ez-wheel SWD Core User manual

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

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.................................................................................................................... 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