19 - Motor Control Synoptic....................................................................................................................... 57
Figure 20 - 'Speed control' interface..................................................................................................................... 60
Figure 21 - 'speed control' architecture................................................................................................................ 60
Figure 22 - Positive direction of rotation (+) ......................................................................................................... 61
Figure 23 - Managing Speed Limits ....................................................................................................................... 63
Figure 24 - Management of acceleration /deceleration ramps (1/2) ................................................................... 65
Figure 25 - Management of acceleration /deceleration ramps (2/2) ................................................................... 66
Figure 26 - Using controlword bits in velocity mode ............................................................................................ 67
Figure 27 Controller synoptic............................................................................................................................. 68
Figure 28 - Use of Security Features ..................................................................................................................... 73
Figure 29 - Example of canopen configuration of safety controls ........................................................................ 76
Figure 30 - Example of how SafeInputs configure security commands ................................................................ 79

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Figure 31 - STO Activation and Acquittal Diagram................................................................................................ 88
Figure 32 - CIU Activation Diagram ....................................................................................................................... 89
Figure 33 - SLS Activation Diagram ....................................................................................................................... 90

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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 integrators of industrial machinery.
Knowledge and understanding of variable speed electrical drive systems is required for the implementation of
the SWD® Core product.
1.2. Terminology
The terms used in this manual are related to the technical field of industrial machinery and more particularly to
drive systems controlled by fieldbus.
For a precise reading of the manual, a good mastery of the following standards is recommended:
-Machinery Directive (2006/42/EC)
-General safety requirements for electrical equipment of machinery (EN 60204-1)
-Variable speed power electric drives (EN 61800-5)
-Description of the CANopen (EN 50325 and CiA/DS 301) and CANopen Safety (CiA 304) protocols
-CANopen Application Profile for Motor Drives (CiA 402)
1.3. Additional resources
The following SWD® Core documents are available from ez-Wheel:
-SWD® Core datasheet
-SWD® Safety Wheel Drive Range Overview Brochure
-2D and 3D mechanical plans of the SWD® Core
1.4. Declarations of conformity
The SWD® Core product is developed in accordance with regulatory requirements for marketing throughout the
European Union.
The SWD® Core declarations of conformity have been drawn up by ez-Wheel with the INERIS certification body
for certified safety features.
1.5. Important information about the manual
Important information Read carefully

Parameterizable value
Additional information

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1.6. Disclaimer
The technical information included in this manual is subject to change. 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"
©2022 BY EZ-WHEEL - FIRST EDITION, FEBRUARY 2022
ALL RIGHTS RESERVED
EZ-WHEEL SAS
 - 135 ROUTE DE BORDEAUX
16400 LA COURONNE - FRANCE

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2. Safety Instructions SWD® Core 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 shall the product undergo 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.
Improper 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. Presentation
1
Planetary reducer
2
BLDC engine
3
Safety Controller
4
Package
3.2. Technical characteristics of the engine
Engine data alone, without mechanical reduction:
Speed range
0 to 1800 rpm
Nominal performance
185 W (S1) at 1400 rpm
Starting torque
4,5 Nm
The following data is shown for the standard version of the SWD® Core equipped with the 14:1 ratio two-stage
planetary gearbox.
Speed range
0 to 130 rpm
Nominal performance
20 Nm at 100 rpm
Maximum rolling speed
130 rpm
Option(s)
Parking brake /B
3
2
1
4

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3.3. Specificities of the SWD® Core
The following data is shown for the standard version of the SWD® Core equipped with the 14:1 ratio two-stage
planetary gearbox.
Technology
BLDC
Gearbox
2-stage planetary ratio 14:1 - exact value (63/17) per stage
Indicative lifespan1
5 000 h / 1 500 000 starts/stops
Nominal speed
100 rpm
Nominal power
185 watts (S1)
Starting torque
37 Nm
3.4. Security features
Motor disconnection
STO (Safe Torque Off) up to SIL3/PLe/Cat4
Motion control
SLS (Safe Limited Speed), SDI (Safe Direction) up to SIL2/PLd/Cat3
Braking
SBC (Safe Brake Control) up to SIL2/PLd/Cat3
Encoder
30 ppr (motor axis) SIL2/PLd/Cat3
Interface
CANopen Safety®
OSSD-compatible security inputs
3.5. Terms of Use
Temperatures
0 to +40°C
IP index
IP66
Maintenance period
5 years
The product is intended to be integrated into a machine. It is recommended to derail the machine to
avoid direct access of end users to the engine.
3.6. Weight
Drive weight
3.7 kg
1
Reference values, based on standard test conditions, may vary depending on different use cases

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3.7. Product Label
1
Commercial identification of the product
2
Regulatory pictograms
3
Identification of the manufacturer
4
Serial Number
5
Geographical origin of the product
6
Engine performance
Safety features
3.8. Applications
The SWD® Core product is intended for speed-controlled charge movement applications, for which risk
assessment justifies the implementation of safe movement monitoring.
-Mobile robots
-Pallet shuttles
-Lifting trolleys
-Conveyors
1
6
23
5
4

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4. Synoptic
Figure 1 - General synoptic of the product
The SBC function is under development.
Motor and Gearbox
Security Encoder
External safety brake
M

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5. Interfaces
5.1. Overview
Identification of mechanical parts
Figure 2 - Overview of mechanical interfaces
1
Gearbox mounting flange
2
Brake mounting axis
3
Brake mounting pads
3
2
1

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Connectors and LEDs identification
Figure 3 - Connectors Identification
Figure 4 - Rear view, LEDs and brake connector identification
3
12
4
5
1
I/O connector
2
24VDC connector
3
CAN connector
4
USB connector
5
ETH connector (for future use only)
1
LED Status
2
LED CAN
3
LED ETH (reserved for future use)
4
Brake connector
23 1
4

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5.2. Connectors
I/O connector
The I/O connector is a M12, 12 poles, A-coding type. It bundles the product's safety and start-up inputs. It serves
also as a CANopen interface and a 24V output power supply.
Pin #
Designation
1
CAN H
2
INSafe_3 
3
CAN L
4
Power supply 24 VDC (2A) - if enabled = 
5
STO_1 (GND: SafeState / 24 VDC: Drive enable)
6
GND Alimentation (2A)
7
INSafe_1 
8
STO_2 (GND: SafeState / 24 VDC: Drive enable)
9
INSafe_4 
10
INSafe_2 
11
GND IN
12
ON: Shoot at GND to put on
The following cables can be used to interface the I/O connector:
-Compatible cables available in the ez-Wheel catalog
-Phoenix Contact SAC-12P-MR/ 1,5-PUR SCO 1430572
-Amphenol M12A-12BMMM-SR8AXX
24 VDC connector
The 24 VDC power connector is M12 Power, 5 poles, L-coding (4+FE) type.
Pin #
Designation
1
+ Power supply 24 VDC (16A)
2
+ Power supply 24 VDC (16A)
3
GND Alimentation (16A)
4
GND Alimentation (16A)
FE
Mechanical mass connected to the chassis
The following cables can be used to interface the 24 VDC connector:
-Compatible cables available in the ez-Wheel catalog
-Phoenix Contact SAC-5P-M12MSL/ 1,5-280 FE SH 1414884
-Phoenix Contact SAC-5P-M12MRL/ 1,5-280 FE SH - 1414851
CAN connector
The CAN connector is a M12, 5 poles, A-coding type. It is used as a CANopen interface and can be used as a 24V
output power supply.
The implementation complies with the CiA 303-1 norm for standardized CAN interfaces.
Pin #
Designation
1
Mechanical mass
2
+ Power supply 24 VDC (4A) - if enabled = 
3
GND Alimentation (4A)
4
CAN H
5
CAN L
1
23
4
FE
5
1
2
3 4

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The following cables can be used to interface the CAN connector:
-Compatible cables available in the ez-Wheel catalog
-Phoenix Contact SAC-5P-MR/ 2,0-923 CAN SCO 1419044
-YOUR 2273088 2273100
-Amphenol M12A-05BMMM-SR8A01
USB connector
The USB connector is a M8, 5 poles, B-coding type. It is only used for updating and diagnosing the product. Thus,
it should only be used with the explicit agreement of ez-Wheel for security reasons, otherwise you will lose all
warranty.
Pin #
Designation
1
V_USB
2
USB D+
3
USB D-
4
GND USB
5
USB Id (NC)
The following cables can be used to interface with the USB connector:
-Compatible cables available in the ez-Wheel catalog
-Phoenix Contact SAC-5P-M 8MSB/ 1,5-115 1404461
-Phoenix Contact SAC-5P-M 8MS/ 2,0-920 1575712
-Phoenix Contact SAC-5P-M 8MR/920/... 1575903
ETH connector
The ETH connector is for future use only and should not be connected.
External brake connector
The external brake connector is used to connect an electromechanical brake, actuated by the SBC (Safe Brake
Control) output.
Check ez-Wheel for a brake that is compatible with your product.

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6. Mechanical assembly
6.1. Dimensions of the packaging and contents of the pack
1
Depth: 170 mm
2
Width: 150 mm
3
Height: 306 mm
1
Upper wedge
2
SWD® Core product
3
Lower hold
4
Conditioning
For all engine logistics operations alone, preferably use the original packaging.
4
3
2
1

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6.2. Overall dimensions
*clavette = Parallel key
Figure 5 - Overall dimensions, side view
Figure 6 - Overall dimensions, top view

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*4 mounting holes, depth 12 ±2mm, Max. tightening torque: 5 Nm
Figure 8 - Overall dimensions, rear view - connectors
Figure 7 - Overall dimensions, front view