TeraBee Follow-Me, User Manual

Page 1: ...Terabee Follow Me User Manual Technical support support terabee com Sales and commercial inquiries terabee sales terabee com ...

Page 2: ... host computer via USB 10 Connection parameters 10 Windows OS Linux OS 10 Mac OS 12 USB operation Master Beacon 14 List of commands 14 Response to command ACK NACK 16 Device information 16 Printout mode TEXT 16 Printout mode BINARY default 17 USB operation Remote Control 17 List of commands 17 Response to command ACK NACK 18 RS485 Modbus RTU Master Beacon 18 RS485 interface settings 18 Available r...

Page 3: ...23 Firmware Upgrade Recovery 24 ROS package 25 Applications with Terabee Follow Me 25 Compliance 27 Copyright Terabee 2020 Terabee 90 Rue Henri Fabre 01630 St Genis Pouilly France next to CERN Company Confidential 3 27 ...

Page 4: ...strial environments with CE RoHS IP65 when back panel mounted and vibration shock resistance certifications on going It takes a couple of minutes to set up the system and to obtain distance and heading output on a PC thanks to the graphical user interface developed by Terabee see section Graphical User Interface 1 2 Symbols explanation The following symbols are used within the document This symbol...

Page 5: ...er and slave beacons are used to calculate distance D and heading 𝜃 of the remote control with respect to the central point between the two beacons This information can be used by a control system of a mobile robot to follow a person holding the remote control Figure 1 Operation principle Figure 2 Connections diagram Copyright Terabee 2020 Terabee 90 Rue Henri Fabre 01630 St Genis Pouilly France n...

Page 6: ...e smoother output but will also increase the reaction time of the system to changes Output of the system is in the form of distance millimeters and heading degrees In case the system is unable to calculate distance and heading or the remote control is beyond the maximum range distance and heading will be set to 0 m 0 respectively 4 Mechanical integration 4 1 Mechanical design and mounting The Tera...

Page 7: ... Front panel mounting screwing the lid directly to the panel Figure 5 Front panel mounting 2 Back panel mounting with an O ring providing a sealed connection between the panel and the beacon Figure 6 Back panel mounting Copyright Terabee 2020 Terabee 90 Rue Henri Fabre 01630 St Genis Pouilly France next to CERN Company Confidential 7 27 ...

Page 8: ...refer to section Applications with Terabee Follow Me 4 3 Connectors and indicators Master Beacon 1 RS485 Modbus RTU Molex MicroFit 3 0 connector 2 USB 2 0 CDC micro USB connector 4 Device status LED 5 RS485 communication LED Master and Slave Beacons 3 Connection between beacons Molex MicroFit 3 0 connector 6 Ranging indicator LED Remote Control 7 Power indicator LED 8 Ranging indicator LED 9 Charg...

Page 9: ...king BLUE every 5 s Continuous GREEN Device power up Device working properly Ranging active 7 Power indicator LED Continuous GREEN Device working properly 8 Ranging indicator LED remote control Blinking BLUE every 5 s Continuous BLUE light Device working properly Ranging active 9 Charging indicator LED Continuous ORANGE Continuous GREEN Battery charging Battery charged 5 2 Error messages and troub...

Page 10: ... Linux it is possible to use terminal emulation software to display the data and configure the device Terabee often works with and suggests using HTerm software In order to download the software please navigate to the following link http www der hammer info terminal and select the file appropriate for your platform Tested with version 0 8 4 on Linux x64 and Windows 10 x64 platforms When using Wind...

Page 11: ...on to refresh the port list and connection parameters To improve data readability in text mode select the LF option from the Newline at drop down field See Figure 7 below for visual instructions Figure 7 HTerm parameters for Terabee FolloMe Once the USB port is selected and the parameters correctly set click on the Connect button Now you can send commands and receive data from the system Copyright...

Page 12: ...ntrol to see all the available commands 6 3 Mac OS When using a Mac OS it is also possible to use terminal emulation software to display the data and configure the device Terabee often works with and suggests using the CoolTerm software Please follow the provided link to download the software https freeware the meiers org Next double click on the CoolTermMac dmg file and then on the CoolTerm icon ...

Page 13: ... USB port is selected and the parameters correctly set click on the Connect button Now you can send commands and receive data from the system Copyright Terabee 2020 Terabee 90 Rue Henri Fabre 01630 St Genis Pouilly France next to CERN Company Confidential 13 27 ...

Page 14: ...nd button 7 USB operation Master Beacon Please refer to the section Connecting Terabee Follow Me to a host computer via USB for instructions on how to send commands to Terabee Follow Me system using a host computer and HTerm CoolTerm emulation software 7 1 List of commands Table 3 List of commands for Terabee Follow Me Command HEX Command description 00 00 00 00 DEVICE INFORMATION 00 11 01 45 PRIN...

