MiR Bluetooth Box. Technical Documentation

Transcription

1 MiR Bluetooth Box Technical Documentation Version 1.2 Software release 1.5 Release date:

2 Table of contents 1 Introduktion Feedback signal Indication of relays states Dimensions Inside the Bluetooth Box Modules inside the Bluetooth Box Pins for each relay What s included in the shipment of the Bluetooth Box NUC version 1.2 no USB Bluetooth dongle Technical specifications Connecting devices Usage Powering the Bluetooth Box Testing the relays of the Bluetooth Box using the test button Make the Bluetooth Box functionalities enabled in the web interface Connecting the Bluetooth Box to the MiR Using the Bluetooth Box as an action in a mission lists Using the Bluetooth Box with area event Administrative options Using administrative options Frequently Asked Questions Changelog Copyright Mobile Industrial Robots Page 2 of 21

3 1 Introduktion The MiR Bluetooth Box has a 4-channel output relay switch and one input logic level signal. The Bluetooth Box is used for establishing contact between peripheral equipment and the MiR100 over wireless Bluetooth communication. The box can be used for interfacing automatic door control systems, conveyor belt systems or other process equipment. In general, the Bluetooth Box can switch up to 240VAC/10A or 30V/10A DC. The MiR robot communicates with the Bluetooth Box through a proprietary protocol over the Bluetooth transmission layer operating within the hospital approved ISM band. 1.1 Feedback signal The input signal is used as a feedback signal to the MiR100, i.e. the MiR100 can be configured to wait for the feedback signal before it continues on its mission. The input signal is 24V DC. 1.2 Indication of relay states The box features four red LEDs in the lid, indicating the state of each relay. When a red LED is emitting, that given relay is ON, i.e. normal open is short circuit between pins 1 and 2. When a red LED is not emitting, that given relay is OFF, i.e. the normal open is open circuit between 1 and 2. The pins in each relay are described in section 3.2. When you click on the test button located on the left side of the Bluetooth Box, all four relays switch to ON state for 5 seconds. This is described further in 7.2. The test button is shown in Figure 1. 2 Dimensions This chapter shows the dimensions of the Bluetooth Box viewed from different angles. The test button is visible in Figure 1. The button view is shown in Figure 2 for hole dimension in order to mount the MiR Bluetooth Box on a wall. The micro-usb connector for powering the Bluetooth Box is shown in Figure 3. Figure 1. The Bluetooth Box with the test button visible on the left side of the Bluetooth Box. Copyright Mobile Industrial Robots Page 3 of 21

4 Figure 2. Bottom view of the Bluetooth Box with holes for wall mounting. Figure 3. The Bluetooth Box with the micro-usb connector visible on the right side of the Bluetooth Box. Copyright Mobile Industrial Robots Page 4 of 21

5 3 Inside the Bluetooth Box 3.1 Modules inside the Bluetooth Box The components of the Bluetooth Box are described below and shown in Figure 4. 1) Label with the MAC address of the given Bluetooth Box. Each Bluetooth Box has its own unique MAC address. 2) Bluetooth module HW 3) Microcontroller which controls the four relay ports: K1, K2, K3, and K4. 4) Input connector for feedback signal. 5) Four relay module boards with relay port K1, K2, K3, and K4. K1 is located at the outermost right side and is marked in Figure 4 by this symbol: K1 6) 24V/5V relay. Convert the 24V feedback input signal into 5V to be sampled by the microcontroller K1 6 Figure 4. The components of the Bluetooth Box Copyright Mobile Industrial Robots Page 5 of 21

6 3.2 Pins for each relay In Figure 5 the four relays are shown. Each relay has three pins which are either short circuit or open circuit. When the relay e.g. K1 is in OFF, which is the default state, there is short circuit between pin 2 and pin 3 and open circuit between pin 1 and pin 2. Vice versa when the relay K1 is ON, there is short circuit between pin 1 and pin 2 and open circuit between pin 2 and pin 3. When the Bluetooth Box is not powered on all the relays are OFF Figure 5. Relay pins, each at either short circuit or open circuit depending on the relay s state Copyright Mobile Industrial Robots Page 6 of 21

7 4 What s included in the shipment of the Bluetooth Box When ordering a Bluetooth Box, please state the following information: The name of the MiR100 The date when you order the MiR100 This is needed in order to find out if Mobile Industrial Robots needs to send an additional USB Bluetooth Dongle. This is described further in 4.1. The content of the shipment is: 1. MiR Bluetooth Box with four relays and one input feedback port. 2. 2A Power supply, standard EU/GBR power connector. 3. Optionally one Sandberg SBB40 Bluetooth 4.0 dongle for MiR. See section NUC version 1.2 no USB Bluetooth dongle If the NUC PC in the MiR is minimum HW version 1.2, i.e. the MiR has been ordered after February 2016, Wi-Fi and Bluetooth dongle functionality are embedded in the NUC PC. In that case no additional Bluetooth dongle is needed. However, if the Bluetooth Box is ordered for a MiR100 version 1.1, a Bluetooth USB dongle will be included in the shipment. Copyright Mobile Industrial Robots Page 7 of 21

