CDS-021-01 Wireless EStop User Manual
Contents
1. VSC will also be asserted and can be used to prevent motion 6 2 Operational Mode Operational Mode is the only state where motion is allowed in the system When in Operational Mode the WES and the VSC have established a communication link and motion is intended The WES LED will show it is in Operational Mode If the VSC is in Operational Mode the VSC will output the heartbeat message with an indication that the system is operational 6 3 Error Modes The WES indicates possible error modes using its two LEDS The possible error indications are described in the WES data sheet CDS 020 6 4 Master Enables The Master Enable outputs are de asserted when the system determines that an unsafe condition exists or when the emergency stop has been activated either locally wired inputs to the VSC or remotely from a WES The Master Enables will be de asserted upon the following conditions 1 The Emergency Stop Button on the WES is activated 2 The External Emergency Stop Input on the VSC is activated 3 The Emergency Stop Software Input on the VSC is activated 4 The VSC loses its connection to the WES If the VSC has Master Enable indication asserted this is considered an unsafe operating condition It will continue to output the heartbeat message with an indication that the Emergency Stop is active because of the unsafe condition but will return to searching mode as specified The Master Enable outputs from the VSC will also be de ass2. input is activated the Master Enable signals are asserted immediately by VSC hardware All command and control communication to the VSC is over the USB RS232 or CAN based interfaces The specific protocols for each are defined in detail below The Wireless Emergency Stop System has three modes while operating Searching Stopped and Operational The basic features of these modes are summarized in Table 1 Stopped Nominal E Stop Indicated Table 1 WES Modes of Operation 6 1 Searching Mode Searching mode occurs in several cases If the WES is powered on but cannot connect to a VSC the WES LED will blink to show that it is in Searching Mode This can occur if the VSC is not powered the WES is not in range to the VSC or there is a mismatch in network IDs between the WES and VSC If the VSC is in Searching mode then it cannot connect to a WES This can occur if the WES is not powered the WES is not in range to the VSC or if there is a mismatch in network IDs between the WES and VSC CDS 021 01 August 2014 Humanistic Robotics Inc HARI WIRELESS EMERGENCY STOP SYSTEM USER S MANUAL This is considered an unsafe operating condition because the operator cannot establish a communication link to the vehicle When the VSC and WES are not connected the VSC will continue to output the heartbeat message with an indication that the Emergency Stop is active because of the unsafe condition The Master Enable outputs from the
3. HZI Wireless Emergency Stop System User s Manual Rugged Remote Emergency Stop System with Reliable Low Latency Wireless and Simple Integration Interface HRI s Wireless Emergency Stop System is a medium to long range wireless controller designed from the ground up to enable the safe operation of remote and automated systems It provides a rugged ergonomic and easy to use control of safety equipment in industrial construction mining or military applications Both the handheld and receiver implement HRI s proprietary SafetySense technology to ensure consistent and reliable control 1 Applications Safe control of remote dangerous equipment where human intervention may be needed 2 Key Features Wireless Emergency Stop WES 001 SafetySense Secure wireless communications with AES128 encryption and range of 1000 ft o Frequency bands include 900 MHz 2 4 GHz Other bands available Guaranteed low latency emergency stop response 1000 unique system addresses 12 hour battery life for continuous use Flexible USB charging interface RP SMA antenna connector IP65 rated enclosure Designed to meet MIL STD 810 for ruggedness 20 C to 60 C operation Extended temperature options available Belt clip and lanyard options 3 Key Features Safety Controller VSC 012 VSC 013 SafetySense Secure wireless communications and range of 1000 ft o Frequency bands include 900 MHz 2 4 GHz Other bands available