Page 15: ...value in HEX format P is parity 0 None 1 Odd 2 Even 00 52 03 LL CRC8 SET MODBUS SLAVE ADDRESS LL is a number in a range from 1 to 247 in HEX format Admissible baud rate settings for the RS485 interface 1200 2400 4800 9600 14400 19200 28800 38400 56000 57600 115200 128000 256000 Each command message frame must be transmitted in a continuous stream ie not byte by byte It is advised to maintain a tim...

Page 16: ... STD RS485 1 19200 2 UWB Master FW 1 0 0 Slave FW 1 0 0 D 700 0 0 2 r n corresponds to the following parameters of the system Serial number 123 Main firmware version of master beacon 1 0 0 STD RS485 slave address 1 RS485 baud rate 19200 bit s RS485 parity 2 even Secondary firmware version of master and slave beacons 1 0 0 Span 700 mm EMA window size 0 no filtering Beacons swapped 0 not swapped Pri...

Page 17: ...s unable to calculate distance and heading or the remote control is beyond the maximum range 8 USB operation Remote Control Please refer to Connecting Terabee Follow Me to a host computer via USB for instructions on how to send commands to Terabee Follow Me system using a host computer and HTerm CoolTerm emulation software 8 1 List of commands Table 5 List of commands for Terabee Follow Me Remote ...

Page 18: ...ata description CRC8 0x00 0x00000000 ACK command processed correctly 0x00 0x00 0xFFFFFFFF NACK command processing failed 0xDE Each command message frame must be transmitted in a continuous stream ie not byte by byte It is advised to maintain a time interval of a few microseconds between two messages for proper command registration and checking ACK or response before sending the next command 9 RS48...

Page 19: ...tes Auto Calibration A value different from 0 deactivates Auto Calibration and sets manual calibration with the specified value 2 EMA window size 0 255 3 RS485 parameters Register value set to baud code parity where is bitwise OR Hex Baud 0x00 1200 0x04 2400 0x08 4800 0x0C 9600 0x10 14400 0x14 19200 0x18 28800 0x1C 38400 0x20 56000 0x24 57600 0x28 115200 0x2C 128000 0x30 256000 Hex Parity 0x00 Non...

Page 20: ...eters of the device before integration into the target platform It also provides an upgrade feature for the main firmware running on the master beacon The Terabee Follow Me GUI is available for download under the Downloads section of the Follow Me product page 10 1 Prerequisites On Windows 7 and Windows 8 please download the Virtual COM Port driver from http www st com en development tools stsw st...

Page 21: ... the File menu You should immediately see feedback about a successful connection in the status bar of the main window The available configuration options will differ depending on the connected device Master Beacon or Remote Control as shown in Figure 11 and Figure 12 Figure 11 Terabee Follow Me GUI main window with Master beacon connected When the master beacon is connected the user can set the pa...

Page 22: ...mote control is connected to the application you can set the following parameters Buzzer enabled disabled If enabled will beep within approximately 1 second intervals during ranging Button toggle hold mode In hold mode ranging is active as long as the button is pushed Ranging stops as soon as the button is released In toggle mode every time the button is pushed ranging is activated or deactivated ...

Page 23: ... firmware release as and when communicated by Terabee or should there be a necessity to re flash your existing device firmware The firmware upgrade procedure enables the possibility to upgrade only the main firmware running on the master beacon The current firmware version on your Terabee Follow Me can be found by clicking Device information in the File menu of the application or by sending the DE...

Page 24: ... switched to error mode Once initiated the upgrade firmware procedure must follow all the steps If the procedure is interrupted before finishing the device will switch to error mode Please refer to the Firmware Upgrade Recovery section for more details 10 4 Firmware Upgrade Recovery If the device stays in error mode e g due to an interrupted firmware upgrade procedure you can recover it by forcing...

Page 25: ...atus LED will blink green 8 times if the upgrade was successful and alternating green red if the device switched to error mode 11 ROS package ROS package available at https github com Terabee follow_me_driver_ros Features Distance and heading streaming from the system Configuration of the system s parameters 12 Applications with Terabee Follow Me Our relative positioning Follow Me system combined ...

Page 26: ...her sources of Ultra Wide Band Channel 5 6 49 GHz radio frequency within the same vicinity Due to interference it is not currently possible to run multiple Follow Me systems in the same environment This will be remedied in a later release It is not advised to put an additional cover on the beacons or remote control For best performance while operating the system hold the remote control with its lo...

Page 27: ...alled on Please take this into consideration in your application 13 Compliance Certifications CE FCC IP65 RoHS vibration shock resistance PENDING IMPORTANT Contains FCC ID 2AQ33 DWM1001 Copyright Terabee 2020 Terabee 90 Rue Henri Fabre 01630 St Genis Pouilly France next to CERN Company Confidential 27 27 ...