ez-wheel SWD Core User manual

SWD®Starter Kit
For AGV & AMR
Instruction manual
Preliminary version

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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.................................................................................................................... 4
1.5. Important information about the manual............................................................................................. 4
1.6. Disclaimer .............................................................................................................................................. 5
2. Safety Instructions –SWD® Starter Kit Precautions ....................................................................................... 5
3. Description ..................................................................................................................................................... 6
3.1. A toolkit for robot developers ............................................................................................................... 6
3.2. Integrated Safety ................................................................................................................................... 7
3.3. Specificities of the SWD® Starter Kit...................................................................................................... 8
3.4. Safety features....................................................................................................................................... 8
3.5. Conditions of Use................................................................................................................................... 8
3.6. Weight ................................................................................................................................................... 8
3.7. Product Label......................................................................................................................................... 9
3.8. Applications ........................................................................................................................................... 9
4. Synoptic........................................................................................................................................................ 10
5. Interfaces...................................................................................................................................................... 12
5.1. Overview.............................................................................................................................................. 12
5.2. SWD Core connectors.......................................................................................................................... 12
I/O connector ............................................................................................................................................... 13
24 VDC connector......................................................................................................................................... 13
5.3. SE2L connectors................................................................................................................................... 13
Power+OSSD connector ............................................................................................................................... 13
Ethernet connector ...................................................................................................................................... 14
5.4. iMX6 connectors.................................................................................................................................. 14
Power connector .......................................................................................................................................... 14
CAN connector ............................................................................................................................................. 14
Ethernet connector ...................................................................................................................................... 15
5.5. Battery connectors .............................................................................................................................. 15
Power connector .......................................................................................................................................... 15
Charger connector........................................................................................................................................ 15
5.6. SWD safety hub connectors ................................................................................................................ 16

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Emergency stop connector........................................................................................................................... 16
Switch ON and Batt ON connectors ............................................................................................................. 16
6. Mechanical assembly ................................................................................................................................... 16
6.1. Dimensions of the packaging and contents of the pack...................................................................... 16
6.2. Overall dimensions .............................................................................................................................. 17
6.3. Mechanical specifications.................................................................................................................... 18
7. Safety features ............................................................................................................................................. 18
7.1. Overview of safety features ................................................................................................................ 18
Safety features available from the SWD® Core safety drives....................................................................... 18
7.2. Use of safety features in the SWD Starter Kit...................................................................................... 19
7.3. Safety fields configuration................................................................................................................... 20
7.4. Safety loops configuration................................................................................................................... 21
8. Starting the SWD Starter Kit......................................................................................................................... 22
8.1. Power on.............................................................................................................................................. 22
8.2. Display and status................................................................................................................................ 22
8.3. Connection to Control Page................................................................................................................. 22
8.4. Safety features monitoring.................................................................................................................. 23
8.5. Hand control for teleoperation ........................................................................................................... 24
Table of figures
Figure 1 –Safety and Control synoptic of the product ......................................................................................... 10
Figure 2 –Power Supply synoptic of the product ................................................................................................. 11
Figure 3 –Overview of interfaces ......................................................................................................................... 12
Figure 4 - Overall dimensions, top view................................................................................................................ 17
Figure 5 - Overall dimensions, front view ............................................................................................................. 17
Figure 6 - Use of Safety Features .......................................................................................................................... 20
Figure 7 - Safety fields of the SE2L ........................................................................................................................ 20
Figure 8 - Configuration of safety loops in SWD Core........................................................................................... 21

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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)
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
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

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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
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
•SE2L Safety Laser Scanner: the world’s smallest laser scanner for safety critical applications
•ROS Robot Operating System: the reference Open-Source OS for robots
1
SWD Core safety drives
2
SE2L safety 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
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 SE2L 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
1
Motor disconnection
STO SIL2/PLd with E-Stops buttons
Motion control
SLS, SDI SIL2/PLd with SE2L 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 SE2L, IP54 for battery, NC for others
Maintenance period
5 years
3.6. Weight
Total weight
29,5 Kg
1
Certification in progress

