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Assembly Instructions RP-NTH

For RP-NTH-2D01-C1-S1-P1

Translation of the original assemblyinstructions Version: 1.0.2

Contents

1 Introduction.................................................................................................31.1 User documentation.............................................................................................................................. 31.2 Version information................................................................................................................................31.3 Copyright, marking and contact............................................................................................................ 31.4 Fields of applications and product definition.........................................................................................31.5 Warranty and disclaimer........................................................................................................................41.6 Staff qualification................................................................................................................................... 41.7 EU directives for product safety............................................................................................................41.8 Other applicable regulations..................................................................................................................51.9 Notes and used icons........................................................................................................................... 5

2 Overview and scope of delivery............................................................... 6

3 Safety and warning notices.......................................................................7

4 Operating conditions................................................................................. 84.1 Operation site........................................................................................................................................ 84.2 Operational environment....................................................................................................................... 8

5 Technical details and connections...........................................................95.1 Dimensioned drawings and mechanical properties...............................................................................95.2 Electrical properties and technical data of the components................................................................. 95.3 Pin assignment.................................................................................................................................... 10

6 Transport................................................................................................... 246.1 Unpacking the product........................................................................................................................ 24

7 Hardware installation............................................................................... 257.1 Installing additional components......................................................................................................... 257.2 Electrical connections..........................................................................................................................25

8 First commissioning................................................................................ 27

Assembly Instructions RP-NTH-2D01-C1-S1-P11 Introduction

1 Introduction

The RP-NTH-2D01-C1-S1-P1 mobile drive and technology platform is a development and evaluationplatform for research purposes and the rapid development of an automated guided vehicle (AGV)prototype.

These assembly instructions provide information on the safe installation and on connecting thenecessary components so that you can install the RP-NTH-2D01-C1-S1-P1 in your prototype.

1.1 User documentation

You can find additional information on the components of the drive and technology platform in thefollowing documents, which are available at us.nanotec.com or gitlab.nanotec.de:

Name Content

Operating instructions RP-NTH-2D01-C1-xx-xx

Description of the hardware and software components, installationof the software, commissioning

Technical manual PD4-E withCANopen fieldbus

Installation, commissioning, parameterization/programming,description of the functions of the motor with integrated controllerPD4-E

Nanotec-Gitlab wiki Instructions for the installation and operation of the softwarerequired for EMROS

You can find further information on the software and the software packets that have been madeavailable (published as open source) in the Nanotec repository at gitlab.nanotec.de.

1.2 Version information

Manualversion

Date Changes

1.0.0 09/2018 Edition

1.0.1 12/2018 Notes regarding the use and cleaning of the display added.

1.0.2 01/2019 Weight information added.

1.3 Copyright, marking and contact

Copyright © 2013 – 2019 Nanotec Electronic GmbH & Co. KG. All rights reserved.

Nanotec Electronic GmbH & Co. KG

Kapellenstraße 6

85622 Feldkirchen

Germany

Phone: +49 89 900 686-0

Fax: +49 (89) 900 686-50

us.nanotec.com

1.4 Fields of applications and product definition

The RP-NTH-2D01-C1-S1-P1 drive and technology platform is intended for developing prototypes ofan automated guided vehicle (AGV).

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http://www.nanotec.de

https://gitlab.nanotec.de/


https://us.nanotec.com/


RP-NTH-2D01-C1-S1-P1 is oriented towards:

• Robotics developers who are looking for a technology platform for developing their own modules,features, algorithms, etc., on the basis of the ROS (Robot Operating System) open-source platform

• Intralogistics developers who would like to evaluate the use of the Nanotec wheel drives and theEM5 CANopen master for their robotics systems

• Research institutions and start-up businesses with robotics focus

RP-NTH-2D01-C1-S1-P1 may only be used as a preliminary development platform. RP-NTH-2D01-C1-S1-P1 is not intended for constructing a finished transport vehicle as the basis for series production (asa separate product for operation on factory floors and in warehouses).

Note

This drive and technology platform is partly completed machinery in the context of the MachineryDirective 2006/42/EC. Commissioning is prohibited until it has been determined that – whereapplicable – the machinery into which this partly completed machinery is to be installed complies withthe provisions of the Machinery Directive 2006/42/EC.

