Electrical interface

Electrical interface overview

Electrical architecture

Back Panel interface

Ned2 comes with I/O interface that can be used for wide range of equipements and Ned2 ecosystem.

The illustration below shows the differents electrical and communication interfaces present of the back panel of the robot.

Connector table

1	2 x USB 2.0
2	2 x USB 3.0
3	RJ45 port
4	Wi-Fi status indicator
5	Wi-Fi button
6	3 x digital inputs
7	3 x digital outputs
8	2 x analog inputs
9	2 x analog outputs
10	Conveyor control interface
11	Conveyor control interface
12	Infrared sensor interface
13	Vacuum pump control interface
14	On/off button
15	General power input

Warning

Take great care in following the safety guidelines in the next section to avoid damaging the robot.

Be sure to respect the order of connection and the characteristics of the robot’s inputs/outputs.

Make sure all the equipment and cables are dry. If water gets into the equipment, unplug the power cable.

Do not unplug or turn off the robot while it is in use, as this could damage the robot’s Raspberry Pi 4 or the micro SD card inside.

Before plugging in or unplugging the power supply, be sure to turn off the robot.

General power input

• Ned2 is powered with AC/DC adapter with two output ratings: 12V and 5V

Settings	Value
Frequency	50/60 Hz
Input	AC 100-240 V , 2.5 A
Output	12 V – 7 A; 5 V – 7 A

On/Off button

• The robot is turned on by pressing the power button on the back panel.

When the robot is starting on , the led ring displays white light.

After the robot start up completed, the indication of led ring will display blue light, the robot can be used normally at this time.

• The robot is turned off by pressing the same power button on the back panel.

When pressing the button ,the robot will start the Shutdown sequence. The led ring will display white Breath for 2 seconds.

Warning

Make sure the robot is in home position when powering off or on the robot.

Digital inputs

The electrical specifications of the digital inputs are showen below:

Connector	Settings	Min	Max	Units
	Digital inputs: Type –> NPN
[ DI1 - DI2 -DI3 ]	Voltage	0	5	V
	Current	0	5	mA

• This illustration below shows how to connect a switch to a digital input.

Digital outputs

The electrical specifications of the digital outputs are showen below:

Connector	Settings	Min	Max	Units
	Digital outputs: Type –> PNP
[ DO1 - DO2 -DO3 ]	Voltage	0	5	V
	Current	0	250	mA

• This example shows how to connect a load in order to be controlled from a digital output.

Analog inputs

The analog inputs can be used to measure voltage ( 0-5V) form an external equipement.

The electrical specifications are shown below:

Connector	Settings	Min	Max	Units
	Analog input
[ AI1 - AI2 ]	Voltage	0	5	V
	Current	0	20	mA
	Resolution		12	bit

• This illustration below shows how to connect a potentiometer for reading values from 0-5V.

Analog outputs

The analog outputs can be used to set voltage ( 0-5V) to an external equipement.

The electrical specifications are shown below:

Connector	Settings	Min	Max	Units
	Analog output
[ AO1 - AO2 ]	Voltage	0	5	V
	Current	0	30	mA
	Resolution		12	bit

• This example shows how to connect a load in order to be controlled from an analog output.

Conveyor control interfaces

Advice

Please refer to the conveyor v2 documentation for more information.

Infrared sensor interface

Vacuum pump control interface

Wi-Fi mode

The Wi-Fi indicator is used to display the Wi-Fi status in the robot.

Color	Description	Trigger
Solid blue	The robot is hotspot mode	Hotspot activated using Niryo Studio or the Wi-Fi button
2 blue blinks followed by a pause	The robot is connected to a network	The robot is connected to the network either with an Ethernet cable or via Wi-Fi
Quick blinking blue light	Wi-Fi mode change in progress	Press the Wi-Fi button
LED off	The robot’s hotspot and Wi-Fi are not activated	In order to activate a mode, you must press the Wi-Fi button

Wi-Fi button

Function	Type of action	Condition	Status after action
Activate the hotspot	Short press	The robot is in a Wi-Fi mode	The robot is in hotspot mode
Activate the Wi-Fi	Short press	The Wi-Fi is not activated or the robot is in hotspot mode	The robot is in a Wi-Fi mode
Deactivate the hotspot and wifi	Long press	The Wi-Fi or hotspot mode is activated	The Wi-Fi (and hotspot) are disabled

Top button

The top button on the Ned2 has multiple functions, depending on how long your press on it or the number of presses.

Time/Number of presses	Function
A program is running
1 short press (0.1 and 2 seconds)	Pauses the program
1 long press (> 2 seconds)	Stops the program
A program is paused
1 short press (0.1 and 2 seconds)	Resumes the program where it left off
1 long press (> 2 seconds)	Stops the program
A program is defined with an automatic start
1 short press (0.1 and 2 seconds)	Starts a saved program

Control Panel

FreeMotion button

• Pressing and holding this button deactivates the torques in the motors and performs the FreeMotion operation (find out more information on operation mode section.

