ez-wheel SWD Starter Kit Instruction Manual
- May 15, 2024
- ez-wheel
Table of Contents
INSTRUCTION MANUAL
SWD® Starter Kit
QUICK START
Power on
Put the kit on the floor on a stable and flat surface.
Install and plug the battery power connector on the rear side of the robot.
Press the white ON/OFF button on the side of the robot, nearby the Emergency
Stop.
The IPC and safety laser scanner lights turn on, and the kit starts booting
for a few tens of seconds.
To start safely, you can engage one of the Emergency Stops while the robot is
powering ON.
Display and status
iMX6 version
Display of the 4 LEDs – when the embedded IPC is powered:
| 1 | Power | The battery power is available | |
|---|---|---|---|
| 2 | Devices | The connection to the SWD® and to the safety laser |
scanner is active
| The connection cannot be established
3| ROS| | The ROS environment is active
4| Wi-Fi| | The Internet connection is established
| The VPN connection is activated (only for support)
iMX8 version
| iMX8 ON
---|---
Power Led State| Yellow| 
Connection to the web Control Page hosted on the embedded PC
Connect a third-party device to the Starter Kit thanks to its own Wi-Fi access
point SSID and initial password are indicated on the front plate beside the
safety laser scanner or on the leaflet.
Once a PC or tablet connected to the SWD® Starter Kit Wi-Fi access point, a
web page is accessible with any navigator by typing the page’s address:
http://10.10.0.1.
The SLAM algorithm used by default is Hector Slam available under ROS Noetic,
but other algorithms such as LaMa or Gmapping could be used.
Safety features monitoring
The page is used to check the status of the safety features set up with the SWD® safety drives and the safety laser scanner and shows an example of map built thanks to a ROS open-source SLAM algorithm using the data from the safety laser scanner.
STO| | when one of the two Emergency Stops is engaged, the motors are
stopped (Safe Torque Off)
---|---|---
SDI| | when the safety laser scanner detects an obstacle in the short
perimeter (<50cm), the motors cannot go forward (Safe Direction)
SLS| | when the safety laser scanner detects an obstacle in the nearby
perimeter (<1m), the robot cannot exceed 0,3 m/s (Safely Limited Speed)
Hand control for teleoperation (for demonstration)
The wireless joystick is directly connected to the embedded IPC and allows a
manual teleoperation of the machine.
The SWD® Starter Kit uses standard ROS Noetic packages (using joy and
teleop_twist_joy) providing interfaces with a standard console joystick.
To activate the hand controller, ROS packages must be started.
The status of the ROS LED can be checked to confirm that ROS is active.
Make sure you released the emergency buttons.
If the motion control becomes jerky, then the joystick might be discharged.
You should see joy’s LEDs blinking.
V-EN_31102023_SWD® Starter Kit
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