WIRELESS EXTERNAL FAULT FOR ROBOT
first configuration and installation
Revision history
| Rev. | Dep | Prepared by | Date | Revision description |
|---|---|---|---|---|
| 0 | icub-tech | A.Solari | 12/03/2024 | First Emission |
1 Document Scope
The procedure described here guides you toward: - Device description - First power-up - Fonfiguration through the Fort manager tool - Installation on robot through external circuit
2 Requirements
2.1 Hardware Requirements
- Transmitter (https://www.fortrobotics.com/wireless-emergency-stop)
- Receiver (https://www.fortrobotics.com/vehicle-safety-controller)
- Wiring and connector
- Power supply
2.2 Software Requirements
- Fort Configuration-Tool (https://support.fortrobotics.com/hc/en-us/articles/6493368859035-Using-the-FORT-Configuration-Tool)
- A PC with USB ports and Windows 10 (Windows 11 is not supported at the moment!).
3 Configuration Procedure
Attention: at the time of writing there are 2 versions of VSC ( ) find in the documentation the differences between VSC 8 and VSC 5, we used this one. I leave here an image to be clear.
3.1 Prepare the electrical connection (WIRING)
ll interfacing to the Embedded VSC is through the 40 pin Samtec connector (Samtec part number SFMC120-02-S-D). Its pin out is listed below:
In the end you have to have something like this:
[!WARNING]
Connects all GND pins together Connects together EStopOut0/EStopIn0 and EStopOut1/EStopIn1 if you don't use it Use Pin 25, 27, 29 and a GND general to a USB communication
Use this information to Use this table to properly power your VSC board. I have used 12V
You can find a full description here: https://www.fortrobotics.com/vehicle-safety-controller
3.1.1 Charging the wireless transmitter device
Charge the device using the USB port near the power button. Leave on charge for at least 2 hours, when the device is discharged it will not be able to communicate and the VSC will remain in fault condition.
3.2 Charging the wireless transmitter device
After installing the Fort configuration tool connect one device at a time and select the Multipoint wizard procedure, afterwards directly upload the configuaration file which I report below.
[!WARNING]
Supply power at the voltage chosen first together with the pins 15 e 21 Connect a USB cable to your PC (from pin: 25, 27, 29 and a GND general ) If all work you can scan your device in search bar.
This is the .JASON file that i use:
[
{
"configToolVersion": "1.13_WIP",
"name": "NVSC1",
"settings": {
"CAN baud rate": 5,
"Care ID": 2,
"Enable Switches output ID": 1,
"Enable Switches output key": 4262578258,
"Linked State": 2,
"Master Enable input ID 0": 2,
"Master Enable input ID 00": 2,
"Master Enable input ID 01": 0,
"Master Enable input ID 02": 0,
"Master Enable input ID 03": 0,
"Master Enable input ID 04": 0,
"Master Enable input ID 05": 0,
"Master Enable input ID 06": 0,
"Master Enable input ID 07": 0,
"Master Enable input ID 08": 0,
"Master Enable input ID 09": 0,
"Master Enable input ID 1": 0,
"Master Enable input ID 10": 0,
"Master Enable input ID 11": 0,
"Master Enable input ID 12": 0,
"Master Enable input ID 13": 0,
"Master Enable input ID 14": 0,
"Master Enable input ID 15": 0,
"Master Enable input ID 16": 0,
"Master Enable input ID 17": 0,
"Master Enable input ID 18": 0,
"Master Enable input ID 19": 0,
"Master Enable input ID 2": 0,
"Master Enable input ID 20": 0,