4. USB RS 232 serial and CAN bus support for flexible system integration options Hardware based SafetySense implementation for high reliability no single point of failure safety implementation Differential wired emergency stop input Master enable outputs for direct stop of motion control equipment 8 to 32 VDC power input Humanistic Robotics Inc CDS 021 01 August 2014 ies WIRELESS EMERGENCY STOP SYSTEM USER S MANUAL e USB configuration for programming and configuration e Multiple connector options available o RP SMA antenna connector o Mini CPC 4 pin for USB o Mini CPC 9 pin for Power Estop I O RS232 and CAN interfaces 30p Hirose DF 13 VSC 013 OEM only e IP66 NEMA 4X rated enclosure VSC 012 only e 20 C to 60 C operation Extended temperature options available e ROS and C drivers available to accelerate system software development for advanced applications 4 SafetySense Technology SafetySense Technology consists of four major system level technologies that work together to provide the integrator the ability to design systems with consistent and reliable remote operations 4 1 System Level Monitoring All communication links in the system are designed requiring positive feedback These heartbeat messages are sent on each link in the system remote to receiver and receiver to integrator computer at a rate of 50 Hz This ensures that any fault in the link between the receiver and remote or integrato
5. acket Protocol Heartbeat Message To VSC 7 3 4 Message Control Message To VSC The Message Control message to the VSC allows the user to configure which messages are output from the VSC and how often The enabled field determines whether or not the message is transmitted And the interval is defined as the number of milliseconds between transmissions of the message All of these settings are persistent in EEPROM so they only need to be configured once by the user NOTE It is not recommended to disable the heartbeat or joystick messages from the VSC Ceon ee Se Description O e SSCS a a uints 1 ___ Message Type Which VSC message type to modiy uint8 1 Enabled Whether or not the message is fee a ei ae uint16 2 Interval Time between transmissions in ce ee itccons 20 7 UNTIC M _ punts a ieem See checksum Reference Table 9 Packet Protocol Heartbeat Message To VSC 7 4 16 bit Checksum Reference The 16 bit Checksum used is a variation of the Fletcher 16 checksum for computing a position dependent checksum devised by John G Fletcher at Lawrence Livermore Labs in the late 1970s The objective of the Fletcher checksum was to provide error detection properties approaching those of a cyclic redundancy check but with the lower computational effort associated with summation techniques The algorithm to calculate the checksum is shown below 1 uint16_t checksum16 uint8_t data int count ra CDS 021 01 Augu
6. e outputs It is important that system designers pay careful attention in the integration of the VSC with their drive system to ensure that motion will be prevented when the Master Enable signals are de asserted 4 3 Consistent User Intervention While the system is constantly monitoring its health the remote also provides the operator with the ability to intervene The WES s dedicated emergency stop button causes the receiver to indicate an emergency stop in a maximum of 500ms absolute worst case This along with wired emergency stop buttons gives the system designer significant flexibility Humanistic Robotics Inc CDS 021 01 August 2014 i WIRELESS EMERGENCY STOP SYSTEM USER S MANUAL 5 Typical Integration Methods 5 1 WES Wireless Integration Typically the WES is integrated as a simple receiver where the VSC is connected to a pair of safety relays that control energy to the system An example of this type of integration is shown below p Ey USB Serial or CAN Existing Optional System Controls Dual Master Enables Wired Emergency Stop Optional Figure 2 Simple Receiver Integration The VSC s integration interfaces allow for more sophisticated monitoring and management of the emergency stop network Operation The VSC provides an Emergency Stop interface for hardware based emergency control as well as two Master Enable normally high low asserted outputs If the Emergency Stop
7. ed Humanistic Robotics Inc specifically disclaims any implied warranties of merchantability or fitness for a specific purpose and all warranties arising from course of dealing and or trade usage Humanistic Robotics Inc s liability shall be limited to the actual purchase price of any defective unit or units of equipment to which a claim is made and shall in no event include the Customer s manufacturing costs lost profits or goodwill or any other direct indirect special incidental consequential or punitive damages whether based on contract tort or other legal theory Humanistic Robotics Inc shall not be liable for normal manufacturing defects or customary variances from specifications Products sold by Humanistic Robotics Inc are not designed intended or authorized for use in applications intended to sustain or support life in any nuclear facilities or any other application where the failure of the product could create a situation where catastrophic property damage personal injury or death may occur In the event that the Customer purchases or uses any Humanistic Robotics Inc products for any such unintended or unauthorized application the Customer shall indemnify and hold harmless Humanistic Robotics Inc and its officers directors employees agents affiliates successors and assigns against all claims costs damages and expenses including reasonable attorneys and expert witness fees arising out of or in connection with directly
8. erted and should be used to prevent motion The Master Enable outputs will only be asserted once the unsafe condition has been acknowledged and corrected 6 5 VSC LED The VSC LED indicator is tied to the state of the master enable of the VSC and the connection state of the SRC to the VSC LED State SRCS State Solid Amber we VSC in bootloader mode Solid Red SRC not connected or in estop mode Blinking Red SRC connected and VSC estop enabled Blinking Green SRC connected and no estops enabled Table 2 VSC LED States Humanistic Robotics Inc CDS 021 01 August 2014 is WIRELESS EMERGENCY STOP SYSTEM USER S MANUAL 7 Interfacing using HRI Packet Protocol USB RS232 The command and control communication to the VSC is over the RS232 and USB gt Serial interface in the HRI Packet Protocol The serial format is fixed at 8 data bits 1 stop bit and no parity with a baud rate of 115200 The VSC USB interface is implemented as a CDC device and on most operating systems it will show up as a serial port dev tty usbserial dev ttyACMO etc An example C application is provided that uses the HRI Packet Protocol to communicate with the VSC over a serial device The example shows to how provide heartbeat and feedback messages to the VSC while receiving joystick heartbeat and GPS messages from the VSC The HRI Packet Protocol is a binary protocol designed with error checking high efficiency and has a well defined specif
9. ication It is used for all communications between the user and the VSC 7 1 Data Types Table 3 Packet Protocol Data Types 7 2 Packet Structure Byte OFset_ Type Size Description C o foe h fee E O 4 Vare NW Dataracket OOOO O Table 4 Packet Protocol Structure 7 3 Message Types The HRI packet protocol contains all of the messages below The timing of each message that is output from the VSC can be configured using the Message Control packet The default values for the frequency of the messages are shown below Enabled Table 5 Packet Protocol Message Types Fg CDS 021 01 August 2014 Humanistic Robotics Inc HRI WIRELESS EMERGENCY STOP SYSTEM USER S MANUAL 7 3 1 Heartbeat Message From VSC The heartbeat message from the VSC contains the Emergency Stop indication as well as the current system state Ceon Type Size oeoo O e UOO O A E e O gt ome h Messogetvpe oo S FvscMode EEE 1 Autonomy Se Mose 0 User Control 1 Shared Control 2 Autonomous Control uint32 E Stop indication 0 OK gt 0 E Stop Active Each bit represents an E Stop uinte j2 o 16 Bit Checksum See Checksum Reference Table 6 Packet Protocol Heartbeat Message From VSC 7 3 2 Remote Status Message From VSC The Remote Status message from the VSC contains key information pertaining to the connected remote and the status of the link between the VSC and the remote NOTE These values are no
10. or indirectly any claim for property damage personal injury or death associated with such unintended or unauthorized use even if such claim alleges that Humanistic Robotics Inc was negligent regarding the design or manufacture of the subject product Humanistic Robotics Inc CDS 021 01 August 2014 is WIRELESS EMERGENCY STOP SYSTEM USER S MANUAL 11 Revision History 8 10 14 Initial Release Humanistic Robotics Inc 111 South Independence Mall East Suite 1010 Philadelphia PA 19106 1 267 515 5880 www humanisticrobotics com CDS 021 01 August 2014 Humanistic Robotics Inc
11. r computer can be quickly detected 4 2 Hardware Health Monitoring While the receiver is monitoring the health of both the remote and the user computer it contains dedicated hardware that is monitoring its internal health Both firmware based and independent hardware based watchdog timers monitor the functionality of the receiver firmware The communication link to the remote is also monitored directly in hardware independent of the firmware based monitoring Finally the reference clock source used by this custom hardware block is monitored by a third independent timer to ensure that is operating within its specifications A failure in any of these components causes the system to indicate an emergency stop situation CDS 021 01 August 2014 Humanistic Robotics Inc HRI WIRELESS EMERGENCY STOP SYSTEM USER S MANUAL Wired Emergency Stops y Remote _ Communications Reference Clock Monitor Clock Monitor Master Enabled Hardware mrt H Timer Communications from Remote f Remote Communications Monitor Communications from User Computer i e USB Serial CAN mmunications hlester Enable Monitor Hardware Watchdog Timer Figure 1 Internal Hardware Monitors The figure above illustrates the internal structure of the VSC It is designed from the ground up to ensure that no single point of failure hardware or software exists that could cause an unsafe condition to not be caught and indicated by the Master Enabl
12. st 2014 Humanistic Robotics Inc 13 14 WIRELESS EMERGENCY STOP SYSTEM USER S MANUAL uint16_t sum1 0 uint16_t sum2 0 int index for index 0 index lt count index sum1 sum1 data index amp 255 sum2 sum2 sum1 amp 255 return sum2 lt lt 8 sum1 Figure 3 Checksum Reference Humanistic Robotics Inc CDS 021 01 August 2014 an ies WIRELESS EMERGENCY STOP SYSTEM USER S MANUAL 8 Interfacing using CAN J1939 Protocol The CAN Protocol is a binary protocol designed to be compatible with the J1939 specification It is used for all communications between the user and the VSC 8 1 Packet Structure The SRCS uses the SAE J1939 basic joystick message to transfer information about the measured status of the X Y and Z axis of a joystick and the state of buttons The SRCS uses custom SAE J1939 messages to transfer the heartbeat and key value pair information 8 2 Message Types OxOCFD E801 Heartbeat J1939 Custom Message From VSC Table 10 Message Types 8 2 1 Heartbeat Message From VSC The heartbeat message from the VSC contains the Emergency Stop indication as well as the current system state evs mae 1 1 Autonomy Mode 0 User Control 1 Shared Control 2 Autonomous Control 2 E Stop indication 0 OK gt 0 E Stop Active Each bit represents an E Stop Table 11 Heartbeat Message From VSC 9 Troubleshooting Here is a li
13. st of the most common problems users are reporting with a solution 6 Not receiving data from the VSC If the color of the LED is ORANGE this Verify the state of the Emergency means that the VSC was reset with the Stop input on the VSC This is used bootloader indicator set to tell the VSC to go into bootloader mode on boot CDS 021 01 August 2014 Humanistic Robotics Inc HRI WIRELESS EMERGENCY STOP SYSTEM USER S MANUAL 10 Limited Warranty All products sold by Humanistic Robotics Inc are subject to the warranty provisions of the Humanistic Robotics Order Confirmation terms and conditions and are warranted against defects in material and workmanship for a period of one 1 year from the date of shipment If you believe any Humanistic Robotics Inc product you have purchased has a defect in material or workmanship or has failed during normal use within the warranty period please contact Humanistic Robotics Inc for assistance If product repair or replacement is necessary the Customer will be solely responsible for all shipping charges freight insurance and proper packaging to prevent breakage in transit whether or not the product is covered by this warranty This warranty does not apply to defects resulting from any Customer actions such as mishandling improper interfacing operation outside of design limits misapplication improper repair or unauthorized modification No other warranties are expressed or impli
14. t cleared when a connection is lost to the remote device Make sure to use the state in the heartbeat message to indicate whether or not a remote device is connected E CidOSCSC CS SC C C dY M E R E r pe p Percentage of battery remaining in 10 increments 0 100 PS o fums Ji o e Battery Charging 0 Not Charging 1 Charging uint8 1 Connection Strength 0 Low Connection Strength as perceived by VSC intermittent messages could be disconnected 1 Medium Strength 2 High Strength 7 uint8 1 Connection Strength 0 Low Connection Strength as perceived by SRC 1 Medium Strength 2 High Strength uint8 1 RSSI as perceived by Reserved for future use VSC Pe e ee SRC 16 Bit Checksum See Checksum Reference Table 7 Packet Protocol Heartbeat Message From VSC Humanistic Robotics Inc CDS 021 01 August 2014 ies WIRELESS EMERGENCY STOP SYSTEM USER S MANUAL 7 3 3 Heartbeat Message To VSC The heartbeat message to the VSC contains the Emergency Stop indication from the user If the User E STOP Timeout Key is set the VSC will use this message as a watchdog for the user computer as well It will indicate an Emergency Stop condition if the user does not periodically send this message after a 500ms timeout eote Type Size Description v r 2 Heese Sid oto SSCS 4 uint8 1 E Stop indication 0 OK gt 0 E Stop Active 16 Bit Checksum See Checksum Reference Table 8 P
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