Product Description CVC700 SW

Edition: 03/2020
35000-602A

Keep all manuals as a product component during the life of the product.
Pass all manuals to future users / owners of the product.
 Record of Document Revisions

Revision Edition/Date Reason for Revision

First release for CVC700 BC SW 46163 2.7.8.
A 2020-03-13
(Backwards compatible with CVC600 Software)

IMPORTANT NOTICE

© Kollmorgen Automation AB 2006-2020. All rights reserved. All rights are reserved and no part of this pub-
lication may be reproduced or transmitted in any form or by any means without prior written consent from Koll-
morgen Automation AB.

Disclaimer

The information in this manual was accurate and reliable at the time of its release. However, Kollmorgen Auto-
mation AB reserves the right to change the specifications of the product described in this manual without notice
at any time.
This document contains proprietary and confidential information of Kollmorgen Automation AB. The contents of
the document may not be disclosed to third parties, translated, copied or duplicated in any form, in whole or in
part, without the express written permission of Kollmorgen Automation AB.
It is the responsibility of the product user to determine the suitability of this product for a specific application.
Technical changes which improve the performance of the device may be made without prior notice!
Printed in Sweden. All rights reserved.
All other proprietary names mentioned in this manual are the trademarks of their respective owners.

03/2020

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 Product Description CVC700 SW I TABLE OF CONTENTS

1 Introduction 5
1.1 Scope 5
1.2 Audience 5
1.3 Product Warranty 5
2 Release Information 6
2.1 Product Identification 6
2.2 Release Description 6
2.3 Options 6
3 Design and Features 7
3.1 Overview 7
3.2 Architecture 7
3.3 Navigation 8
3.4 Guidance 8
3.5 Load Handling 8
3.6 Safety 8
3.6.1 CAN Network Safety 8
3.6.2 Safe State 8
3.7 Diagnostics 9
3.7.1 Black Box Log 9
3.7.2 CAN Diagnostics 9
3.8 PLC For Error Handling 9
3.9 EMCY Codes 10
3.9.1 Vehicle Controller EMCY Codes 10
3.9.2 CVC SDIO EMCY Codes 10
3.10 Connection Types 12
3.10.1 Secure Connection Type 12
3.10.2 Legacy Connection Type 14
3.11 Vehicle Controller Web Interface Features 14
3.11.1 Reboot, Restart, Halt 15
3.11.2 Vehicle Controller Configuration 15
3.11.3 Troubleshooting 15
3.11.4 Upgrade 15
3.12 Software Environment 15
3.12.1 Platform Requirements 15
3.12.2 Dependencies on Other Products 15
3.13 Firmware Function Blocks for Serial Communication 15
4 Installation and upgrade 16
4.1 Before installation 16
4.2 Setup network connection 16
4.3 First time setup 17
4.4 Check software version 20
4.5 Upgrade software 21
5 Configuration 23
6 Operation 24
6.1 Login and Access 24
6.2 Home 25
6.3 Halt Vehicle Background Software 25
6.4 Restart Vehicle 25
6.5 Basic Configuration 25
6.5.1 Reboot 25
6.5.2 NDC8 Configuration 26
6.5.3 External Individual Parameter File 26

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6.5.4 Wireless LAN Configuration 27

6.5.5 LAN 29
6.5.6 Firewall Restrict WLAN 29
6.5.7 Port forward, WLAN to LAN 30
6.5.8 DNS Configuration 31
6.5.9 Master Configuration 32
6.5.10 Debug Configuration 32
6.5.11 Controller Clock Initialization 33
6.5.12 TCP CAN Link Logging 34
6.5.13 Connection Type 35
6.6 Application To Vehicle 35
6.7 Backup / Restore 36
6.7.1 Create a backup file 36
6.7.2 Restore from backup file 37
6.7.3 Reset to application values 38
6.7.4 Update external individual parameter file 38
6.8 Change password 39
6.8.1 Change password for secure connection type 39
6.8.2 Change password for legacy connection type 39
6.9 WLAN Diagnostics 40
6.10 Black Box Directory 40
6.11 System Log 41
6.12 Event Log 41
6.13 Version Information 41
6.14 Vehicle Options 42
6.15 Upgrade the Vehicle Controller Software 45
6.16 Upgrade CAN Device 45
7 Troubleshooting 48
7.1 Accessing the vehicle controller web interface 48
7.2 Start the Vehicle Controller in Safe-mode 48
7.3 Factory restart 49
7.4 Factory reset 50

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 Product Description CVC700 SW I 1 Introduction

1 Introduction

1.1 Scope
This document contains a high level description of the vehicle controller software for CVC700 (46163) that
is backwards compatible with the vehicle controller software for CVC600 (41975). This document also
describes the vehicle controller web interface where you define and manage the hardware equipment in the
vehicle controller.

1.2 Audience
This document is primarily written for application engineers customizing the vehicle controller.

1.3 Product Warranty

Refer to the sales agreement, under which the vehicle controller was purchased, for a complete statement
of the product warranty.

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 Product Description CVC700 SW I 2 Release Information

2 Release Information
The vehicle controller web interface is part of the vehicle controller software.

2.1 Product Identification

The software version is stated at the top on the Home page of the vehicle controller web interface. For
instructions, see Check software version, page 20.

Figure 1 - The vehicle controller web interface.

2.2 Release Description

Software changes are described in the Product Specification included in the installation package.

The System Release table in the NDC8 Releases specifies which version of the vehicle controller soft-
ware that shall be used in different system releases.

2.3 Options
The behavior of the system depends, among other things, on the options chosen. The options can be pur-
chased when ever they are needed. For available options see Datasheet Vehicle Software.

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 Product Description CVC700 SW I 3 Design and Features

3 Design and Features

3.1 Overview
The vehicle controller is designed for the control of Automatic Guided Vehicles (AGV) and features reliable
24/7 operation, ease of integration, and flexibility to handle a multiplicity of vehicle types and navigation
methods.

The vehicle controller is the heart of the vehicle. The software functions supervise everything from nav-
igation of the vehicle to load operations and communication.

3.2 Architecture
The vehicle controller is the main controller in the AGV. It is the master on the CANopen network and per-
forms all central functions, such as Navigation and Guidance, provides an IEC 61131-3 softPLC for applic-
ation logic, and holds the layout on which the path routing is based. The vehicle controller is a node in the
TCP/IP network (WLAN node), communicating to various tools, as well as the stationary controller (Sys-
tem Manager).