"Master Enable input ID 21": 0,
"Master Enable input ID 22": 0,
"Master Enable input ID 23": 0,
"Master Enable input ID 24": 0,
"Master Enable input ID 25": 0,
"Master Enable input ID 26": 0,
"Master Enable input ID 27": 0,
"Master Enable input ID 28": 0,
"Master Enable input ID 29": 0,
"Master Enable input ID 3": 0,
"Master Enable input ID 30": 0,
"Master Enable input ID 31": 0,
"Master Enable input ID 32": 0,
"Master Enable input ID 33": 0,
"Master Enable input ID 34": 0,
"Master Enable input ID 35": 0,
"Master Enable input ID 36": 0,
"Master Enable input ID 37": 0,
"Master Enable input ID 38": 0,
"Master Enable input ID 39": 0,
"Master Enable input ID 4": 0,
"Master Enable input ID 40": 0,
"Master Enable input ID 41": 0,
"Master Enable input ID 42": 0,
"Master Enable input ID 43": 0,
"Master Enable input ID 44": 0,
"Master Enable input ID 45": 0,
"Master Enable input ID 46": 0,
"Master Enable input ID 47": 0,
"Master Enable input ID 48": 0,
"Master Enable input ID 49": 0,
"Master Enable input ID 5": 0,
"Master Enable input ID 50": 0,
"Master Enable input ID 51": 0,
"Master Enable input ID 52": 0,
"Master Enable input ID 53": 0,
"Master Enable input ID 54": 0,
"Master Enable input ID 55": 0,
"Master Enable input ID 56": 0,
"Master Enable input ID 57": 0,
"Master Enable input ID 58": 0,
"Master Enable input ID 59": 0,
"Master Enable input ID 6": 0,
"Master Enable input ID 60": 0,
"Master Enable input ID 61": 0,
"Master Enable input ID 62": 0,
"Master Enable input ID 63": 0,
"Master Enable input ID 7": 0,
"Master Enable input ID 8": 0,
"Master Enable input ID 9": 0,
"Master Enable input key 0": 2400520046,
"Master Enable input key 00": 2400520046,
"Master Enable input key 01": 0,
"Master Enable input key 02": 0,
"Master Enable input key 03": 0,
"Master Enable input key 04": 0,
"Master Enable input key 05": 0,
"Master Enable input key 06": 0,
"Master Enable input key 07": 0,
"Master Enable input key 08": 0,
"Master Enable input key 09": 0,
"Master Enable input key 1": 0,
"Master Enable input key 10": 0,
"Master Enable input key 11": 0,
"Master Enable input key 12": 0,
"Master Enable input key 13": 0,
"Master Enable input key 14": 0,
"Master Enable input key 15": 0,
"Master Enable input key 16": 0,
"Master Enable input key 17": 0,
"Master Enable input key 18": 0,
"Master Enable input key 19": 0,
"Master Enable input key 2": 0,
"Master Enable input key 20": 0,
"Master Enable input key 21": 0,
"Master Enable input key 22": 0,
"Master Enable input key 23": 0,
"Master Enable input key 24": 0,
"Master Enable input key 25": 0,
"Master Enable input key 26": 0,
"Master Enable input key 27": 0,
"Master Enable input key 28": 0,
"Master Enable input key 29": 0,
"Master Enable input key 3": 0,
"Master Enable input key 30": 0,
"Master Enable input key 31": 0,
"Master Enable input key 32": 0,
"Master Enable input key 33": 0,
"Master Enable input key 34": 0,
"Master Enable input key 35": 0,
"Master Enable input key 36": 0,
"Master Enable input key 37": 0,
"Master Enable input key 38": 0,
"Master Enable input key 39": 0,
"Master Enable input key 4": 0,
"Master Enable input key 40": 0,
"Master Enable input key 41": 0,
"Master Enable input key 42": 0,
"Master Enable input key 43": 0,
"Master Enable input key 44": 0,
"Master Enable input key 45": 0,
"Master Enable input key 46": 0,
"Master Enable input key 47": 0,
"Master Enable input key 48": 0,
