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Fort VSC-006 User Manual

Fort VSC-006
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© 2021, FORT Robotics. Company Confidential. Do not distribute. 935-0003 Rev C
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The Vehicle Safety Controller (VSC) is a wireless safety module that integrates into your machine or vehicle.
The VSC acts as the receiver for FORT’s Wireless Emergency Stop and Safe Remote Control systems. It can also
be configured as an emergency stop input, and emergency stop bridge, or as a wireless CAN bus bridge. The
VSC and all FORT controllers implement FORT’s proprietary SafetySense® technology to ensure consistent and
reliable control.
1. Applications
Control of remote, tele-operated, semi- or fully autonomous robotic systems where safety and
usability are critical.
Monitoring of fixed or mobile industrial systems requiring sophisticated control and reliable wireless
emergency stop capabilities.
2. Key Features (Vehicle Safety Controller VSC)
SafetySense® wireless communications
o Frequency bands include 900 MHz (2+ km LOS), 2.4 GHz (200+ m LOS) (other bands available)
USB, RS-232 serial, and CAN bus support for flexible system integration options
Second generation SafetySense® architecture for high reliability, no single point of failure safety
implementation
Dual wired emergency stop loop with active diagnostics
o Designed to meet ISO 13849 Category 3 Performance Level D 2015 Edition
Master enable relay outputs for direct stop of motion control equipment
o Internal Master enable fault detection
9 VDC to 36 VDC power input
USB interface for programming and configuration
-40
o
C to 70
o
C operation
Multiple Connector Options
o Sealed Mini-USB AB, Ecomate RM for Power, Estop I/O, RS232, or CAN interfaces, and RP-SMA
antenna connector
o MIL-DTL-38999 6 pin for USB, MIL-DTL-38999 19 pin for Power, Estop I/O, RS232, or CAN
interfaces, and RP-SMA antenna connector
IP66 (NEMA 4X) rated enclosure
Vehicle Safety Controller
Hardware Manual
Rugged Wireless Receiver with Dual Emergency Stop
Inputs and Outputs, USB, RS232, and CAN Integration
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Fort VSC-006 Specifications

General IconGeneral
BrandFort
ModelVSC-006
CategoryController
LanguageEnglish

Summary

1. Applications of the Vehicle Safety Controller

Remote Robotic System Control

Control of robotic systems where safety and usability are critical.

Industrial System Monitoring

Monitoring industrial systems requiring sophisticated control and reliable wireless emergency stop.

2. Key Features of the Vehicle Safety Controller (VSC)

SafetySense® Wireless Communications

Features SafetySense® wireless communications with multiple frequency band options.

Flexible System Integration Interfaces

Supports USB, RS-232, and CAN bus for flexible system integration.

High Reliability Safety Architecture

High reliability architecture with no single point of failure.

Dual Wired Emergency Stop Loop

Dual wired emergency stop loop meeting ISO 13849 Cat 3 Perf Level D.

Master Enable Outputs for Motion Control

Master enable relay outputs for direct stop of motion control equipment with fault detection.

Power Input and Operational Range

9-36 VDC input, -40°C to 70°C operation, USB programming.

Multiple Connector Options and IP Rating

Offers multiple connector options and IP66 (NEMA 4X) enclosure.

3. SafetySense® Technology Overview

System-Level Reliability Technologies

Technologies ensuring consistent and reliable remote operations for integrators.

Dual Controller Diagnostic Architecture

Contains dual controllers running frequent diagnostics for fault detection.

VSC Safety Architecture Diagram

Illustrates VSC internal structure designed to prevent single points of failure.

4. Vehicle Safety Controller (VSC) Specifications

Absolute Maximum Ratings

Lists the absolute maximum electrical and environmental ratings for the VSC.

Recommended Operating Conditions

Details the recommended operating conditions for electrical parameters.

Wireless Communication Specifications

Discusses wireless configuration options based on frequency and regulations.

4.3. Wireless Specifications Details

902-928MHz North America ISM Radio

Parameters for 902-928MHz North America ISM radio.

915-928MHz Australia & New Zealand ISM Radio

Parameters for 915-928MHz Australia & New Zealand ISM radio.

2.4GHz ISM Radio Specifications

Parameters for the 2.4GHz ISM radio.

4.4. Data Interfaces

CAN Bus Interface Specifications

Details the electrical specifications for the CAN bus interface.

RS232 Serial Interface Specifications

Details the electrical specifications for the RS232 serial interface.

4.5. I/O Connector Pinout and Signals

Master Enable and COM Signals

Master Enable common and NO signals for control.

Emergency Stop Input and Output Pins

Estop_In/Out pins for wired emergency stop loops.

Status Indicator and Data Interface Pins

LED outputs and serial/CAN data interface pins.

Power and Ground Connections

PVin for power input and GND for ground.

Reserved and Future Use Pins

RS-485 and other pins reserved for future use.

4.6. USB Connector Pinouts

VSC-009 (38999) USB Pinout

Pinout details for the VSC-009 38999 USB connector.