Save button

• A short press on this button saves the robot’s position on Niryo Studio.

Custom button

• This button is programmable and allows the user to choose the type of action and the function of the button.

• For more information, please refer to Niryo Studio documentation

Gripper connector

• This connector is used to control the Custom Gripper, Large Gripper or Adaptive Gripper.

  

Electromagnet connector

• This connector is specifically for connecting Niryo’s electromagnet.

• There is also a digital input for connecting a sensor, for example.

• Programming the input/output can be done through Niryo Studio.

Connector	Settings	Min	Max	Units
	Digital inputs: Type –> PNP
[ DO4]	Voltage	0	5	V
	Current	0	250	mA
	Digital inputs: Type –> NPN
[ DI4]	Voltage	0	5	V
	Current	0	5	mA

Safety box

The safety box contain the emergency stop. Activate the emergency stop button to immediately stop all robot motion.

Warning

• The safety box should be always be wired to the robot.

Electrical connection

Powering ON

• To turn on the robot, make the connection as explained above. Make sure that the emergency stop button is deactivated and that the robot is installed according to the instructions given in the Safety instructions chapter.

• Press the On button and wait a few moments for the LED ring to light up ( please refer to led ring section).

• Find more information on how to program and use the robot in the Niryo Studio manual.

Advice

• Hardware can be tested for the very first time without using any software, as a program is pre-recorded at the factory to start automatically. To do this, follow the steps below:

  • Make the electrical connection and switch on the robot as explained above

  • Wait until the LED ring performs a slow blue “Chase” (go to the led ring section) and the robot start-up sound starts (if this is the first time you are using the Ned2, it takes about two minutes)

  • Press the top button: the Ned2 will start with a calibration, then it will perform a pre-recorded sequence.

LED ring indications

Warning

• If software changes are made to the robot LED ring indications, then the indications given in this section may be wrong.

Color	Condition	Operating mode	Description	Troubleshooting
White Breath	Normal condition		Robot is booting	N/A
White to blue Breath	Normal condition		Starting the robot	N/A
Slow blue Chase	Normal condition	Manual mode - Calibration	Calibration required	Press the Custom button, or launch a calibration
Blue Snake	Normal condition	Manual mode - Calibration	Calibration in progress	N/A
3 yellow Flashing	Normal condition	Manual mode - Calibration	Calibration warning	N/A
Solid orange	Warning	Manual mode	One or more robot axes are outside the motion limits	Return the axes to within the limits and start a calibration.
1 white Breath lasting 2 seconds then 6 blinks in white	Normal condition	Manual mode	Shutdown in progress	N/A
Flashing red	Emergency	Manual mode	Motor error	Check the motor error codes in the “Hardware Status” panel of Niryo Studio. Contact the after-sales service if it persists, as there may be defective fan.
Solid white	Normal condition		Update in progres	N/A
Breath blue	Normal condition	Manual mode - FreeMotion	FreeMotion activated	N/A
Breath green	Normal condition	Manual mode	FreeMotion disabled	N/A
Solid green	Normal condition	Manual mode - Programming	Program running	N/A
Chase green	Normal condition	Manual mode - Programming	Program paused	A short press on the button to resume, a long press on the top button to cancel the current program
Chase orange	Warning	Manual mode - Programming	Error in the program	Check the logs on Niryo Studio and Launch a new action to clear this state
Solid red	Emergency		Fatal error	Check the logs on Niryo Studio and restart the robot
Flashing orange	Warning		A collision is detected	Perform a new action to remove the warning and check if the robot has collided with an obstacle
Flashing purple	Normal condition	Manual mode	Login to Niryo Studio	N/A
1 Flashing white	Normal condition	Manual mode – programming	Saving a position	N/A

Note

• Glossary of light indications:

  • Breath: The light intensity increases and decreases periodically, suggesting a breath.

  • Snake: The LED chaser runs through the LEDs at moderate speed. Several LEDs light up one after the other.

  • Chase: Every third LED is on. All of them shift across, one LED after another.

Animation	Appearance	Gif
None	LEDs are turned off
Solid	Set the whole LED Ring to the same color at once
Flashing	Flashes a color according to a frequency
Alternate	The different colors are alternated one after the other.
Chase	Movie theater light style chase animation.
Rainbow	Draws rainbow that fades across all LEDs at once.
Breath	Variation of light intensity to imitate breathing.
Snake	Luminous snake that turns around the LED Ring.

Note

In order to program the different electrical interfaces of the robot , please refer to Niryo Studio Documentation.