Electrical interface¶
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¶
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
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.
If you modify the original power supply of the robot, you should respect the same specifications.
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.
Digital output connection:
This example shows how to connect a load in order to be controlled from a digital output (see below).
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.
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.
This interface can be used to drive Niryo’s Conveyor Belt.
DXL connection¶
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; |
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.
Note
Information about programming and using the tool are available on the Software Manual