8 5 Technical specifications Specification Communication Protocol Type Bluetooth 4.0; Frequency Range Channel status Input voltage Connector Power consumption Dimensions Weight Installation Power rating Inductive Load Operating temperature Storage temperature Relative Humidity Warranty period MHz; ISM frequency band Typical approximately 10m Maximum Up to 20 m line of sight Interface 4 red LEDS, one for each channel 1 orange LED to indicate 24 V high logical feedback signal Power requirements +5 V nominal; minimum V, absolute maximum 5.25 V Micro USB Nominal 500 ma; Maximum 1000 ma Physical 85x103x32 mm 50 g Wall-mount, DIN-Rail (optional) Relays Up to 30 VDC, 10 A; 240 VAC, 10 A Up to 30 VDC, 10 A; 120 VAC, 5 A Environment Warranty +5 to +40 C +5 to +40 C 45 to 85% RH 2 years Copyright Mobile Industrial Robots Page 8 of 21

9 6 Connecting devices Before attaching new devices, always power off the MiR Bluetooth Box. This is to eliminate the risk of electric shocks and of damaging the equipment. Use a small Phillips head screwdriver to unscrew the screws at the relevant port. Put in wires in the propper pin termials. See chapter 3, under section 3.2. Tighten the screws. Copyright Mobile Industrial Robots Page 9 of 21

10 7 Usage The Bluetooth Box can either be used as an action inside a mission list or as a Bluetooth Area event. See section 7.5 and section 7.6 respectively. 7.1 Powering the Bluetooth Box The Bluetooth Module requires a power supply of 5V DC through the micro-usb connector, which is shown in Figure 6. The PSU which converts V AC to 5V DC is described in chapter 4. Figure 6. Micro-USB powering connector located in the right hand side of the Bluetooth Box. 7.2 Testing the relays of the Bluetooth Box using the test button A test button is found on the left side of the Bluetooth Box. This is shown in Figure 7. When pushing this button, all four relays goes to ON state for 5 seconds and all four red LED should emit. After 5 seconds all four relays switch to OFF state and the four LED should stop emitting. This button is implemented to test if the hardware of the Bluetooth Box is working properly. Figure 7. Test button located on the left side of the Bluetooth Box. If some of the LED are not emitting upon activation of the Bluetooth Box test button, please write to support@mir-robots.com and report that your Bluetooth Box has this malfunction. Please also state the MAC address of the device. If none of the LEDs are emitting, please make sure that the Bluetooth Box is powered with 5 V. Open the lid and check if the LEDs from the microcontroller and Bluetooth hardware are flashing. If not, please contact support@mir-robots.com. Copyright Mobile Industrial Robots Page 10 of 21

11 7.3 Enable the Bluetooth Box functionalities in the web interface Step Instruction Illustration 1 Log in as administrative user with username admin and password mir4you 2 Check that Bluetooth relay.php is enabled under Available pages. Go to Service Configuration System settings Available pages 3 Check that Bluetooth Relay is enabled under Available actions. Go to Service Configuration System settings Available actions Copyright Mobile Industrial Robots Page 11 of 21

12 7.4 Connecting the Bluetooth Box to the MiR100 Step Instruction Illustration 1 Go to Bluetooth Relay menu. Service Configuration Bluetooth Relay 2 Press Create New 3 Insert a name for the Bluetooth Box and the unique MAC address, which is stated under the lid. Then press the green Create button. 4 The Bluetooth Box is now added. Click Connect in order for the MiR100 to connect to the Bluetooth Box. Copyright Mobile Industrial Robots Page 12 of 21

13 5 Verify that the text has changed from Connect to Disconnect. This means that the Bluetooth Box is connected. 6 Now you can test the individual by clicking on the buttons 1-4. You should hear the clicking sound from the Bluetooth relay and see that the test buttons turn green when they are in ON state. 7 To disconnect the Bluetooth Device, push the red Delete button. 7.5 Using the Bluetooth Box as an action in a mission list Step Instruction Illustration 1 Log in as administrative user with username admin and password mir4you Copyright Mobile Industrial Robots Page 13 of 21

14 2 From the main page, go to Mission 3 Press Create mission 4 Drag Bluetooth Relay to the Mission area and configure: In Module: Choose desired relay module. In Port: choose desired relay port to operate. In Operation: Select 0 or 1. 0 = desired relay is ON/OPEN. 1 = desired relay is OFF/CLOSE. In Timeout: Choose the time the chosen relay needs to be active. Input is in seconds. Copyright Mobile Industrial Robots Page 14 of 21