"Master Enable input key 49": 0,
"Master Enable input key 5": 0,
"Master Enable input key 50": 0,
"Master Enable input key 51": 0,
"Master Enable input key 52": 0,
"Master Enable input key 53": 0,
"Master Enable input key 54": 0,
"Master Enable input key 55": 0,
"Master Enable input key 56": 0,
"Master Enable input key 57": 0,
"Master Enable input key 58": 0,
"Master Enable input key 59": 0,
"Master Enable input key 6": 0,
"Master Enable input key 60": 0,
"Master Enable input key 61": 0,
"Master Enable input key 62": 0,
"Master Enable input key 63": 0,
"Master Enable input key 7": 0,
"Master Enable input key 8": 0,
"Master Enable input key 9": 0,
"RX Timeout": 350,
"RX encryption key": 2400520046,
"RX encryption key[00]": 2400520046,
"RX encryption key[01]": 0,
"RX encryption key[02]": 0,
"RX encryption key[03]": 0,
"RX encryption key[04]": 0,
"RX encryption key[05]": 0,
"RX encryption key[06]": 0,
"RX encryption key[07]": 0,
"RX encryption key[08]": 0,
"RX encryption key[09]": 0,
"RX encryption key[0]": 2400520046,
"RX encryption key[10]": 0,
"RX encryption key[11]": 0,
"RX encryption key[12]": 0,
"RX encryption key[13]": 0,
"RX encryption key[14]": 0,
"RX encryption key[15]": 0,
"RX encryption key[16]": 0,
"RX encryption key[17]": 0,
"RX encryption key[18]": 0,
"RX encryption key[19]": 0,
"RX encryption key[1]": 0,
"RX encryption key[20]": 0,
"RX encryption key[21]": 0,
"RX encryption key[22]": 0,
"RX encryption key[23]": 0,
"RX encryption key[24]": 0,
"RX encryption key[25]": 0,
"RX encryption key[26]": 0,
"RX encryption key[27]": 0,
"RX encryption key[28]": 0,
"RX encryption key[29]": 0,
"RX encryption key[2]": 0,
"RX encryption key[30]": 0,
"RX encryption key[31]": 0,
"RX encryption key[32]": 0,
"RX encryption key[33]": 0,
"RX encryption key[34]": 0,
"RX encryption key[35]": 0,
"RX encryption key[36]": 0,
"RX encryption key[37]": 0,
"RX encryption key[38]": 0,
"RX encryption key[39]": 0,
"RX encryption key[3]": 0,
"RX encryption key[40]": 0,
"RX encryption key[41]": 0,
"RX encryption key[42]": 0,
"RX encryption key[43]": 0,
"RX encryption key[44]": 0,
"RX encryption key[45]": 0,
"RX encryption key[46]": 0,
"RX encryption key[47]": 0,
"RX encryption key[48]": 0,
"RX encryption key[49]": 0,
"RX encryption key[4]": 0,
"RX encryption key[50]": 0,
"RX encryption key[51]": 0,
"RX encryption key[52]": 0,
"RX encryption key[53]": 0,
"RX encryption key[54]": 0,
"RX encryption key[55]": 0,
"RX encryption key[56]": 0,
"RX encryption key[57]": 0,
"RX encryption key[58]": 0,
"RX encryption key[59]": 0,
"RX encryption key[5]": 0,
"RX encryption key[60]": 0,
"RX encryption key[61]": 0,
"RX encryption key[62]": 0,
"RX encryption key[63]": 0,
"RX encryption key[6]": 0,
"RX encryption key[7]": 0,
"RX encryption key[8]": 0,
"RX encryption key[9]": 0,
"SMCU diag mask": 0,
"SMCU loop mask": 0,
"SMCU master enable FB mask": 1,
"SMCU master enable analog FB mask": 1,
"TX Rate": 35,
"TX encryption key": 4262578258,
"care list[00]": 2,
"care list[01]": 0,
"care list[02]": 0,
"care list[03]": 0,
"care list[04]": 0,
"care list[05]": 0,
"care list[06]": 0,
"care list[07]": 0,
"care list[08]": 0,
"care list[09]": 0,
"care list[0]": 2,
"care list[10]": 0,
"care list[11]": 0,
"care list[12]": 0,
"care list[13]": 0,
"care list[14]": 0,
"care list[15]": 0,
"care list[16]": 0,
"care list[17]": 0,
"care list[18]": 0,
"care list[19]": 0,
"care list[1]": 0,
"care list[20]": 0,
