ROEQ GuardCom User manual

GuardCom Installation Manual
- including GuardCom Connect
2020.12.23

GuardCom Installation Manual
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Copyright and disclaimer
All rights reserved. No parts of this manual may be reproduced in any form without the express
written
permission of ROEQ ApS. ROEQ makes no warranties, express or implied, in respect
of this document or its contents. In addition, the contents of the document are subject to change
without
prior notice. Every precaution has been taken in the preparation of this document. Nevertheless,
ROEQ
assumes no responsibility for errors or omissions or any damages resulting from the use of the
information contained.
Copyright © 2020 by ROEQ ApS
Revision History
Rev
Date
Comment
Responsible
Reviewer
1.0
2020.12.23
1st released version.
CS
MEH
Table 1.
Contact the manufacturer:
ROEQ ApS
Kobbervænget 5
DK-5492 Vissenbjerg
www.ROEQ.dk
[email protected]
CVR: 38656872

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Table of contents
1Introduction ...................................................................................................................... 4
1.1 Limitations.................................................................................................................................... 4
2The GuardCom System....................................................................................................... 5
2.1 Guard –for added safety ............................................................................................................. 6
2.2 Communication –between robot and conveyor station............................................................. 7
3Mounting of GuardCom ..................................................................................................... 7
3.1 Option A –Installation using ROEQ DS Standalone..................................................................... 8
3.1.1 Option A (continued) –Installation of DS Standalone with VL-Marker....................................... 8
3.1.2 Option A (continued) –Installation of GuardCom..................................................................... 10
3.2 Option B –Installation using custom made VL-Marker............................................................. 13
3.2.1 Option B (continued) –Installation of GuardCom ..................................................................... 14
3.2.2 Option B (continued) –Installation of custom made VL-Marker............................................... 17
4Mounting of GuardCom Connect ...................................................................................... 19
4.1 Mounting of GuardCom Connect on TR500/1000..................................................................... 19
5GuardCom connections and communication..................................................................... 21
5.1 GuardCom ↔GuardCom Connect............................................................................................. 23
5.2 GuardCom Connect ↔ROEQ top roller..................................................................................... 23
5.3 GuardCom ↔Conveyor station................................................................................................. 24
6GuardCom functionality................................................................................................... 25
6.1 Default setting –basic functionality .......................................................................................... 25
6.2 Three control options –open/close/ready................................................................................ 26
6.3 Three control options –jumper setting..................................................................................... 27
6.4 Blocked Guard function ............................................................................................................. 28
7Emergency stop ............................................................................................................... 29
7.1 Emergency stop tiggered on the conveyor station.................................................................... 29
7.2 Emergency stop tiggered on the robot...................................................................................... 29
8Abbreviations .................................................................................................................. 30
9Appendix......................................................................................................................... 31
9.1 Drawing of GuardCom................................................................................................................ 31

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1Introduction
This document describes the physical installation and input/output signals for the ROEQ GuardCom
System.
1.1 Limitations
This document does not resemble a complete User Manual.
It serves:
•to describe the physical installation and
•to explain the product functionality
for usage in the planning and design phase of conveyor installations where the GuardCom System
will fit in.
As such this document does not cover safety issues. Please, refer to the User Manual for information
on safety related issues.

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GuardCom
Connect
GuardCom
2The GuardCom System
The GuardCom System consists of two units: A GuardCom and a GuardCom Connect:
Figure 1.
GuardCom Connect is mounted on to a ROEQ top roller and GuardCom is mounted directly on an
existing conveyor station:
Figure 2. Physical placement of GuardCom Connect and GuardCom.
In some setups it can be beneficial to utilize a receiving station:
Figure 3. GuardCom installed on a receiving station, which can be inserted between the conveyor station and the pick-up/delivery point
for the robot.
The receiving station can serve as a buffer where goods can be “parked” until it is picked up by the
robot or until a receiving conveyor station is ready to handle the goods.
GuardCom Connect is compatible with all ROEQ top rollers.
GuardCom is compatible with any conveyor stations of any brand.
GuardCom is compatible with any receiving stations of any brand.
In this document the term “conveyor station” is used in the meaning of either a “receiving station” or
a “conveyor station”.
One GuardCom can serve multiple GuardCom Connects and vice versa.
Top roller
VL marker
Conveyor station
GuardCom
Connect
GuardCom
GuardCom
Connect
GuardCom
VL
Conveyor station
Receiving
station

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I.e., any number of robots with a GuardCom Connect attached can communicate with any number of
conveyor stations with a GuardCom attached.
The GuardCom System has two main features:
1. Guard
The Guard serves as an added safety feature to prevent goods from rolling off the
conveyor station when there is no receiving robot (section 2.1).
The Guard must not be used as the primary physical stop to keep heavy goods from
rolling off the conveyor station.
2. Communication
The GuardCom System facilitates wireless communication between robot and conveyor
station eliminating usage of unstable Wi-Fi connections (section 5).
2.1 Guard –for added safety
The GuardCom is equipped with a Guard, which opens for a package to pass and is closed otherwise:
Figure 4.
The Guard should not be used as the primary physical stop to keep heavy goods from rolling off the
conveyor station.
The Guard serves merely as an added safety feature to prevent goods from rolling off the conveyor
station when there is no receiving robot present.
Guard open
Guard closed

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2.2 Communication –between robot and conveyor station
The GuardCom System facilitates wireless communication between robot and conveyor station in the
process of transferring packages between them.
Communication through the GuardCom System goes
-from robot to ROEQ top roller (wired)
-to GuardCom Connect (wired)
-to GuardCom (via optical sensors)
-to conveyor station (wired)
and vice versa.
Hence, the GuardCom System does not communicate over Wi-Fi –or any other 3rd party systems –in
the process of transferring goods between robot and conveyor station.
Further details in the communication are explained in section 5.
3Mounting of GuardCom
The GuardCom System works with:
•any kind of conveyor stations and
•the entire product range of ROEQ top rollers.
All ROEQ top rollers come with ROEQ’s setup software to facilitate easy setup of the top roller – refer
to the User Manual for the products.
The ROEQ setup software presupposes correct physical positioning of GuardCom, VL-Marker and
conveyor station. Especially the relative position of GuardCom and VL-Marker is crucial for robust
functionality of the GuardCom system. This is also the case if the ROEQ setup software is not used for
setup.
The instructions in this section must be followed in detail.
Figure 5. Outline of GuardCom and DS Standalone on a conveyor station.
The depicted setup is for the ROEQ TR500/1000 top roller system.
Note that the conveyor station can be any brand. The depicted station is not a commercial ROEQ product.
ROEQ
DS Standalone
(with built-in
VL-Marker)
3rd party
conveyor
station
ROEQ
GuardCom

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It is strongly recommended to use the ROEQ DS Standalone docking station, which has a built in VL-
Marker. Alternatively, a custom made VL-Marker can be utilized. Please refer to these sections:
•Option A: Setup using DS Standalone –section 3.1 (recommended).
•Option B: Setup using custom made VL-Marker –section 3.2.
3.1 Option A –Installation using ROEQ DS Standalone
Figure 6. Outline of GuardCom on the conveyor station. The depicted conveyor station is not a commercial ROEQ product.
The installation sequence when using ROEQ DS Standalone is:
1. Installation of DS Standalone with VL-Marker (section 3.1.1).
2. Installation of the GuardCom (section 3.1.2).
It is crucial for the functionality of GuardCom that it is aligned with the DS Standalone as described in
the following sections.
3.1.1 Option A (continued) –Installation of DS Standalone with VL-Marker
The ROEQ GuardCom system is designed to work with the ROEQ DS Standalone docking station,
which can be attached to the floor or directly to a chassis/frame on the conveyor station.
Figure 7. Outline of DS Standalone on a conveyor station.
The depicted setup is for the ROEQ TR500/1000 top roller system.
Note that the conveyor station can be any brand. The depicted conveyor station is not a commercial ROEQ product.
ROEQ
DS Standalone
ROEQ
DS Standalone
ROEQ
GuardCom

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Follow these guidelines to install the DS Standalone:
Step
Instruction and illustration
1.
The DS Standalone must be centered in relation to the rolls of the conveyor station.
The offset should be less than ±1 mm (±0.04”):
2.
The DS Standalone must be positioned parallel to the rolls on the conveyor station:
This is crucial for the GuardCom functionality and it is important to make the rolls on
the conveyor station and on the ROEQ top roller parallel.
3.
The DS Standalone can be attached to the floor or it can be mounted directly on to the
chassis/frame of the conveyor station through holes in the back plate.
Refer to the user guide for the DS Standalone.
Offset
Centre of
ROEQ
DS Standalone
Centre of rolls on
conveyor station
Rotational
axis of roll
Front of
DS Standalone

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3.1.2 Option A (continued) –Installation of GuardCom
Figure 8. Outline of GuardCom on the conveyor station. The depicted conveyor station is not a commercial ROEQ product.
Once the DS Standalone is mounted the GuardCom should be attached to the conveyor station
following these guidelines:
Step
Instruction and illustration
4.
The GuardCom must be placed in the correct height ensuring a gap between cargo and top
of the Guard (not the top of the GuardCom) when the Guard is open:
Note: The stroke of the Guard is 30 mm (1,2”):
Cargo
Rolls on the
station
Gap = 9 ±1 mm
(0.35" ±0.04 )
"
Guard
(in open
position)
ROEQ
GuardCom