Version 1.1 as of May 30, 2023
Thank you for your purchase.

Only qualified personnel who have received corresponding operation training and obtained qualifications are allowed to use this product.

Please refer to EN-1525:1997 specification for suggestions on using this product to manufacture mobile robots.

The use and maintenance behavior of mobile robots manufactured by this product shall comply with GB T 36507-2018 safety specifications for the use, operation and maintenance of industrial vehicles.

Disclaimer:
We have checked the content of this document. However, it cannot be guaranteed that the description is completely consistent with the product. We will often check the content of the description and make necessary corrections in subsequent editing.
Technical data is subject to change without prior notice.
Tips:

• Please read the product description carefully before using the product.

• Do not disassemble the controller for unauthorized maintenance personnel.

• Before use, please fix the controller on a stable plane.

• Please keep the controller dry to avoid overheating of components in the case, and do not cover or block the heat dissipation port.

• Before connecting the controller to the power supply, please confirm the power supply voltage value and the connection mode of the power supply terminals meet the requirements.

• Please place the power cord where it will not be trampled, and do not pile up anything on the power cord.

• Before you need to connect or unplug any device, make sure that all power cables have been unplugged in advance.

• Please pay attention to all the precautions and warnings mentioned in the manual.

• If an exception occurs during the use of the device, contact a professional.

• Please do not place or store the equipment in an environment with an ambient temperature higher than 70℃, otherwise it will cause irreversible damage to the equipment.

• This document cannot replace the technical agreement. If the content in this document conflicts with the technical agreement, please refer to the technical agreement or contract description.

1. Overview

1.1 Product Introduction

This product is a general controller designed for mobile robots (AGV, AMR, etc.), providing mobile robots with core map construction, positioning and navigation, model editing and other functions. The controller is adapted to a variety of mainstream laser radars, and provides rich I/O, CAN, RS485 and other interfaces for connecting various sensors and driver equipment. This product integrates the core components of mobile robots into one, and with powerful client software, it can help users to quickly complete the manufacture and application of mobile robots.

This product is developed and authorized to be produced by SEER. © All rights reserved.
Trademark
Some of the following names and other possible names do not contain registered trademark symbols®, they are all registered trademarks of SEER:

immortal worker, SEER,SRC

1.2 Function Overview

Table 1-1

1.3 Product Size and Environment

Overall size: 172 x 115 x 33 mm

Operating temperature: -25℃ to 50℃

Working humidity: 10% to 90% relative humidity, no condensation

Storage Temperature: -20℃ to 60℃

Protection level: IP20

1.4 External Power Supply Requirements

Table 1-2

1.5 Size and Installation

Figure 1-1

2. Operation Principle

2.1 Interface Definition

Figure 2-1
From left to right: network port 1, network port 2, WiFi-A, WiFi-B, audio port, USB2.0, and network port 3.
Network ports 1 and 2 are equipped with switching function, which are usually connected to external

sensors or used as debugging ports, and cannot be used to extend WiFi.
Network port 3 can be used to extend WiFi or as a debugging port.

Figure 2-2
Connector common end view
A: J2

Figure 2-3
B: J1

Figure 2-4

2.2 Connector Pin Definition

A: Connector J2 with 28 pins.

Table 2-1
B：Connector J1 with 32 pins.

Table 2-2

2.3 Emergency Stop Interface

• SRC-800 provides an emergency stop switch of one normally closed logic.

• SRC-800 emergency stop input signal foot J2-28, emergency stop switch uses normally closed logic switch. Controller internal pull up by default, external only need to connect the signal to normally closed emergency stop button and then pull the ground.

• Refer to Figure 2-5 for the logic diagram of the emergency stop input.

Figure 2-5

• The SRC-800 has a set of independent dry contact switches, which are used as emergency stop output signals. The output signal pins are distributed at 13/14 pins of J2 connector, and the maximum output is 120mA. Emergency stop output logic shows opinion "Figure 2-6".

Figure 2-6

2.4 DI Interface

SRC-800 DI supports NPN output sensor detection, when DI input signal foot is low level (GND), it is the trigger state, floating or 24V high level, it is the off state.

• The SRC-800 offers 10 DI input ports.

• It has an independent detection manual charger connection detection port.

• Please use the DI interface function after wiring according to the correct wiring definition.

• The logic of the interface is shown in Figure 2-7 ".

Figure 2-7

2.5 Definition of Boot Signal Interface

We recommend that you choose the self-reset button of 1NC + 1NO + LED first for the selection of boot buttons. The two ends of the normally open contact on the power-on key are respectively connected with J2-25 and 26, the signal pin is J2-27 connected with the normally closed end of the self-reset button, and the other end of the switch is connected with GND. The logic of starting up shows opinions "Figure 2-8".

Figure 2-8

2.6 One-click Switch Interface

The function of one-key battery on/off of the system is realized inside the SRC-800. When pressing the power-on button to enable the power-on to input effective signals, the power-on button is used to make the connected battery switch switch switch from disconnection to closed state, thus the battery power supply circuit is powered on. At the same time, after pressing the power-on button, the system will collect the power-on signal on the NC contact on the power-on key from normally closed to normally open. After detecting this change, the controller will conduct electronic self-lock on the battery switch at both ends of the NO contact through an electronic self-lock switch. After releasing the power-on button, although the mechanical contact of the battery switch changes from normally closed to normally open, however, since the controller has self-locked the power supply enable switch and completed the function of continuous external power supply of the battery. The SRC-800 has a battery switch signal output interface. If one-click switch control needs to be realized, one set of battery switch output signal needs to be connected to the battery switch signal end, and the other set needs to be connected to the start button. Internal logic of battery switch control shows opinions "Figure 2-9".

Figure 2-9

2.7 Communication Interface

• SRC-800 series controllers provide 3 standard CAN interfaces and 7 RS485(1 isolated RS485-0 and 6 non-isolated). Among the three CAN interfaces, two are isolated CAN interfaces (CAN1,CAN2) and one is non-isolated CAN interfaces (CAN3).

• Please connect the motor driver to CAN1 and can2.

• CAN1 is used to connect sensors of the CAN interface type.

• In order to adapt to different equipment, the controller CAN interface is equipped with 120ohm terminal resistance by default, the CAN interface is generally used to connect the motor driver, RS485 interface is generally used to connect the enclosure lamp, two-dimensional code camera and battery, etc.

• Please use the communication function after connecting correctly according to the wiring

  definition.

2.8 DO Output API

• The SRC-800 controller provides 10 digital output interfaces, and the output of the equipment is PNP type output, with an external output of 24V voltage.

• The switch status of each DO interface can be controlled by software alone. 

• When the actuator belongs to inductive load, such as relay, contactor, solenoid valve and so on, it is necessary to add a continuation diode to the actuator to eliminate the interference of back electromotive force caused by the disconnection of inductive load on the system circuit. For more information, see: appendix 2 perceptual load connection mode

• please use the DO output function after connecting correctly according to the wiring definition.

• The DO8-DO9 load supports A maximum of 24V/1A, and the rest supports A maximum of 24V/0.4A. (Current accuracy ± 15%).

2.9 Power Interface

• The power supply voltage of the SRC-800 is 24VDC, and the external DCDC is used to supply power. The Ripple requirement is ≤150mvpp, and the minimum working current of the system is 1A (excluding the power supply requirement of DO).

• If external output is available, use the appropriate DCDC.

• Motor drivers or other large power equipment are prohibited from sharing a DCDC with the controller.

• Please connect the SRC-800 power line correctly according to the wiring definition before turning on the controller. Make sure that the wiring is correct before opening. Please do not reverse the positive and negative poles

2.10 External Interfaces

• In addition to J1 and J2, the controller also provides 3 RJ45 Ethernet interfaces, 2 SMA antenna interfaces, 2 USB interfaces and 1 audio interface.

3. Reference Electrical Schematic Diagram

4. Product wiring harness interface definition

Figure 4-1

Figure 4-2

5. Precautions

Be sure to follow the following requirements, otherwise the safety will be affected or the controller

will be damaged:

1. For the sake of safety, please be sure to choose the battery with short circuit protection. If not sure, please add air switch at the battery output;

2. In order to improve the safety of the controller and the whole vehicle, the controller shell should be connected with the vehicle body, and the vehicle body must pass through a well-connected ground connection.

3. The bare wire should be insulated.

4. RS485/232, CAN wire please use evenly twisted pair.

5. Power off the controller before plugging and unplugging J1 and J2 connectors.

Appendix 1: Power-on Key Connection Method

Appendix 2: Perceptual Load Connection Mode

How DO inductive loads such as relays and contactors connect?

Inductive loads such as relays, contactors and solenoid valves must be connected to the current diode

to eliminate the interference of back electromotive force generated when the inductive load is

disconnected to the system circuit. The cathode connection of the continuous current diode can DO

the output, and the anode connection can DO the ground.


Interference hazards that may occur without a continuation diode:

• laser communication is disturbed, and the controller may have an alarm of laser connection failure.

• The Linux system of the controller crashed. 192.168.192.5 the network port cannot communicate, and the Roboshop cannot be connected.

• 192.168.192.4 and 192.168.192.5 cannot communicate.

When connecting the contactor, please judge the internal resistance and take-off current of the

contactor coil, and do not exceed the output current of PDO (1A).
diode recommended model: SR3100

Appendix 3: Glossary