True real-time critical tasks are distributed on various CAN devices, such as CVC SDIO, included in the
vehicle controller, while more computing and data intensive tasks are kept in the vehicle controller.

The vehicle controller is built in a modular structure. Each naturally separated function is packaged into
well separated SW modules for best possible price-performance ratio and excellent quality.

Basically the vehicle controller is divided in one background part and one application part. The application
part mainly consists of the PLC engine executing the PLC programs designed in the Vehicle Application
Designer with its OpenPCS PLC programming studio and the layout design in the Layout Designer.

The main background part provides the following functional blocks:

l Configuration management, deploying and configuring all scalable and configurable functions and
devices at startup.
l Navigation, continuously keeping track of the position.
l Guidance, executing movement commands based on layout paths (segments).
l Order handler, keeping track of the movement commands received from the stationary controller or
even some routing when the order is triggered from the PLC or Vehicle Maintenance Tool.
l Network communication, providing a TCP/IP server for WLAN or LAN communication with service
and design tools and the stationary controller.
l CAN/CANopen communication, supervising the distributed fieldbus network of dedicated CAN
devices, such as VMC20, I/O, and display.
l Safety, the basic steering and driving control level offering safety according to EN 1525/EN 954-1
category 1. With the built-in regulator supervision functions enabled and adjusted for the applic-
ation, up to category 2. (The supervision functions may also be implemented in PLC.) The load
handling control is implemented in PLC. If movement and sensors are supervised, the load handling
fulfills up to EN 954-1 category 2.

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 Product Description CVC700 SW I 3 Design and Features

3.3 Navigation
The navigation module continuously calculates the current position of the vehicle, using information from
the laser scanner and/or spot/magnetic antennas and sensors, and the encoders mounted on the steering
and driving motor axes.

The navigation module is active in all operation modes, regardless of how the vehicle is driven. In reflector
navigation, an initial position is calculated/verified immediately after startup. With spot/magnetic system,
a set position command is necessary to be performed, in order to initialize the position in the navigation
module at startup.

3.4 Guidance
The vehicle guidance function is responsible for keeping the vehicle on the track. This means that the
vehicle reference point should at all times follow the segments that describe the vehicle guide path accord-
ing to the rule for each segment type. This is done by using the vehicle position that is supplied by the nav-
igation function (X, Y, and vehicle angle) and calculating how the vehicle is positioned in relation to the
guide path.

3.5 Load Handling

To create application specific load operations the application engineer uses SoftPLC in the Vehicle Applic-
ation Designer. These SoftPLC instructions are based on the IEC 61131-3 standard.

3.6 Safety
The CANopen master SW module performs guarding of all NDC8 CAN devices in the network. Fur-
thermore it supervises the internal communication of steer and drive messages.

If the CANopen master SW module encounters an error it will enter safe state and communicate to the
Supervisor module to open the vehicle controller AllOK relay.

Neither safety nor guarding is configured by default when using the EDS import functionality
in the Vehicle Application Designer. Guarding of CAN devices and guarding of individual
CAN messages have to be configured by the user.

3.6.1 CAN Network Safety

The CAN software module is a CANopen master that performs guarding of all slave CAN nodes and super-
vision of some vital internal resources, typically output values for steer and drive.

If the CAN software module encounters an error it will enter safe state and communicate to the Supervisor
module to open the vehicle controller AllOK relay.

3.6.2 Safe State

The CANopen master in the vehicle controller has the following basic working states:

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 Product Description CVC700 SW I 3 Design and Features

l Normal state
l Safe state

During normal state the vehicle controller AllOK relay is closed, all CAN devices are active and the red
CAN LED is off.

During safe state the vehicle controller AllOK relay is open, only CAN devices marked as "Act-
iveInSafeState" are active and the red CAN LED is on. When the CANopen master enters safe state, or is
commanded to safe state by PLC, diagnostic information about the event is stored and a black box is auto-
matically triggered.

Entry and exit to/from the two different states are performed equally and the sequence is as follows:

1. Initiation of CAN module (green LED blinking with 5 Hz).

2. Collection and configuration of CAN devices (green LED blinking with 1 Hz).
3. All active CAN devices fully operational (green LED on).

3.7 Diagnostics

3.7.1 Black Box Log

The vehicle controller maintains a black box log containing system information and runtime data. Should
an error be detected, the log is saved to the black box directory. The black box log files are available
through the vehicle controller web interface. From this interface it is also possible to manually save a black
box log file. The data in the black box is reviewed using the program Vehicle Diagnostic Tool.

3.7.2 CAN Diagnostics

CAN status information is available through the following parameters:

l CANOpenMaster.StatusText [Initializing, Operational, Pre-Operational]

l CANOpenMaster.Error [boolean]

The StatusText parameter indicates the current CANopen state of the CAN bus. The boolean Error para-
meter indicates if an error has occurred.

When a CAN error has occurred, further information about the cause is available through the following para-
meters:

l CANOpenMaster.EMCY_NodeID
l CANOpenMaster.EMCY_Code

3.8 PLC For Error Handling

The PLC is able to command recovery from safe state and resume normal operation. Refer to the doc-
ument NDC8 Functions.

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 Product Description CVC700 SW I 3 Design and Features

3.9 EMCY Codes

3.9.1 Vehicle Controller EMCY Codes

Table 1 - Vehicle controller EMCY codes.

Code Description Action

0x1001 The vehicle controller CAN module Transfer corrected definition and restart
encountered a definition error that prohibits star- vehicle.
tup and that could not be resolved. See
SysEvent log and/or Black Box for details.

0x1010 The vehicle controller CAN module has detec- Retrieve the Black Box information, and
ted timeout on set-values from internal guid- contact Support. Recover from CAN safe
ance module. state.

0x1012 The vehicle controller CAN module has detec-
ted timeout on an external condition for setting
AllOK. If the external condition has not been
detected within 60 seconds this error will occur.
See SysEvent and/or Black Box for details.
ACD/ACS: Check battery voltage, fuse
and cabling to drive B+. ACS: Check pre-
charge circuit.

0x1013 Steer encoder error for DD-Wheels. Steer Check encoder and drive servos for the
encoder signals for the wheel does not follow wheel.
control signal.

0x1014 PLC has commanded CAN bus to safe state. Check PLC Application.

0x1100 + The vehicle controller CAN module has detec- Resolve cable and/or device problem.
NodeID ted guard timeout on slave device with spe- Recover from CAN safe state.
cified node id.

0x1120 + The vehicle controller CAN module failed to Check that devices defined in the defin-
NodeID contact all nodes at startup. ition matches those physically connected
in the vehicle. Resolve possible cable
and/or device problems. Recover from
CAN safe state.

0x1140 + The vehicle controller CAN module failed with Verify slave device SW versions with
NodeID SDO read/write operation. See SysEvent log those used in definition. Check SDO
and/or Black Box for details. read/write operations from PLC. Recover
from CAN safe state.

3.9.2 CVC SDIO EMCY Codes

Table 2 - CVC SDIO EMCY codes.

Code Description Action

0x1000 Missed expected sync pulse from Encoder 1. Check encoder 1 and harness.

0x1001 Missed expected sync pulse from Encoder 2. Check encoder 2 and harness.

0x1002 Encoder 1 with sync enabled got a position out- Check encoder 1 and harness.
side signed 16-bit range.

0x1003 Encoder 2 with sync enabled got a position out- Check encoder 2 and harness.

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 Product Description CVC700 SW I 3 Design and Features

Code Description Action

side signed 16-bit range.

0x1010 The feedback chosen for the Regulator 1 is not

properly configured or enabled.

0x1011 The feedback chosen for the Regulator 2 is not

properly configured or enabled.

0x1012 Regulator 1 feedback failure. Expected feed-

back was not detected within a time-out.

0x1013 Regulator 2 feedback failure. Expected feed-

back was not detected within a time-out.

0x1020 IMU Error. The SDIO hardware doesn’t contain Upgrade the SDIO software.
the IMU support required by the SDIO software.

0x2320 Short circuit or over current on an output. Check harness or output load.

0x3000 Ground fault indication. Check harness. Emcy handled by PLC.

0x8100 The RPDO 1 was not received within the time-

out.

0x8101 The RPDO 2 was not received within the time-

out.

0x8102 The RPDO 3 was not received within the time-

out (CAN Encoder 1).

0x8103 The RPDO 4 was not received within the time-

out (CAN Encoder 2).

0x8100 Monitoring, communication.

0x8110 Monitoring, CAN overrun (message lost).

0x8120 Monitoring, CAN switched to error passive.

0x8130 Guard time elapsed without receiving a node-

guarding request.

0x8140 Monitoring, recovered from bus off.

0x8150 Monitoring, COB-ID collision.

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 Product Description CVC700 SW I 3 Design and Features

3.10 Connection Types

The vehicle controller can be configured to use secure or legacy connection type. To change connection
type, refer to Connection Type, page 35.

3.10.1 Secure Connection Type

The secure connection type uses HTTPS and requires a login with username and password. The login is
required for any kind of access to the vehicle controller. See Login and Access, page 24.

For an HTTPS connection, a web browser requires a digital certificate from a trusted source, but because
the vehicle controller uses a self-signed certificate, your browser will show a warning when you try to con-
nect to the vehicle controller web interface.

You must acknowledge the warning and proceed to access the vehicle controller web interface. If you
know that you are accessing a vehicle controller, for example, using a network cable, you can safely
accept the warning and continue. The warning is different depending on what web browser you are using.

After you have acknowledged the warning and connected to the vehicle controller, you will
also see in the address field of the browser an indication that the connection might not be
secure. This means that the browser cannot verify you are connecting to a vehicle controller.
Any data sent will be encrypted but you will have to ensure by yourself that you are con-
nected to a vehicle controller, for example, through a network cable.

Do not ignore this warning for anything important you are trying to connect to over the internet
(for example, your email or your bank.) Certificates are normally used when you access
secure sites over the internet. If you see this warning when you try to access your email or
your bank over the internet, you should not ignore it.

Using Chrome, you will see the Privacy error warning dialog, and the URL will show "Not secure". Click
"Advanced" on the warning page.

Under the warning text, click "Proceed to 192.168.100.100 (unsafe)".

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 Product Description CVC700 SW I 3 Design and Features

Using Edge, you will see the Certificate error warning dialog, and the message "This site is not secure".
Click "Details".

Under the "Details" text, click "Go on to the webpage".

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 Product Description CVC700 SW I 3 Design and Features

Using Firefox, you will see the Insecure connection warning dialog, and the message "Your connection is
not secure". Click "Advanced".

Under the "Advanced" text, click "Add Exception...".

In the Add Security Exception dialog, make sure the Location field reads: "https://192.168.100.100" and
click "Confirm Security Exception".

3.10.2 Legacy Connection Type

The legacy connection type uses HTTP and requires a login with password to access sensitive inform-
ation. See Login and Access, page 24. Users can access diagnostic information (such as version inform-
ation and logs) without logging in.

We recommend using the secure connection type, wherever possible, to ensure that the com-
munication is protected.

3.11 Vehicle Controller Web Interface Features

This section presents an overview of the vehicle controller web interface features.

For thorough descriptions of these features, see Operation, page 24 and Troubleshooting, page 48.

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3.11.1 Reboot, Restart, Halt

There are various possibilities to change the status level of the vehicle controller, as follows:

l Reboot, meaning that the operative system of the vehicle controller is rebooted. See Reboot, page
25.
l Restart, meaning that the background programs (see Architecture, page 7) are restarted, and the
vehicle application is reloaded. See Restart Vehicle, page 25.
l Halt, meaning that the background programs are closed, and the CAN devices are set in the safe
state (see Safe State, page 8). See Halt Vehicle Background Software, page 25.

3.11.2 Vehicle Controller Configuration

The Configuration functions can be used to set parameters of the vehicle controller, such as, for
example, id, name, and WLAN.

3.11.3 Troubleshooting
The Diagnostic functions provide information about the vehicle options, the vehicle application version,
and the WLAN status, system and event logs, and a possibility to retrieve a black box for troubleshooting.

3.11.4 Upgrade
The Firmware upgrade functions supply the possibility to upgrade the vehicle controller software and to
upgrade the CAN device.

3.12 Software Environment

3.12.1 Platform Requirements

The vehicle controller web interface is part of the vehicle controller software and can be accessed from any
computer with a web browser.

3.12.2 Dependencies on Other Products

The vehicle controller web interface runs standalone on a vehicle controller.

3.13 Firmware Function Blocks for Serial Communication

Firmware functions block are available for PLC-programming for communication with external equipment.

l Serial communication over the RS232–PORT (COM1)

l TCP/IP, UDP/IP COMMUNICATION

For information regarding the setup of serial communication and the use of firmware function blocks, refer
to the document Create Vehicle Application.

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 Product Description CVC700 SW I 4 Installation and upgrade

4 Installation and upgrade

4.1 Before installation

The following items and conditions are required for the startup procedures:

l Ethernet 100BaseT RJ45 to M12 cable for connection to the vehicle controller
l Power supply for the vehicle controller
l Login information to the vehicle controller (for default login, see Connection Types, page 12)
l A computer with CVC700 software installation package.
Available for download on www.ndcsolutions.com/partner-portal/

4.2 Setup network connection

To be able to connect locally to the vehicle controller it is necessary to change the LAN IP address on the
computer.

To temporarily change the LAN IP address of your computer in Windows:

1. Click on Start.
2. Choose Control Panel.
3. Choose Network and Internet.
4. Choose Network and Sharing Center.
5. Choose Change adapter settings.
6. Right-click on Local Area Connection and choose Properties.
7. Click on Internet Protocol Version 4 (TCP/IPv4).
8. Click on Properties.

Before changing anything, take notes of the current LAN IP address.

If you are uncertain on the settings, contact your local IT manager

9. Choose Use the following IP address option.

10. Enter the following information:
- IP address: 192.168.100.200
- Subnet mask: 255.255.255.0.
- Default gateway: Leave as is.
11. Click on OK.
12. Click on Close to finish.

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 Product Description CVC700 SW I 4 Installation and upgrade

4.3 First time setup

A first time setup is needed when you receive a new CVC700 unit.

This procedure is also applicable if you boot the CVC700 in factory restart mode, see Factory
restart, page 49.

1. Make sure that you have a correct LAN IP address and network connection between your computer
and the vehicle controller, see Setup network connection, page 16.
2. Connect your computer to the vehicle controller's LAN connector.
3. Start a web browser and enter the LAN IP address: https://192.168.100.100

Note that you must use HTTPS (secure connection) in this step. For information about
secure connection type and the certificate warning, see Connection Types, page 12.

4. Click on Browse and select the CVC700 installation file (.swu) located in:
C:/ProgramData/Danaher Motion/Shared/swu

The vehicle controller only accepts swu-files signed by Kollmorgen.

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 Product Description CVC700 SW I 4 Installation and upgrade

5. Click on Install, and wait until the installation is completed and the page is reloaded.
If the page does not reload automatically after the installation, click on the Home link to reload it
manually.

6. Click on Change Password.

7. Log in using the default secure connection login: 

User name: admin
Password: ndc8

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 Product Description CVC700 SW I 4 Installation and upgrade

8. Enter a new password, then click on Change.

Make sure to remember your new secure connection password

If you forget your secure connection password the vehicle controller must be started in
Safe-mode, see Start the Vehicle Controller in Safe-mode, page 48

9. Verify that the correct software is installed by checking the software version on the vehicle con-
troller web Home page. See Check software version, page 20.

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 Product Description CVC700 SW I 4 Installation and upgrade

4.4 Check software version

Always compare the installed vehicle controller software version with the version required for
your application. The vehicle controller software and the vehicle application shall use the
same version. We recommend using the latest version.

1. Make sure that you have a correct LAN IP address and network connection between your computer
and the vehicle controller, see Setup network connection, page 16.
2. Connect your computer to the vehicle controller's LAN connector.
3. Start a web browser and enter the LAN IP address to the vehicle controller web page:
l If secure connection type is used, enter the encrypted address:
https://192.168.100.100.
l If legacy connection type is used, enter the address: http://192.168.100.100.

For information about secure connection type and the certificate warning, see
Connection Types, page 12.

The instructions above assume that the LAN IP address of the vehicle con-
troller is 192.168.100.100 (default). If the LAN IP address is unknown, the
vehicle controller can be started in safe mode, see Start the Vehicle Controller
in Safe-mode, page 48

4. The software version is stated on the Home page. Compare it to the version required for your
application. If the version in the vehicle controller is not the version required for your application, con-
tinue with Upgrade software, page 21.

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 Product Description CVC700 SW I 4 Installation and upgrade

4.5 Upgrade software

It is essential that a started software upgrade can be completed without disturbance or inter-
ruption. Ensure that all cables are properly connected and that no applications that can inter-
fere with the upgrade are running on the computer. A disturbed or interrupted upgrade may
lead to failure that requires factory reset (see Factory reset, page 50) or return of the unit to
Kollmorgen Automation AB.

1. Make sure that you have a correct LAN IP address and network connection between your computer
and the vehicle controller, see Setup network connection, page 16.
2. Start a web browser and enter the LAN IP address to the vehicle controller web page:
l If secure connection type is used, enter the encrypted address:
https://192.168.100.100.
l If legacy connection type is used, enter the address: http://192.168.100.100.

For information about secure connection type and the certificate warning, see
Connection Types, page 12.

The instructions above assume that the LAN IP address of the vehicle con-
troller is 192.168.100.100 (default). If the LAN IP address is unknown, the
vehicle controller can be started in safe mode, see Start the Vehicle Controller
in Safe-mode, page 48

3. Click on Upgrade CVC700 software.

4. Click on Browse and select the CVC700 installation file (.swu) located in:
C:/ProgramData/Danaher Motion/Shared/swu

The vehicle controller only accepts swu-files signed by Kollmorgen.

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 Product Description CVC700 SW I 4 Installation and upgrade

5. If you want the basic configuration, application and layout to be restored in the vehicle controller
after the upgrade, tick the check box Restore configuration after upgrade (ticked by default).

If you untick the Restore configuration after upgrade check box; the basic con-
figuration, application and layout in the vehicle controller will be deleted.

6. Click on Upgrade, and wait until the installation is completed and the page is reloaded.
If the page does not reload automatically after the installation, click on the Home link to reload it
manually.

7. Verify that the correct software is installed by checking the software version on the vehicle con-
troller web Home page, as described in Check software version, page 20.

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 Product Description CVC700 SW I 5 Configuration

5 Configuration
The functionality of the vehicle controller is dependent of the vehicle controller and the peripheral devices.
A vehicle application must be created and transferred to the vehicle controller in an NDC8 system.

Create and configure vehicle applications using the Vehicle Application Designer.
The configuration procedure is described in the document Create Vehicle Application.

Transfer vehicle applications using either:

l Vehicle Application Designer, see the document Create Vehicle Application,

l Vehicle Maintenance Tool, see the document Vehicle Maintenance Tool Operational Guide,
l or the vehicle controller web interface, as described in Application To Vehicle, page 35.

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 Product Description CVC700 SW I 6 Operation

6 Operation
In this section, the vehicle controller web interface is described, see Figure 2, page 24.

The vehicle controller can be configured to use secure or legacy connection type. Differences
between secure and legacy connection type are noted in affected sections below. Also read
Connection Types, page 12.

Figure 2 - Vehicle controller web interface

6.1 Login and Access

If the connection type is set to Secure:

l A login with username and password is required for any kind of access to the vehicle controller.
Username: admin (This cannot be changed.)

Default password: ndc8 (This must be changed.)

l The default secure connection password must be changed, otherwise you cannot configure the
vehicle controller or drive the vehicle (not even with remote manual control). For more detailed
information, see Change password for secure connection type, page 39.

If the connection type is set to Legacy:

l A password (default: 1397) is required to access sensitive information and to configure the vehicle
controller. No username is required.
To change the legacy connection password, refer to the document Create vehicle application.

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 Product Description CVC700 SW I 6 Operation

6.2 Home
Click on the Home menu link to return to the start page of the vehicle controller web interface, see Figure
2, page 24.

6.3 Halt Vehicle Background Software

The Halt Vehicle function is used to halt the vehicle application, in situations like transferring the vehicle
application to or from the vehicle, see Architecture, page 7.

The use of this function will halt the vehicle application immediately.

To halt the vehicle controller:

1. Click on the Halt Vehicle menu link.

2. The vehicle controller has stopped the execution of background software.
The vehicle controller has stopped the execution of PLC code.

6.4 Restart Vehicle

The Restart Vehicle is used to restart the vehicle application after it has been halted. For example after
transfer of the application to the vehicle.

To restart the vehicle controller:

1. Click on the Restart Vehicle menu link.

2. The vehicle controller web interface responds with an OK screen.
The vehicle controller has restarted the execution of background software.

6.5 Basic Configuration

This is where the basic configuration of the vehicle controller is made. The application programming is
made using the Vehicle Application Designer.

6.5.1 Reboot

Figure 3 - Reboot

To reboot the vehicle controller:

1. Click on Reboot.

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 Product Description CVC700 SW I 6 Operation

The vehicle controller will stop and restart during the reboot.

6.5.2 NDC8 Configuration

This is where the configuration of what site name and system name the vehicle controller should operate
in. This is also where the vehicle controller gets the unique id. The configuration of the vehicle controller is
described in the document Create Vehicle Application.

To enter the basic configuration page:

1. Select the Basic configuration menu link.

2. Enter the password and click on Login.
3. If the correct password is entered, the message Login successful together with a Continue link will
be presented; click on the link.

To enter or change the NDC8 configuration:

1. Enter the new Site Name, System Name, and Vehicle ID parameters, in each of the cor-
responding text box fields.

2. Click on Set to confirm the changes.

The vehicle controller has to be rebooted for changes to take effect; click on Reboot.

6.5.3 External Individual Parameter File

To use the External Individual Parameter File function:

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1. Select the Yes radio button in the Use External Individual Parameter File selection.

2. Enter the individual name of the vehicle in the Vehicle Individual Name text box field.
3. Click on Set to confirm the changes.
The vehicle controller has to be rebooted for changes to take effect; click on Reboot.

For more information about External Individual Parameter File, refer to the document Create Vehicle Applic-
ation.

6.5.4 Wireless LAN Configuration

The vehicles are normally communicating with the stationary system through Wireless LAN (WLAN).

To configure the WLAN:

1. In the Wireless LAN configuration, select one of the following modes:

Infrastructure. Select this when there is a WLAN network available for the system.

Ad-Hoc. Select this when there is no WLAN available; typically used when starting up the
vehicle and a direct WLAN connection vehicle to computer is needed.
Disabled. Select this when, for example, an external WLAN or radio communication is used.
The Essid and Key will be disabled.

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 Product Description CVC700 SW I 6 Operation

For the Infrastructure and Ad-Hoc modes, do the following:

1. Add Essid (SSID).

2. Choose Encryption for your network.
3. Select Hex or ASCII. Add Key.
4. Choose Channels available for your network.
5. In Regulatory domain, default is World Wide.
6. Choose Background scan period, default is 30 sec.
7. Click on Set to confirm the changes.
8. Click on the Back link.

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If DHCP is not used:

1. Enter an IP address.
2. Enter the Netmask.
3. Enter a Gateway, if necessary.
4. Click on Set to confirm the changes.

The vehicle controller has to be rebooted for changes to take effect; click on Reboot.

6.5.5 LAN
To configure the LAN:

1. The IP address presented is the current IP address from the vehicle controller. If DHCP is not
used, please enter the new IP address in the IP Address text box field.

2. Enter a new Netmask, if necessary.

3. Enter a Gateway, if necessary.
4. Click on Set to confirm the changes.
The vehicle controller has to be rebooted for changes to take effect; click on Reboot.

6.5.6 Firewall Restrict WLAN

To restrict the WLAN access to connect to the vehicle:

1. Select Yes in the Firewall section.

2. Click on Set to confirm the changes.
The vehicle controller has to be rebooted for changes to take effect; click on Reboot.

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This affects the following:

l Vehicle Application Designer

l OpenPCS
l Vehicle Maintenance Tool
l Vehicle Diagnostic Tool
l Reflector Surveyor
l Natural Surveyor
l Web Browser

Communication with System Manager is not affected.

6.5.7 Port forward, WLAN to LAN

In this part, it is possible to define rules for forwarding the communication traffic, that is, to connect a
WLAN port to a LAN port.

Define a port forward rule:

1. In the first unused rule row, enter the WLAN port number of the vehicle controller, from which the
communication traffic is to be forwarded, in the Source port text field.
2. In the same rule row, enter the LAN IP address to which the communication traffic is to be for-
warded, in the Destination IP address text field.
3. In the same rule row, enter the LAN port number to which the communication traffic is to be for-
warded, in the Destination port text field.
4. In the same rule row, select Protocol: TCP, UDP or "All".
5. Click on Set to confirm the changes.

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Figure 4 - Port forward, WLAN to LAN

Some ports are reserved by the vehicle controller. See Product Specification included in the
installation package for details.

6.5.8 DNS Configuration

In this part, it is possible to configure, enable, and disable one or two Dynamic Name Servers (DNS).

Define a DNS:

1. Select the Yes radio button to enable the use of the DNS function.
Select the No radio button to disable the use of the DNS function.

2. In any of the DNS 1 and DNS 2 text fields, enter the IP address of the DNS to be used.
3. Click on Set to confirm the changes.

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6.5.9 Master Configuration

If the Connection Type is set to Secure:

1. Enter the IP Address to the stationary controller.

2. Enter what Port to use.
3. Enter Encryption key (Optional). This should match Encryption key defined under Communication
Parameters in the document System Application Designer, chapter Vehicle communication encryp-
tion.
4. Click on Set to confirm the changes.
The vehicle controller has to be rebooted for changes to take effect; click on Reboot.

If the Connection Type is set to Legacy, and the vehicle controller and the stationary controller operate on
the same subnet, the Use name resolution options become available, as shown in the figure below. You
can either select the Yes radio button and use the name resolution or select the No radio button and manu-
ally enter the IP Address and Port as described above.

6.5.10 Debug Configuration

These settings are used for debugging purposes as described below:

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Figure 5 - Debug Configuration settings

l Enable core dumps — this option enables core dumps (system dumps) of the memory whenever
the unit has a system crash.
l Enable OpenPCS online debugging — this option enables debugging with the program
OpenPCS, refer to the document PLC Programming Tools. Only available if Connection Type is set
to Secure.
l Ping target — an IP address that is reachable from the vehicle, e.g. over wifi. Ping responses are
stored in the black box and can be viewed using the Vehicle Diagnostic Tool. If two targets are spe-
cified the ping will be sent to both targets simultaneously.
l Ping interval — ping interval in seconds.

6.5.11 Controller Clock Initialization

In this part, it is possible to initialize the date and time of the vehicle controller clock. This is normally only
needed at startup. Under normal operation in a system the clock will be set by the System Manager.

Initialize the vehicle controller clock:

1. Enter the desired date and time for initializing the vehicle controller, in the Date (YYYY.MM.DD)
and Time (HH:MM:SS) text fields, by clicking on Refresh, which will insert the present local time
on the computer running the vehicle controller web interface. Alternatively, enter the date and time
manually.

2. Click on Set to confirm the changes.

The vehicle controller has to be rebooted for changes to take effect; click on Reboot.

Figure 6 - Controller clock initialization

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 Product Description CVC700 SW I 6 Operation

6.5.12 TCP CAN Link Logging

The TCP CAN link logging is used by Vehicle Diagnostic Tool (VDT) when recording CAN data from the
vehicle controller.

Select either Yes or No radio button to enable or disable TCP CAN link logging, as required.

Click on Set to confirm the changes.

The vehicle controller has to be rebooted for changes to take effect; click on Reboot.

Figure 7 - TCP CAN link logging

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6.5.13 Connection Type

6.5.13.1 Set connection type to Secure

1. Click Secure.
2. Enter your new password.
3. Confirm your new password.
4. Click Set.
5. The vehicle controller has to be rebooted for the changes to take effect; click on Reboot.

Figure 8 - Connection Type, Secure

6.5.13.2 Set connection type to Legacy

When switching connection type from secure to legacy, the secure connection password will
be deleted. When switching the connection type back from legacy to secure you must set a
new secure connection password. For default login, see Secure Connection Type, page 12

1. Click Legacy.
2. Click Set.
3. The vehicle controller has to be rebooted for the changes to take effect; click on Reboot.

Figure 9 - Connection Type, Legacy

6.6 Application To Vehicle

Application to vehicle is used to transfer the vehicle application, the layout or external individual para-
meter file to the vehicle controller.

To transfer an application to the vehicle controller:

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 Product Description CVC700 SW I 6 Operation

1. Click on the Application to vehicle menu link.

2. Select the file to be transferred by clicking on Browse....
3. Tick the Keep vehicle parameters settings if the vehicle has been tuned and the vehicle applic-
ation (or external individual file) has not been updated with the working parameter values yet.

This option is not applicable for transfer of layout file.

4. Click on Send to confirm the changes.

The vehicle controller responds that the file has been sent to the vehicle controller. The vehicle con-
troller has to be restarted for the changes to take effect, see Restart Vehicle, page 25.

If a layout has been transferred the layout is immediately loaded and ready for use (when vehicle is
standing still).

6.7 Backup / Restore

You can create and store a backup file for the vehicle containing the basic configuration, application, layout
and external parameter file (if any). Such a previously created and stored backup file can be used to restore
the vehicle controller.

Also, it is possible to reset the locally modified vehicle configuration parameters to values set in the applic-
ation or in the External Individual Parameter File for the vehicle. Therefore, the External Individual Para-
meter File can be updated to the currently used values in the vehicle, and stored off the vehicle.

To access the page for these functions, click on Backup / Restore in the menu.

6.7.1 Create a backup file

Figure 10 - Create backup file.

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 Product Description CVC700 SW I 6 Operation

1. If you want to:

l save only the basic configuration, tick the Do not include application check box.
l save both the basic configuration and the application, untick the Do not include applic-
ation check box.
2. Click on Save Backup File.
3. Click on Save (not Open), select the local file storage destination, and click on Save to store the
.zip file.

The secure connection password will not be included in the backup file.

The vehicle controller will halt and restart during the backup.

6.7.2 Restore from backup file

It is possible to restore a CVC700 with a CVC600 backup file, as long as they have the same
version numbers. For example CVC600 sw 41975 V2.7.8 and CVC700 sw 46163 V2.7.8.

Figure 11 - Restore from backup file.

1. Click on Browse, select the desired backup .zip file (created and stored using the create backup
file function), and click on Open.
2. Click on Restore.

The secure connection password is not included in the backup file.

The vehicle controller will halt and restart during the restore.

The application will only be restored if the vehicle is running the same firmware as
when doing backup or if the firmware is a newer patch release in the same release
level. Otherwise only basic configuration is restored.

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 Product Description CVC700 SW I 6 Operation

6.7.3 Reset to application values

Use this function to reset the locally modified vehicle configuration parameters to values set in the applic-
ation or in the External Individual Parameter File.

Figure 12 - Reset to application values.

1. Click on Reset Configuration Parameters.

The vehicle controller will halt and restart during the reset.

6.7.4 Update external individual parameter file

Use this function to update the External Individual Parameter File to the currently used values in the
vehicle, and to store the file of the vehicle.

Figure 13 - Restore from backup file.

1. Make sure that the External Individual Parameter File function is active, see External Individual
Parameter File, page 26.
2. Click on Save External Individual Parameter File.

To transfer an External Individual Parameter File, separated from the vehicle applic-
ation, (back) to the vehicle controller, use the Application to vehicle function, see
Application To Vehicle, page 35.

The updated file will be used by the vehicle.

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6.8 Change password

6.8.1 Change password for secure connection type

For information about secure connection type and the certificate warning, see Connection
Types, page 12.

Make sure to remember your new secure connection password

If you forget your secure connection password the vehicle controller must be started in Safe-
mode, see Start the Vehicle Controller in Safe-mode, page 48

1. Click on Change password, (only available when the connection type is set to secure).
2. Enter the old password.
3. Enter your new password.
4. Confirm your new password.
5. Click on Change.

Figure 14 - Change password for secure connection type

6.8.2 Change password for legacy connection type

The password for legacy connection type can only be changed using the Vehicle Application Designer.
Refer to the document Create Vehicle Application.

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 Product Description CVC700 SW I 6 Operation

6.9 WLAN Diagnostics

The WLAN Diagnostics presents the current WLAN status. The information is updated when the page is
refreshed.

The wifi IP address is shown in the header of the page, if the vehicle controller is connected to a wifi.

Figure 15 - WLAN diagnostics.

6.10 Black Box Directory

This function saves a black box file of the events in the vehicle controller. This page also presents a list of
the triggered black box.

To create a black box file:

1. Click on Trig.
2. A black box file is created, with the next available number.
3. To store the file on the computer, right-click on the filename and select Save.
4. Select the desired storage area on the hard disk, and click on OK.

The black box file uses the WinZip file format.

To delete the files in the vehicle controller:

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 Product Description CVC700 SW I 6 Operation

1. Click on Delete All.

2. All black box files stored on the vehicle controller are deleted.

6.11 System Log

The System Log Messages page presents a list of system messages. New system message entries are
appended to the log list. The oldest system messages will be replaced with the newer ones. This low-level
operating system message log is intended for Kollmorgen support personnel, only.

6.12 Event Log

The Event log page presents a list of system events. New system event entries are appended to the log
list. The oldest system events will be replaced with the newer ones. Description text in the view is
included in the application sent to the vehicle.

6.13 Version Information

The Version information page presents a list of information such as date and time on the vehicle con-
troller, the vehicle application, the layout, the serial and CAN devices, and WLAN/LAN interfaces.

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 Product Description CVC700 SW I 6 Operation

Figure 16 - Version Information

6.14 Vehicle Options

Shows Vehicle options in the vehicle.

There are two option types to keep apart; options and option classes. The options type consists of sep-
arate types of options, such as Laser Navigation and Maximum Speed (mm/s). The option classes type is
a group of options collected together to the same type of vehicles. The differences are explained in the fol-
lowing:

Example: Vehicle options and option classes.

In a factory there are the following types of vehicles:

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l Steer Drive (S/D) – the S/D vehicles use laser navigation and a maximum speed of 1.5 m/s.
l QUAD – the QUAD vehicles use both laser navigation and magnetic navigation. The desired max-
imum speed for the QUAD vehicles is 2 m/s.

The simplest way would be to buy all options and run the system. But that is a more expensive way, and
this is the main advantage of the option classes.

For the following example, the following option classes are needed:

l One option class containing the S/D vehicles with the Laser Navigation and Maximum Speed
(mm/s) options.
l One option class containing the QUAD vehicles with the QUAD Vehicle, Laser Navigation, Mag-
netic Navigation, and Maximum Speed (mm/s) options.

A vehicle can only belong to one vehicle option class.

The vehicle controller requests the option set from the stationary controller. If the vehicle controller uses
any option not purchased, the vehicle will neither be allowed to drive in the Automatic operation mode, nor
the Master order mode.

Figure 17 - The Vehicle options page.

Table 3 - Vehicle options.

Item Description

Request sent to Master Presents the time the last option request was sent to the stationary con-
troller.

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 Product Description CVC700 SW I 6 Operation

Item Description

Master response status Response from the stationary controller:

Not received, No contact with the stationary controller, or the vehicle has
not received any response yet about the vehicle options. It might take up to
5 minutes before a response is received during a restart of the vehicle. Dur-
ing this time the vehicle will continue with its duty and will neither send any
system event "189".

Error, the reply from the stationary controller contains an error code. 1)

No error, The vehicle has received the options from the stationary con-
troller. These options are presented in the "received" column.

Remaining time Time left before the vehicle will stop if no reply is received from stationary
controller.

Option Options controlled by the vehicle

Received Options received from stationary controller:

A numeric value for options "Number of vehicles in class" and "Maximum

speed" and "Vehicle option class".

Yes, this option is enabled in the stationary controller.

No, this option is disabled in the stationary controller.

-, not received from stationary controller.

Required Options required by the vehicle.

A numeric value for option "Number of vehicles in class" (always "1").

A numeric value for option "Maximum speed" (maximum speed used in the
layout) and "vehicle option class" (configured in Vehicle Application).

Yes, this option is used by the vehicle.

No, the vehicle does not use this option.

Status Options status:

Valid, not used by the vehicle or used by the vehicle and enabled in the sta-
tionary controller. 2)

Invalid, required by the vehicle but not enabled in the stationary controller.
Option "Number of vehicles in class" will be invalid when the stationary con-
troller replies with an error code that means that there is no free vehicle in
this option class.

Unknown, No response from stationary controller.

Desc Description of the option.

1) This might be caused due to invalid key code in the stationary controller definition file. Or it might depend
on no free vehicle for the requested option class.

2) Option "Maximum speed" is always presented as valid, if the vehicle gets ordered on any segment with
a higher maximum speed the speed will get truncated to the maximum speed received from the stationary
controller (system event "189" will be generated.)

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See also the vehicle controller datasheet for detailed information about available options.

6.15 Upgrade the Vehicle Controller Software

How to upgrade the Vehicle Controller Software is described in Upgrade software, page 21.

6.16 Upgrade CAN Device

This can be used to upgrade a CAN device firmware and to change Node ID and/or Bitrate of a CAN
device. The change Node ID and/or Bitrate function requires the Node ID to be at index 0x5F04, sub index
5 and Bitrate at index 0x5F04, sub index 1. See CAN device specification before use.

The Node ID change can be necessary when, for example, two WGU20-DL CAN devices are used. The
second WGU will then have to be changed to use Node ID 27.

Make sure not to power off the vehicle controller during an update or upgrade.

To upgrade the CAN device firmware:

1. Click on the Upgrade CAN device menu link, and use the Upgrade CAN devicefirmware part of
the page, only.

2. Click on Browse, and select a valid product file from the computer, usually located in:
C:/ProgramData/Danaher Motion/Shared/epf

3. Select the Canbus number.

4. Select the Bitrate and Node ID of the CAN device.
5. If the Boot halt function is to be used, tick this check box, or else, untick this check box.
6. Click on Send to start the upgrade.

If Boot halt was not selected, the request will halt the vehicle and start the upgrade. A progress bar as
shown below will start moving:

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Figure 18 - Progress bar – Boot halt not selected, upgrade started

The progress bar will move until the upgrade is finished or any error occurs.

If Boot halt was selected, the request will wait for the device to restart before the update starts, as shown
in the picture below:

Figure 19 - Progress bar – Boot halt selected, update on hold

If the CAN device supports Boot halt, it will not start its application when restarted; this to recover from a
faulty application.

Make sure not to power off the vehicle controller when the CAN device is restarted.

To change the Node ID and/or Bitrate:

1. Click on the Upgrade CAN device menu link, and use the Change CANopen settings part of the
page, only.

2. Select the Canbus number.

3. Select the current Bitrate and Node ID of the CAN device.

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4. Select the new Bitrate and/or Node ID to change to.

5. Click on Send to start the update.

A progress bar will move until the update is finished or any error occurs.

The upgrade or update will stop and present an error message when:

l Halt is not allowed by the PLC application.

l No epf file is selected. (Not applicable when changing Node ID or Bitrate.)
l The file does not have epf as file ending. (Not applicable when changing Node ID or Bitrate.)
l An upgrade is already ongoing.
l No communication with the CAN bus.
l No communication with the device.

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 Product Description CVC700 SW I 7 Troubleshooting

7 Troubleshooting

7.1 Accessing the vehicle controller web interface

The vehicle controller can be configured to use secure connection type or legacy connection type. Refer to
Connection Types, page 12

l If secure connection type is used, enter the encrypted address: https://192.168.100.100.

l If legacy connection type is used, enter the address: http://192.168.100.100.

The instructions above assume that the LAN IP address of the vehicle controller is
192.168.100.100 (default). If the LAN IP address is unknown, the vehicle controller
can be started in safe mode, see Start the Vehicle Controller in Safe-mode, page 48

7.2 Start the Vehicle Controller in Safe-mode

If it is not possible to connect to the vehicle controller due to bad network configuration or malfunctioning
applications, it is possible to start it up in "safe-mode".

Starting the vehicle controller in "safe-mode" means that:

l There is no application starting.

l There is no configuration of internal WLAN.
l LAN port configured to IP address 192.168.100.100 and netmask address 255.255.255.0.
l The vehicle will start with connection type set to secure, and the default secure connection pass-
word will be used:

User name: admin
Password: ndc8

For information about secure connection type and the certificate warning, see Con-
nection Types, page 12.

The RS422 signals needs to be connected Rx to Tx. Connect C10 to C12, and C11 to C13.

To change settings in "safe-mode":

1. Turn off the power to the vehicle controller.

2. Make the connection RS422 Rx to Tx.
3. Turn on the power to the vehicle controller.
4. When the vehicle controller has booted, connect to the vehicle controller via the vehicle controller
web interface.
5. Re-configure the IP and/or netmask address.
6. Remove the connection.

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7. Reboot the vehicle controller from the vehicle controller web interface.
8. When the vehicle controller has booted, check the new settings.
9. Repeat the steps above, if necessary.

7.3 Factory restart

If the vehicle controller does not boot correctly or if installing/upgrading the software fails, you can boot the
vehicle controller in factory restart mode. From factory restart mode you can reinstall the CVC700 soft-
ware, or do a factory reset.

A factory restart does not erase any data on the vehicle controller. If you don't reinstall any
software or do a factory reset, the vehicle controller will boot the latest installed software at
next startup.

To access factory restart mode

You need a plastic pin (or other NON-metallic pin) to press the factory restart button.
Do NOT use a metallic pin as it can short circuit the electronics.

1. Power off the CVC700.

2. Remove the rubber plug to uncover the factory restart button (the small blue button).

3. Use a plastic pin to press and hold the factory restart button, continue pressing the factory restart
button and power on the CVC700, keep the factory restart button pressed for at least 1 second after
powering on the CVC700.
4.  The vehicle controller will start up in factory restart mode. From there you can:
l reinstall the CVC700 software, as described in First time setup, page 17
l or do a factory reset, as described in Factory reset, page 50.

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7.4 Factory reset

A factory reset will erase all application data and configuration on the vehicle controller.

To do a factory reset

1. The CVC700 must be booted in factory restart mode, see Factory restart, page 44.
2. Make sure that you have a correct LAN IP address and network connection between your computer
and the vehicle controller, see Setup network connection, page 16.
3. Connect your computer to the vehicle controller's LAN connector.
4. Start a web browser and enter the LAN IP address: https://192.168.100.100

Note that you must use HTTPS (secure connection) in this step. For information about
secure connection type and the certificate warning, see Connection Types, page 12.

5. Click on Factory reset.

6. Click on Reset.

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Sales and Service

We are committed to quality customer service. In order

to serve in the most effective way, please contact your
local sales representative for assistance. If you are
unaware of your local sales representative, please con-
tact us.

Internet: www.ndcsolutions.com
E-mail: sales@kollmorgen.com
Tel: +46 (31) 93 80 00
 Product Description CVC700 SW I

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