RP-NTH-2D01-C1-S1-P1 is designed for use under the approved Operating conditions.

Any other use is considered unintended use.

1.5 Warranty and disclaimer

Nanotec produces component parts and partly completed machinery that are used in a wide range ofindustrial applications. The selection and use of Nanotec products is the responsibility of the systemengineer and end user.

With component parts, Nanotec assumes absolutely no responsibility for the integration of theproducts in the end system; with partly completed machinery, Nanotec's responsibility is limited to theprocedures/interfaces described in the assembly instructions for the installation of the partly completedmachinery in the machinery.

Under no circumstances may a Nanotec product be integrated as a safety controller in a product orconstruction. All products containing a component part or partly completed machinery manufacturedby Nanotec must, upon delivery to the end user, be provided with corresponding warning notices andinstructions for safe use and safe operation. All warning notices provided by Nanotec must be passedon directly to the end user.

Our general terms and conditions apply: en.nanotec.com/service/general-terms-and-conditions/.

1.6 Staff qualification

Only specialists staff may install, program and commission this partly completed machinery. Specialiststaff are persons who:

• Are familiar with and understand the contents of these instructions• Have appropriate training and experience in working with robotics systems• Have experience with ROS (Robot Operating System) and the C++ programming language• Know the applicable country-specific, state and local regulations and safety regulations

1.7 EU directives for product safety

The following EU directives were observed:

• RoHS directive (2011/65/EU)• Machinery directive (2006/42/EC)

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https://us.nanotec.com/service/terms-and-conditions-of-sale/


The EMC directive (2014/30/EU) was not taken into consideration because this partly completedmachinery is not intended for end users.

1.8 Other applicable regulations

In addition to this instruction, the following regulations are to be observed:

• Accident-prevention regulations• Local regulations on occupational safety

1.9 Notes and used icons

All notices are in the same format. The degree of the hazard is divided into the following classes.

CAUTION

! The CAUTION notice indicates a possibly dangerous situation.

Failure to observe the notice may result in moderately severe injuries.

► Describes how you can avoid the dangerous situation.

Note

Indicates a possible incorrect operation of the product.

Failure to observe the notice may result in damage to this or other products.

► Describes how you can avoid the incorrect operation.

Tip

The Tip notice provides assistance on operating the product.

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Assembly Instructions RP-NTH-2D01-C1-S1-P12 Overview and scope of delivery

2 Overview and scope of delivery

RP-NTH-2D01-C1-S1-P1 is a rollable drive platform, but is not drivable on its own on delivery. In orderto drive, RP-NTH-2D01-C1-S1-P1 requires:

• An energy source (battery).• A higher-level control unit (on-board computer, on which you must install the appropriate ROS

software).• A user program for the EM5, which is available as open-source software but which is not installed

on delivery.

RP-NTH-2D01-C1-S1-P1 consists of the following components, which are already installed and wiredon delivery:

Quantity Component

1 Vehicle chassis consisting of standard aluminum profiles with 8 mm profile groove

4 Support wheel

2 Assembly panel for attaching customer components

2 Wheel drive with mounting bracket. Combination article consisting of:

• PD4-E motor with integrated CANopen controller• Planetary gearbox GPLEP70-1S-7• Drive wheel

1 Freely programmable controller with CANopen master (EM5) with touchscreen display

1 Power management board (powerboard) W004

Not included in the scope of delivery:

• The on-board computer (Linux) on which the ROS controller software (EMROS-ROS) is to run.• The battery.• The charger/power supply for the battery.• The cables for connecting the battery and the on-board computer.

RP-NTH-2D01-C1-S1-P1 has no safety system, no safety brake and no sensors for detectingobstacles and persons. You have the possibility to fasten on and to the platform additional components(ultrasound sensors, laser scanners, switches, etc.) that can be powered via the powerboard andcontrolled by your on-board computer and/or another Linux computer.

Nanotec makes the software/firmware available for:

• The two wheel drives (CANopen slaves).• The freely programmable controller with EM5 CANopen master: Operating system and embedded

software (EMROS-EM5).• The powerboard.• The calculation of the target velocities of the individual wheel drives according to the data supplied

by your ROS system (EMROS-ROS).

EMROS-EM5 and EMROS-ROS are not loaded on delivery. Chapter First commissioning describeshow to set up your Linux computer and install/load the software to make RP-NTH-2D01-C1-S1-P1ready for operation.

Path planning of the vehicle and the path calculations (odometry) are not part of the supplied software.You can use already existing ROS nodes or develop your own algorithms on the basis of the ROS(Robot Operating System) open-source platform.

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Assembly Instructions RP-NTH-2D01-C1-S1-P13 Safety and warning notices

3 Safety and warning notices

CAUTION

!The platform may roll away on sloped surfaces. This could result in injuries!

The drive and technology platform is not equipped with a brake and may roll away if the slope islarge and there is a lack of support. This could result in foot injuries or damage to the platform.

► After unpacking, place the platform on a flat and level floor. The slope must not exceed 3.5%.

► Secure the platform against rolling away, e.g., with wheel chocks.

CAUTION

!Risk of injury from sharp edges!

Due to production tolerances, sharp edges may form on the support wheels that could cause handinjuries.

► Do not touch the support wheels or the mounting brackets to transport or unpack the drive andtechnology platform.

CAUTION

!Risk of crushing at pinch points on the drive wheels!► Do not reach into the opening between wheels and chassis.

► Do not touch moving/rotating parts during operation. After switching off, wait until all movementshave ended.

CAUTION

!Moving and rotating parts can catch hair and loose clothing.

During running operation, moving parts can catch hair or loose clothing, which may lead to injuries.

► If you have long hair, wear a hairnet or take other suitable protective measures when nearmoving parts. Do not work with loose clothing or ties near moving parts.

CAUTION

!Risk of overheating or burn!

The motors of the wheel drives and the powerboard can become severely hot during operation,this may cause burns.

► During use, make certain that the environmental conditions are ensured.

► Wait after switching off the platform, until all components have cooled off before you touch them.

Note

Electrostatic discharge can damage the electronics!

The product contains components that are sensitive to electrostatic discharge. Improper handingmay cause damage to the electronics.

► Observe the basic principles of ESD protection when handling of the drive and technologyplatform.

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Assembly Instructions RP-NTH-2D01-C1-S1-P14 Operating conditions

4 Operating conditions

RP-NTH-2D01-C1-S1-P1 is designed only for use in indoor environments and in fenced-in areas orareas enclosed by a barrier and may only be operated under the conditions specified in this chapter.

4.1 Operation site

RP-NTH-2D01-C1-S1-P1 has no possibility to detect persons and obstacles and has no safetyfeatures. RP-NTH-2D01-C1-S1-P1 may only be used in areas enclosed by a barrier, without personsand dangerous objects.

4.2 Operational environment

The following requirements apply for the operational environment of the drive and technology platform:

• The operational environment must be protected from the weather; RP-NTH-2D01-C1-S1-P1 is notdesigned for outdoor use.

• The floor must not be wet and must be sufficiently stable, level and horizontal. The slope must notexceed 5%.

• A reasonable level of technical cleanliness in the environment is required.• Observe the following environmental conditions:

Environmental condition Value

Ambient temperature (operation) +15 … +30°C

Ambient temperature (storage) +5 … +30°C

Air humidity (non-condensing) 0 … 85%

Altitude of site above sea level (without drop in performance) up to 1500 m

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Assembly Instructions RP-NTH-2D01-C1-S1-P15 Technical details and connections

5 Technical details and connections

5.1 Dimensioned drawings and mechanical properties

All dimensions are in millimeters.

The following table provides information on the mechanical properties and the dynamic capabilities ofthe drive and technology platform:

Property Value

Weight 36 kg

Maximum payload (at least two wheels loaded) 100 kg

Maximum speed 1 m/s

Maximum acceleration/deceleration 1 m/s2

Gradeability (with maximum load) 5%

Maximum lateral tilt angle 2°

Maximum obstacle 5 mm

Maximum gap 20 mm

5.2 Electrical properties and technical data of the components

The electrical properties of the entire drive and technology platform are:

Property Description / value

Rated voltage 24 V DC

Permissible voltage 22…30 V DC

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Property Description / value

Current consumption at standstill/in standby(without on-board computer)

Approx. 0.3 A

Power at maximum load (without on-boardcomputer)

Approx. 105 W

Maximum charging current 25 A

5.2.1 Battery

A battery is not supplied. You must procure and install a suitable battery and corresponding charger.

The battery that is used must:

• Be leakproof• Supply a maximum current of 30 A and a voltage in the range 22…30 V DC.

5.3 Pin assignment

5.3.1 Overview

Battery Charger / Power Supply

Touchscreen Display

S1: ON/OFF Switch

Connection/operating element Function

S1 ON/OFF switch

Charger/voltage supply Connection for charger/voltage supply

Touchscreen display Touchscreen display of EM5

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Powerboard

Ethernet

USB

Connection/operating element Function

Powerboard Central interface for supplying components

Ethernet connection of the EM5 For communicating with the on-board computer via theEtherProtocol

USB connection of the EM5 Configuration interface

X1

X2

X3X4X5X6

X9

X8

X7

X14X15X16 X13

X12

X10

X11

X17

X18

X19

X20

X23

S2

X21 X22

Connection Function

X2 Charger/voltage supply

X1 Battery

X3…X6 Supply voltage of the wheel drives

X13…X16 External brake resistors

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Connection Function

X21, X22 CANopen

X7 Supply voltage for the EM5

X8, X9 Supply voltage for 24 V loads

X10 Supply voltage for on-board computer (5 V)

X23 Control pins of the on-board computer

X20 Lamp of the ON/OFF switch

X19 Switching contacts of the ON/OFF switch

X17, X18 Supply voltage for fan

X11, X12 Supply voltage for 5 V loads

S2 CANopen termination resistor

5.3.2 Charger/power supply

Connection for the battery charger or the power supply. Internally connected to X2 on delivery.

• Type: Bulgin PXP7012/02P/ST• Mating connector (included in scope of delivery): Bulgin PXP7010/02S/ST/1113 (or equivalent)• Maximum admissible current: 25 A

In the following figure, pin 1 is marked.

Pin 1

Note

To achieve the maximum efficiency when charging your battery via the powerboard, enter the dataof the used battery in DCF file Powerboard.dcf. You can find an example at gitlab.nanotec.de.

Pin assignment

Pin Function Note

1 +Ub 22…30 V DC

2 GND

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5.3.3 S1 – ON/OFF switch

Button for switching the drive and technology platform on/off via the powerboard.

5.3.4 Touchscreen display

You can use the GUI library of the EM5 to develop a user interface with status indicator, debuggingoutput and various operating elements. An example is part of the EMROS-EM5 software, which youcan find in the Nanotec repository at gitlab.nanotec.de.

CAUTION

!Risk of injury from liquids leaking out in case of a damage of the LCD display!

If the glass of the display breaks, crystaline liquid could leak out.

► Do not touch the liquid, make sure that no liquid gets in your mouth!

► If the liquid contacts your skin or clothes, wash the affected spot off using soap and water.

Note

Damage of the diplay from use of not suitable cleansers!

► To clean the display, use a cloth with alcohol (ethyl or isopropyl).

► Do not use in any case water, acetone or similar aromatic solvents.

5.3.5 X2 – charger/power supply

Connection for the battery charger or the power supply.

• Type: Phönix PCV 5/ 2-G-7.62• Mating connector (included in scope of delivery): Phönix PC 5/ 2-ST1-7.62 or SPC 5/ 2-ST-7.62 (or

equivalent)• Maximum admissible current: 25 A


Pin 1

Version: 1.0.2 13



Note

To achieve the maximum efficiency when charging your battery via the powerboard, enter the dataof the used battery in DCF file Powerboard.dcf. You can find an example at gitlab.nanotec.de.

Pin assignment

Pin Function Note

1 +Ub 22…30 V DC

2 GND

5.3.6 X1 – battery

Connection for your battery.

• Type: Phönix PCV 5/ 2-G-7.62• Mating connector (included in scope of delivery): Phönix PC 5/ 2-ST1-7.62 or SPC 5/ 2-ST-7.62 (or

equivalent)• Maximum admissible current: 30 A


Pin 1

Pin assignment

Pin Function Note

1 Ub_ACCU+ 22…30 V DC

2 Ub_ACCU-

5.3.7 X3…X6 – supply voltage for the wheel drives

Connections for the supply voltage of the wheel drives.

All connections are identical and have the following features:

• Type: Würth Elektronik 691311700102

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• Mating connector (included in scope of delivery): Würth Elektronik 691352710002 (or equivalent)• Maximum admissible current: 8 A per individual connection, up to 20 A total for all four connections

added together


Pin 1

Pin Function Note

1 +Ub_Motor Rated voltage 24 V DC (corresponds to the voltage of the usedbattery/power supply)

2 GND

Tip

On delivery, the supply cable of the "left" motor (with node-ID 1) is marked with white adhesive tape.

5.3.8 X13…X16 – connection for optional external brake resistor

Connections for optional brake resistor for the wheel drives.

All connections are identical and have the following features:

• Type: Phönix MCV 0.5/ 2-G-2.5• Mating connector (included in scope of delivery): Phönix FK-MC 0.5/ 2-ST-2.5 (or equivalent)• Maximum admissible current: 3 A

In the case of regenerative operation of the wheel drives (e.g., when pushing the platform if the wheeldrives are switched off), a brake resistor connected here is enabled in an analogous manner. Thegenerated energy can thereby be consumed.

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Note

Induced voltage can damage the electronics!

If pushed at a high rate of speed, a high voltage is induced in the motor windings of the wheeldrives (back-EMF).

This may result in damage to the electronics.

► Push the platform at speeds of less than 0.15 m/s if the wheel drives are switched off and arein contact with the floor.

The following table shows which connection corresponds to which wheel drive connection:

Brake resistor connection Wheel drive connection

X13 X3

X14 X4

X15 X5

X16 X6

5.3.9 X21, X22 – CANopen

Connection for CANopen and logic supply for CANopen slaves.

Both connections are identical and internally connected and have the following features:

• Type: Phönix MCV 0.5/ 5-G-2.5• Mating connector (included in scope of delivery): Phönix FK-MC 0.5/ 5-ST-2.5 (or equivalent)• Maximum admissible current: 1 A


Pin 1

Pin Function Note

1 GND

2 CAN-

3 CAN_SHLD Connection for the cable shielding

4 CAN+

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Pin Function Note

5 +UB_Logic +5 V DC, output voltage for supplying the electronics of externalCANopen slaves

5.3.10 X7 – supply voltage for the EM5

Connection for the supply voltage of the EM5.

• Type: Würth Elektronik 691311700102• Mating connector (included in scope of delivery): Würth Elektronik 691352710002 (or equivalent)• Maximum admissible current: 1 A


Pin 1

Pin Function Note

1 +Ub_EM5 Rated voltage 24 V DC (corresponds to the voltage of the usedbattery/power supply)

2 GND

5.3.11 X8, X9 – supply voltage for 24 V loads

Connections for the supply voltage of external optional 24 V loads.

Both connections are identical and have the following features:

• Type: Würth Elektronik 691311700102• Mating connector (included in scope of delivery): Würth Elektronik 691352710002 (or equivalent)• Maximum admissible current: 1 A


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Pin 1

Pin Function Note

1 +Ub_24V Rated voltage 24 V DC (corresponds to the voltage of the usedbattery/power supply)

2 GND

5.3.12 X10 – supply voltage for on-board computer

Connection for the supply voltage of your on-board computer (5 V DC). Alternatively, you can use oneof the 24 V connections (X8/X9).

• Type: Phönix MCV 1.5/ 2-G-3.5• Mating connector (included in scope of delivery): Phönix FK-MCP 1.5/ 2-ST-3.5 (or equivalent)• Maximum admissible current: 6 A


Pin 1

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Pin Function Note

1 +Ub_PC 5 V DC

2 GND

5.3.13 X23 – control pins of the on-board computer

Connections for digital pins on the on-board computer. You can use these inputs/outputs to, e.g., startup/shut down or restart your on-board computer.

• Type: Phönix MCV 1.5/ 3-G-3.5• Mating connector (included in scope of delivery): Phönix FMC 1.5/ 3-ST-3.5 (or equivalent)


Pin 1

Pin Function Note

1 GPIO_PC_0 general purpose input/output, 5 V DC



5.3.14 X20 – connection for lamp of the ON/OFF switch

Connection for the lamp of the ON/OFF switch.

• Type: JST-XH• Mating connector:

• Housing (not included in the scope of delivery): JST-XHP-2 (or equivalent)• Socket contacts (not included in the scope of delivery): SXH-001T-P0.6 (or equivalent)

• Maximum admissible current: 1 A


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Pin 1

Pin Function Note

1 +Ub_PERIPH Rated voltage 24 V DC (corresponds to the voltage of the usedbattery/power supply)

2 GND

5.3.15 X19 – switching contacts of the ON/OFF switch

Connection for the normally open contact of the button.




Pin 1

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Pin Function Note

1 +3.3V 3.3 V DC

2 GND

5.3.16 X17, X18 – supply voltage for fan

Connections for the supply voltage for optional external fans (12 V DC output with 24 V DC supply bybattery/power supply).

Both connections are identical and have the following features:



• Maximum admissible current: 1 A


Pin 1

Pin Function Note

1 FAN+ Internally connected with +Ub_PERIPH (+24 V)

2 FAN- PWM-controlled open drain output

5.3.17 X11, X12 – supply voltage for 5 V loads

Connections for the supply voltage of external optional 5 V loads.

Both connections are identical and internally connected and have the following features:

• Type: Phönix MCV 1.5/ 2-G-3.5• Mating connector (included in scope of delivery): Phönix FK-MCP 1.5/ 2-ST-3.5 (or equivalent)• Maximum admissible current: 1 A


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Pin 1

Pin Function Note

1 +Ub_5V 5 V DC

2 GND

5.3.18 S2 – 120 ohm termination resistor

Switch S2 switches the termination of 120 ohm between CAN + and CAN - of the CAN bus on (DIPswitch set to "ON", right) or off.

ON

5.3.19 USB connection of the EM5

USB connection, type B, female

To load the project files (user program, configuration/DCF files) of the EMROS-EM5 software, you mustconnect your computer to the EM5 via this USB connection.

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5.3.20 Ethernet connection of the EM5

Ethernet connection, RJ45 socket

To establish communication between the two parts of the EMROS software (EMROS-EM5) andEMROS-ROS), you must connect your on-board computer with the EM5 via this connection using aLAN cable.

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Assembly Instructions RP-NTH-2D01-C1-S1-P16 Transport

6 Transport

Note

Induced voltage can damage the electronics!

If pushed at a high rate of speed, a high voltage is induced in the motor windings of the wheeldrives (back-EMF).

This may result in damage to the electronics.

► Push the platform at speeds of less than 0.15 m/s if the wheel drives are switched off and arein contact with the floor.

6.1 Unpacking the product

CAUTION

!Risk of injury from sharp edges!

Due to production tolerances, sharp edges may form on the support wheels that could cause handinjuries.

► Do not touch the support wheels or the mounting brackets of the drive wheels to transport orunpack the drive and technology platform.

CAUTION

!The platform may roll away on sloped surfaces. This could result in injuries!

The drive and technology platform is not equipped with a brake and may roll away if the slope islarge and there is a lack of support. This could result in foot injuries or damage to the platform.

► After unpacking, place the platform on a flat and level floor. The slope must not exceed 3.5%.

► Secure the platform against rolling away, e.g., with wheel chocks.

Note

Condensation can damage the electronics!

The drive and technology platform contains components that are sensitive to high humidity.Improper handing may cause damage to the electronics.

► After unpacking, do not commission the drive and technology platform until the temperature ofthe platform has reached that of the surroundings.

► Observe the approved Operating conditions.

Note

Do not expose the touchscreen display to direct sunlight or fluorescent light!

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Assembly Instructions RP-NTH-2D01-C1-S1-P17 Hardware installation

7 Hardware installation

The components supplied by Nanotec (see chapter Overview and scope of delivery) are deliveredalready installed and wired. In order for the drive and technology platform to be commissioned, youmust also install and connect additional parts (at least one voltage source (battery) and an on-boardcomputer).

CAUTION

!Risk of injury from tipping of the drive and technology platform!

When removing components such as wheel drives or support wheels, the drive and technologyplatform can tip.

This could result in foot injuries and/or damage to the platform.

► Before removing/installing components, make certain that the drive and technology platform issupported and that good stability is ensured.

7.1 Installing additional components

Installation space for your components is provided in the interior of the chassis.

You can fasten various components to the aluminum profiles (standard aluminum profiles with 8 mmprofile groove) or to assembly panels, such as battery, on-board computer, sensors, etc.

7.1.1 Securing the components

The standard aluminum profiles (8 mm profile groove) of the chassis can be used to mount additionalprofiles, mounting brackets (e.g. for mounting support wheels) and similar.