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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
SE2L OSSD outputs ➔SWD R - programmable inputs
CANopen Safety between SWD L and R, to replicate the safety inputs from one drive to the other one
Control
CANopen from iMX6 to SWD L and R, using CiA 402 velocity control mode for speed and direction control
Ethernet from SE2L to iMX6, to get data for SLAM and ROS-based algorithms
Note: CANopen and CANopen Safety frames are transmitted on the same physical CAN bus

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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, SE2L 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:

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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 connectors
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
SE2L safety 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 - L-coded 5 (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. SE2L connectors
The Power+OSSD connector and Ethernet connector of the SE2L are used in the SWD Starter Kit.
Please refer to the SE2L User Manual for details on the complete connections of the product.
The original connector of the SE2L 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 SE2L and the associated
connection featured on the SWD safety hub. The following pinout description is therefore
valid for both.
Power+OSSD connector
The Power+OSSD connector is type M12 - TBC
It is used to power the SE2L and for the safety loops going to the SWD Core safety drives.
1
23
4
FE

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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 SE2L 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)
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

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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 SE2L 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
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
1
5

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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
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!
7. Safety features
7.1. Overview of safety features
Safety features available from the SWD® Core safety drives
The SWD® Core includes safe engine shutdown features, as well as advanced safe speed monitoring features.
This exclusive integrated solution developed by ez-Wheel simplifies the machine architecture by avoiding the
need for external supervisory bodies and safety logics.
The engine shutdown functions include:
-STO (Safe Torque Off): safe disconnection of motor torque
-SBC (Safe Brake Control): safe braking engagement
Speed monitoring functions are based on a safety encoder integrated into the product and include:
-SDI (Safe Direction): safe control of the direction of rotation
-SLS (Safely Limited Speed): safe rotational speed limitation
STO SBC
SLSSDI

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These safety functions are implemented in accordance with IEC 61800-5-2 (functional safety requirements for
the development of safety drives) and according to the CiA/DS 402-4 profile for the safety functions of motor
controllers.
Safety features
Possible settings
Safe disconnection of engine
torque
Rearmament:
▪automatic
▪by request for acquittal
Braking configuration associated with the STO (Cf. SBC)
Safe braking engagement
Joint activation of the STO:
▪from internal braking to SWD® Core
▪an external electromechanical brake
▪of both brakes simultaneously
Safe control of the direction
of rotation
Prohibition of the direction of rotation:
▪positive or negative
▪with two tolerance thresholds levels
Safe rotational speed
limitation
Prohibition of speeding:
▪eight switchable throttling thresholds
▪an adjustable trigger time
Refer to the Instruction Manual of the SWD Core to get all details on the operation and
configuration of available safety features.
7.2. Use of safety features in the SWD Starter Kit
Emergency Stops
E-Stops on each side of the kit, stopping the motors (STO safe torque off function)
When one SWD reads the STO signal from an E-Stop button, it sends the STO message to the other
drive through the CANopen Safety
In the default configuration, the SBC function is not used with the engagement of the STO.
Safety fields and Safe Motion
Close obstacle: when the SE2L scanner detects an obstacle in the close range (<1m forward), the
speed limit (SLS safely limited speed function) is engaged on the SWD motors, set at 0.3 m/s
Collision risk: when the SE2L scanner detects an immediate risk of collision (<50cm forward), the
forward direction (SDI safe direction function) is engaged on the SWD motors
STO
SBC
SDI
SLS
STO
SLS
SDI

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Figure 6 - Use of Safety Features
7.3. Safety fields configuration
The default configuration of safety fields in the SE2L scanner is set as follows:
Arrêt demandé
➔STO/SBC
Zone de risque
➔SLS
Obstacle frontal
➔SDI
VSTO
VSLS
VSLS
VSDI
VSTO
frein
SBC
Close obstacle
-Area 70cm width x 1m forward
-Routed to OSSD 3/4 outputs of SE2L
Collision risk
-Area 50cm width x 50cm forward
-Routed to OSSD 1/2 outputs of SE2L
Figure 7 - Safety fields of the SE2L