VSC-006 (Mini-AB) USB Pinout

Details about the USB Mini-AB connector for VSC-006.

4.7. Mechanical Specifications

VSC-009 (38999) Mechanical Details

Mechanical specifications for the VSC-009 (38999 connector).

4.7.2. VSC-006 - Ecomate RM Mechanical Specifications

4.8. Mechanical Drawings

VSC-009 (38999) Mechanical Drawing

Mechanical drawing and dimensions for the VSC-009.

4.8.2. VSC-006 - Ecomate RM Mechanical Drawing

5. Hardware Integration Procedures

Emergency Stop Input Wiring Guidelines

Explains how to wire emergency stop inputs, including bypassing.

Master Enable to Emergency Stop Loop Connection

Details connecting Master Enable signals to an emergency stop loop.

6. System Operation Modes

Master Enable Connection to External Loads

Shows how to connect Master Enable signals to an external load.

Overview of VSC Operating Modes

Summarizes the different operating modes of the VSC.

6.1. Local Mode Operation

6.2. Remote Mode Operation

6.3. Pause Mode Operation

6.4. Menu Mode Operation

VSC Menu Configuration Options

LCD Display Settings

Controls for LCD contrast and backlight settings.

Timeout and Auto-Off Settings

Settings for inactivity timeouts and automatic power-off.

6.5. Operational Mode Details

6.6. Master Enable Status Indication

VSC Status Indicators

SRC Emergency Stop Display Information

Visual indication of emergency stop status on the SRC display.

VSC LED Status and Meaning

Describes VSC LED states indicating connection and safety status.

7. Interfacing via FORT Packet Protocol (USB/RS232)

FORT Packet Protocol Data Types

Lists the data types used in the FORT Packet Protocol.

FORT Packet Protocol Structure

Defines the structure of packets in the FORT Packet Protocol.

FORT Packet Protocol Message Types

Details the various message types and their frequencies.

FORT Packet Protocol Message Details

Joystick Message Structure

Structure of the joystick data message from VSC.

Heartbeat Message Structure (From VSC)

Structure of the heartbeat message sent from the VSC.

Remote Status Message Structure

Information about the connected remote and link status.

Heartbeat and Remote Status Message Data

Remote Status Message Data Fields

Details connection strength and battery status in remote status messages.

Heartbeat Message Structure (To VSC)

Structure of the heartbeat message sent to the VSC.

FORT Packet Protocol - Message Control and User Feedback

Message Control Message Configuration

Allows configuration of VSC message output and intervals.

User Feedback Set Message Functionality

Updates values displayed on the SRC via user feedback keys.

User Feedback Key Definitions and Usage

User Feedback Key Definitions (General)

Defines keys for enabling features like Auto Off, Pause modes, and display settings.

User Feedback Get Message Query

Queries keys and feedback values from the system.

User Feedback Message and String Management

User Feedback Message (From VSC)

Updates values in Menu Mode on the SRC.

User Feedback Name String Message

Updates displayed names for user feedback fields.

SRC Joystick and Button References

SRC Joystick Axis Mapping

Explains how joystick axes are mapped on the SRC.

SRC Button Layout and Status

Describes the button layout on the SRC.

Checksum and Button Status Reference

SRC Joystick Button Status Codes

Defines the status codes for SRC joystick buttons.

16-bit Checksum Calculation Method

Explains the 16-bit checksum calculation algorithm.

8. CAN-J1939 Protocol Interface

J1939 Packet Structure and Message Types

Details J1939 message types, structure, and CAN IDs.

J1939 Left Joystick Messages

Describes J1939 messages for the left joystick.

J1939 Right Joystick Messages

Describes J1939 messages for the right joystick.

J1939 Remote Status Message

Contains remote status information via J1939 custom message.

J1939 Protocol - Heartbeat and User Feedback

J1939 Heartbeat Message Details

J1939 heartbeat message structure and system state.

J1939 User Feedback Value Message

Updates SRC display values using J1939 custom messages.

J1939 User Feedback and Joystick References

J1939 User Feedback Key Definitions

Defines user feedback keys for J1939 communication.

J1939 User Feedback String Messages

Updates displayed names for J1939 user feedback fields.

J1939 Joystick Axis Mapping

Explains joystick axis mapping for J1939.

SRC Joystick and Button References (J1939)

SRC Joystick Axis Status Reference (J1939)

Defines status codes for SRC joystick axes for J1939.

SRC Button References (J1939)

Describes button layout for J1939 communication.

SRC Button Status Reference (J1939)

9. USB HID Device Protocol Interface

USB HID Packet Structure and Message Types

Details packet structure and message types for USB HID.

USB HID Input Report Functionality

Describes the input report message for USB HID.

10. Regulatory and Ordering Information

Power Output and RF Exposure

Details power output capabilities and RF exposure requirements.

FCC and IC Compliance Notifications

FCC and Industry Canada compliance statements and conditions.

VSC Orderable Part Numbers

Lists available part numbers for the VSC and related accessories.

12. Warranty Information

13. Revision History