"care list[21]": 0,
"care list[22]": 0,
"care list[23]": 0,
"care list[24]": 0,
"care list[25]": 0,
"care list[26]": 0,
"care list[27]": 0,
"care list[28]": 0,
"care list[29]": 0,
"care list[2]": 0,
"care list[30]": 0,
"care list[31]": 0,
"care list[32]": 0,
"care list[33]": 0,
"care list[34]": 0,
"care list[35]": 0,
"care list[36]": 0,
"care list[37]": 0,
"care list[38]": 0,
"care list[39]": 0,
"care list[3]": 0,
"care list[40]": 0,
"care list[41]": 0,
"care list[42]": 0,
"care list[43]": 0,
"care list[44]": 0,
"care list[45]": 0,
"care list[46]": 0,
"care list[47]": 0,
"care list[48]": 0,
"care list[49]": 0,
"care list[4]": 0,
"care list[50]": 0,
"care list[51]": 0,
"care list[52]": 0,
"care list[53]": 0,
"care list[54]": 0,
"care list[55]": 0,
"care list[56]": 0,
"care list[57]": 0,
"care list[58]": 0,
"care list[59]": 0,
"care list[5]": 0,
"care list[60]": 0,
"care list[61]": 0,
"care list[62]": 0,
"care list[63]": 0,
"care list[6]": 0,
"care list[7]": 0,
"care list[8]": 0,
"care list[9]": 0,
"communication timeout": 350,
"logical ID": 1,
"mesh TDMA slot": 1,
"mesh access mode": 2,
"mesh aloha slots": 8,
"mesh carrier sense threshold": 60,
"mesh coordinator status": 4,
"mesh enabled": 1,
"mesh routing enabled": 0,
"radio RF rate": 23,
"radio diagnostic setting": 0,
"radio frequency key": 15,
"radio mode": 2,
"radio network ID": 2979,
"radio power level": 20,
"radio repeat interval": 3,
"radio retransmissions": 0,
"radio setting": 7,
"radio x Filter ID[0]": 0,
"radio x Filter ID[1]": 0,
"radio x Filter ID[2]": 0,
"radio x Filter ID[3]": 0,
"rs485 baud rate": 460800,
"rs485 tdma enabled": 1,
"rs485 tdma master": 0,
"rs485 x Filter ID[0]": 0,
"rs485 x Filter ID[1]": 0,
"rs485 x Filter ID[2]": 0,
"rs485 x Filter ID[3]": 0,
"wired setting": 0
},
"type": "NVSC",
"writtenTo": "",
"x": 207,
"y": 165
},
{
"configToolVersion": "1.13_WIP",
"name": "WES1",
"settings": {
"CAN baud rate": 5,
"Care ID": 1,
"Estop Button output ID": 2,
"Estop Button output key": 2400520046,
"Linked State": 1,
"RX Timeout": 350,
"RX encryption key": 4262578258,
"SMCU diag mask": 0,
"SMCU loop mask": 0,
"SMCU master enable FB mask": 0,
"SMCU master enable analog FB mask": 0,
"TX Rate": 35,
"TX encryption key": 2400520046,
"communication timeout": 350,
"logical ID": 2,
"mesh TDMA slot": 5,
"mesh access mode": 2,
"mesh aloha slots": 8,
"mesh carrier sense threshold": 60,
"mesh coordinator status": 2,
"mesh enabled": 1,
"mesh routing enabled": 0,
"radio RF rate": 23,
"radio diagnostic setting": 0,
"radio frequency key": 15,
"radio mode": 3,
"radio network ID": 2979,
"radio power level": 20,
"radio repeat interval": 3,
"radio retransmissions": 0,
"radio setting": 7,
"radio x Filter ID[0]": 0,
"radio x Filter ID[1]": 0,
"radio x Filter ID[2]": 0,
"radio x Filter ID[3]": 0,
"rs485 baud rate": 460800,
"rs485 tdma enabled": 1,
"rs485 tdma master": 0,
"rs485 x Filter ID[0]": 0,
"rs485 x Filter ID[1]": 0,
"rs485 x Filter ID[2]": 0,
"rs485 x Filter ID[3]": 0,
"wired setting": 0
},
"type": "WES",
"writtenTo": "",
"x": 53,
"y": 168
}
]
Use the same file to configure VSC005 and Fort fault button, if everything is okay you can see somethings like this:
4 Test Procedure
In this way you have configured pin 2 Master Enable 0 as a normally low system enable open-drain output (high-Z = active estop condition). If you are not using it, check this possible configuration:
