Electrical interface

Electrical interface Overview

Electrical architecture:

../../_images/ARCHITECTURE_NED.png

Electrical warnings and cautions

Danger

  • Make sure that all the equipment and the wires are kept dry. If water enters the equipment, disconnect the power;

  • Carefully follow the safety instructions of the next section to avoid damaging your robot.

Warning

Do not unplug or power off the robot during use, you may damage the Raspberry Pi 4 inside the robot, or the micro SD card inside the Raspberry Pi 4

Panel connectors

Panel connectors Overview

../../_images/PANEL_CONNECTORS.jpg ../../_images/PANEL_CONNECTORS_OVERVIEW.jpg

1

2 x USB port 2.0

2

2 x USB port 3.0

3

Ethernet port

4

Panel LED

5

2 x NiryoStepper connector

6

XL320 connector

7

XL430 connector (not used)

8

2 x SW : 12 V digital output

9

2 x GPIO panel

10

Top button

Power supply

Ned is powered with AC/DC adapter with 11.1V output

Parameters

value

Frequency

50/60 Hz

Input

AC 100-240 V , 1.5 A

Output

11.1 V – 6 A

Warning

  1. When Ned is turned on, do not disconnect the power supply of Ned. You may damage the Raspberry Pi 4 inside Ned, or the micro-SD card.

  2. If you modify the original power supply of the robot, you should respect the same specifications.

  3. Before plugging the power connector and powering on Ned, first make sure that:

    • Ned is on a flat and stable surface;

    • The power switch is turned off (position 0);

    • Ned has enough space to move without hitting something or someone.

Power Switch

The power switch turns Ned on and off. It enables the power supply.

Always switch it off after shutting down Ned and turn it on to power on Ned.

Warning

Before plugging or unplugging the power supply, make sure to turn off the switch.
Do not keep the switch on after shutting down Ned, otherwise , the power will be present on the motors and on the shield

Digital inputs/outputs

  • Ned has 6 inputs/outputs that can be configured either as digital input or digital output with Niryo Studio (see How to program the digital I/O on the Software Manual).

Terminal

Parameters

Min

Max

Unit

Digital Input

[1A-2A-1B-2B-1C-2B]

Voltage

0

5

V

Digital output

[1A-2A-1B-2B-1C-2B]

Voltage

0

5

V

  • Digital input connection:

    This illustration below shows how to connect a button to a digital input.

../../_images/DIGITAL_INPUT_CONNECTION.jpg
  • Digital output connection:

    This example shows how to connect a load in order to be controlled from a digital output (see below).

../../_images/DIGITAL_OUTPUT_CONNECTION.jpg

Switch connections

Terminal

Parameters

Min

Max

Unit

Digital Output

SW1, SW2

Voltage

0

11.6

V

Current

0

0.5

A

Below is an example of how to connect an external load to the switch output.

../../_images/SWITCH_CONNECTION.jpg

Ethernet

An Ethernet connection is provided at the panel connector of Ned.

The Ethernet interface can be used for the following:

  • Modbus TCP/IP;

  • PyNiryo;

  • Connect Ned to your local area network.

USB Port

The USB can be used to connect the keyboard, mouse, or Vision Set.

Find more information about Vision Set on the Vision Set Manual.

NiryoStepper connectors

NiryoStepper connectors interface can be used to drive a NiryoStepper motor. It is based on CAN Bus communication protocol.

../../_images/STEPPER_CONNECTORS.jpg

This interface can be used to drive Niryo’s Conveyor Belt.

DXL connection

XL320 Connector

This connector can be used to connect Ned’s Vacuum Pump tool.

../../_images/VACUUM_PUMP_CONNECTION.jpg

XL430 Connector

Not used.

../../_images/CONNECT_NOT_USED.jpg

Panel LED

Ned’s LED panel has several colors which represent different modes and error status. Refer to the following table:

Color / Blinking

Description

Troubleshooting

Solid blue

Hotspot mode, the robot has started and creates its own Wi-Fi network.

N/A

Solid green

Connected mode, the robot is fully started and connected to a Wi-Fi network.

N/A

Alternating between Green/Red

Motor error on connected mode

Check “HARDWARE STATUS” and logs to troubleshoot the error.

Alternating between Blue/Red

Motor error on hotspot mode.

Check “HARDWARE STATUS” and logs to troubleshoot the error.

Solid purple

Robot controller is shutting down

N/A

Alternating white – green

The robot is paused on connected mode

N/A

Alternating white – blue

The robot is paused on hotspot mode

N/A

Solid red

On start-up: the robot is booting;
On power off: shutdown completed

N/A

Top button

The top button of Ned has multiple functionalities depending on how long you press the button and the number of presses.

Note

All functionalities are available for use only after the robot has been fully started (LED is green or blue).

Press count / Delay

Function

Program is executing

1 press - 0.1 and 3s

Pause the robot program with Learning Mode off.

2 press – 0.1 and 3s

Pause the robot program with Learning Mode on.

Program is paused

1 press - 0.1 and 3s

Continue the program.

2 press – 0.1 and 3s

Stop the program.

Program is set on autorun

1 press - 0.1 and 3s

Start an autorun program.

Programming the robot with blockly

1 press - 0.1 and 3s

Add / save a freedrive joint position.

Note

When you pause the robot’s program with the top button, you should either press the button to continue or press twice to stop it.

Hint

You can test your robot hardware for the first time without using any software tool, you can follow the steps below:

  • Plug the power supply;

  • Turn on the power switch button;

  • Wait until the LED panel turns blue (if it is the first time you use Ned this should take 2 minutes);

  • Press the top button: Ned will start by calibrating and then it will execute a pre-saved sequence.

Tool wiring

Custom Gripper, Large Gripper and Adaptive Gripper:

There is a cable on the tool end of Ned with 3 pins. This connector can drive Custom Gripper, Large Gripper and Adaptive Gripper.

Note

Make sure to respect color order when you are wiring your gripper.

Warning

Not respecting the wiring instructions may damage your gripper or Ned.

Vacuum pump:

Plug the suction cup to Ned’s hand and connect the motor wire to the XL320 Connector placed at the back of Ned.

Electromagnet:

Plug the electromagnet to Ned’s hand and connect the cable on the GPIO1 or GPIO 2 connector on the panel connector.

../../_images/ELECTROMAGNET_CONNECTOR.jpg

Note

Information about programming and using the tool are available on the Software Manual