You can also drill appropriate holes into the existing assembly panels and attach suitable brackets foryour components.

Tip

To simplify installation, remove the assembly panel by loosening the screws with an Allen key.

7.2 Electrical connections

The central interface for all components is the powerboard. It supplies the EM5 and the wheel drivesand offers connections for, among other things:

• Your charger/power supply• Your battery• Your on-board computer• Optional fan• Expansion modules (5/24 V DC loads)

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Assembly Instructions RP-NTH-2D01-C1-S1-P17 Hardware installation

7.2.1 Connecting the components

You can find details on all connections in chapter Pin assignment. For the initial commissioning of theRP-NTH-2D01-C1-S1-P1, you must connect at a minimum the following components:

• a voltage source (22…30 V DC):

• Your charger/power supply to the connection for the charger/power supply or to X2• And/or your battery to X1

• Your on-board computer to X10 (alternatively to X8/X9: 24 V/1 A)• The network card of your on-board computer to the Ethernet connection of the EM5 using a LAN

cable

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Assembly Instructions RP-NTH-2D01-C1-S1-P18 First commissioning

8 First commissioning

This chapter describes how to install/load the necessary software and establish communicationbetween the EM5 and your on-board computer (ROS) to make RP-NTH-2D01-C1-S1-P1 ready foroperation.

Before beginning the commissioning process, read chapter Hardware installation and observe theSafety and warning notices as well as the Operating conditions.

CAUTION

!

Movements of the drive and technology platform pose a risk of collision!

The drive and technology platform has no safety functions and cannot prevent collisions withobjects or persons.

This could result in injuries and/or damage to the platform.

► During the initial commissioning, raise the platform so that the wheels do not touch the floor.

► Do not touch moving/rotating parts during operation. After switching off, wait until all movementshave ended.

The following components are required for commissioning:

• Charger/power supply and/or battery• On-board computer (Linux) on which the EMROS-ROS software is to run; possibly a second Linux

computer (configuration computer) for programming/configuring, whereby this can be the samecomputer

• Suitable USB cable for the USB connection of the EM5• LAN cable for the Ethernet connection of the EM5

Tip

During the initial commissioning, it is necessary to re-start the EM5 multiple times. If your on-boardcomputer is to be powered via the powerboard, connect it only after you have configured the EM5according to the following instructions and before connecting to ROS.

Configuring the EM5

1. Connect your charger/power supply to the connection for the charger/power supply or X2or connect your battery to X1.

2. Press the ON/OFF switch and wait until the display of the EM5 lights up.3. To connect your configuration computer to the EM5, connect your USB cable to the USB

connection of the EM5.The EM5 registers as a removable storage device.

4. To install the software for compiling and debugging the EMROS-EM5, follow the instructionsunder https://gitlab.nanotec.de/nathan/emros/wikis:

a. How-to: Handle emros makefileb. How-to: Install gnu-arm-emmdedded-toolchainc. How to: Setup eclipse for emros under linux

5. To load the project files (user program, configuration/DCF files) of the EMROS software,follow the instructions under https://gitlab.nanotec.de/nathan/emros/wikis:How-to: Start running emros em5

Connecting to ROS

1. To connect your on-board computer to the EM5, connect your LAN cable to the Ethernetconnection of the EM5.

Version: 1.0.2 27

https://gitlab.nanotec.de/nathan/emros/wikis

https://gitlab.nanotec.de/nathan/emros/wikis

Assembly Instructions RP-NTH-2D01-C1-S1-P18 First commissioning

2. To establish the connection via Ethernet and to start the EMROS-ROS software on the on-board computer, follow the instructions provided at https://gitlab.nanotec.de/nathan/ros-packages/wikis:How-to: Setup emros ros

3. To put the RP-NTH-2D01-C1-S1-P1 into motion, send the set speed of the vehicle toEMROS-ROS under ROS topic cmd_vel.You can find an example of controlling with a 3D mouse at gitlab.nanotec.de.

Version: 1.0.2 28

https://gitlab.nanotec.de/nathan/ros-packages/wikis

https://gitlab.nanotec.de/nathan/ros-packages/wikis


Assembly Instructions RP-NTH - en.nanotec.com · how to set up your Linux computer and install/load...

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