15 7.6 Using the Bluetooth Box with area event It is possible to select an area event which triggers the Bluetooth Box. In other applications, using the Bluetooth Relay action can also be beneficial if the user wants to trigger the Bluetooth Box from a known position. This is described in section 7.5. It is recommended to use the area event when the MiR100 has to drive through an automatic door application. In many cases, a simple movement sensor may be sufficient, but in in order to have 100% control of a transit from A to B that includes an automatic door interface, a MiR Bluetooth Box is needed. If the MiR is starting its route close to a door interface, the MiR needs the door to be open in order to start moving. If the door is closed, the MiR will not move and hence a movement sensor will not be sufficient. In order to setup the Bluetooth area, the different actions and menu regarding the Bluetooth Box must be enabled in the web interface, which is explained in section 7.3. It is important that the Bluetooth Box is connected to the MiR100 before using the Bluetooth area event. This is explained in the section 7.4. Step Instruction Illustration 1 From the start menu, navigate to the following destination: Service Configuration Maps 2 Within the Maps menu, find the current map, where the area event should be applied. In this case, the map Productions under the MiR HQ area is used. 3 Click the yellow Action button and select Area events. NOTE: If you select Delete and click OK, your map will be deleted. Copyright Mobile Industrial Robots Page 15 of 21

16 4 Entering the area event menu, different options are available: 1) Adding an area 2) Selecting the type of the selected area. 3) Saving the areas 4) Deleting a selected area. 5 Click Add area in order to create an area block on the map. The block can be resized in length and width and be moved around in the map. 6 Select Bluetooth from the Type dropdown menu The color of the Bluetooth area changes to purple. From here the Bluetooth Relay and Value dropdown menus appear. From the Bluetooth Relay dropdown menu, select the created Bluetooth module, which is explained in section 7.3. Select the given port, e.g. 1,2,3,4, which you want to trigger inside the given area. Copyright Mobile Industrial Robots Page 16 of 21

17 Click Save areas in order to save and have the areas take effect immediately. 8 Make sure the Bluetooth node is active in the Launch menu. This is found under the following path: Service Configuration Launch Menu Copyright Mobile Industrial Robots Page 17 of 21

18 8 Administrative options Administrative options can test whether the Bluetooth relay s functions are working with serial commands. Administrative options also have the options to: - Change the name of the Bluetooth relay. - Change the pin code of the Bluetooth relay. To get access to administrative options, connect the Bluetooth relay to a USB port in a PC through a Micro USB cable. 8.1 Using administrative options To get access to administrative options, use a terminal program to execute the following commands. See example to check reply from relay when command is entered. Command Instruction Example #C Followed by Switches a specific relay on. #O Followed by Switches switch a specific relay off. #R Resets all relays. #S Gets status of relays. #I followed by the new name Changes the name of the Bluetooth Copyright Mobile Industrial Robots Page 18 of 21

19 #P followed by the new code Changes the pin code of the Bluetooth Copyright Mobile Industrial Robots Page 19 of 21

20 9 Frequently Asked Questions Question: I have contact to the Bluetooth Box, but nothing happens when I enable the outputs. Answer: Have you tried to reboot the MiR100? After that, make sure the Bluetooth node is active in the Launch menu ( Service Configuration Launch menu ). Scroll down to locate the Bluetooth note. Make sure the node is running, i.e. the button should be red and read Stop. If the button is white and reads Start, the Bluetooth node is not active. Check the current version of the MiR. This is found in Service Maintenance Backup/Restore/Upgrade. The version should be minimum version Question: Cannot pair to Bluetooth Module. Answer: 1. Have you changed the pin code as administrator? Standard pin code is Have you checked that you have entered the correct MAC address? The address is located inside the Bluetooth Box on a white printed label under the lid. 3. If you have the Bluetooth Module paired and you unplug the power while it is paired, you have to wait for 10 seconds before trying to pair again. Notice: If you add a new mission to your missions and you delete the Bluetooth Box, then the missions to the old Bluetooth Box will still exist. Remember to delete the old missions when removing a Bluetooth Box! TIP: In general, if nothing works, try to deactivate the Bluetooth in the launch menu and disconnect the power in the Bluetooth Box. Then reactivate Bluetooth in the Launch menu and reconnect power. Copyright Mobile Industrial Robots Page 20 of 21

21 10 Changelog Version Date Changes Document created Added section 6.4 and Added section 7 and 7.1 and updated FAQ Document released Added section 7.6 with Bluetooth area event and small corrections Updating to software rel. 1.5 Copyright Mobile Industrial Robots Page 21 of 21