spot core™ payload reference · 2020-06-01 · detaching the core computer from spot detaching...

SPOT CORE™ PAYLOAD REFERENCE

SPOT 2.0

© Boston Dynamics 2020 All rights reserved D-0021-2.0 April 2020 Boston Dynamics 78 4th Ave. Waltham, MA 02451 USA (617) 868-5600 [email protected]

Boston Dynamics proprietary & confidential 2

SPOT CORE™ PAYLOAD REFERENCE INSTALLATION, CONFIGURATION, OPERATION

CONTENTS About Spot CORE

What’s In The Box

Spot CORE Components

Attaching Spot CORE

Payload Settings

Restore The Spot CORE System

Spot CORE Specifications

ABOUT SPOT CORE The Spot CORE payload assembly provides additional computing capability, network and data interfaces, and regulated power in an integrated package designed for simple installation and setup.

The Spot CORE assembly consists of the following components:

● The Spot CORE computer ● Spot GXP ● Spot CORE cover ● Base plate ● 225mm ribbon cable ● LIDAR cable ● Ethernet cable ● Spot payload rail mounting kit


WHAT’S IN THE BOX

ITEM DESCRIPTION

Spot CORE unit The Spot CORE assembly

Spot CORE Mounting Kit Fasteners for mounting the Spot CORE unit

Spot CORE AC adapter Power supply for the Spot CORE computer when detached or disconnected from the robot

LIDAR cable Connects the Spot CORE assembly components, including an optional LIDAR

Ethernet cable Connects the CORE computer to the Spot GXP

USB stick Contains Spot CORE system recovery image

SPOT CORE COMPONENTS


COMPONENT DESCRIPTION

Spot CORE computer Computer running Ubuntu Desktop with 16GB RAM and 512GB storage. Refer to Spot CORE specifications for details.

CORE cover Protective cover between the Spot GXP and the CORE computer.

Spot GXP Provides regulated power and data interfaces for Spot CORE and payloads.

Spot CORE base plate Mounting surface for the GXP, CORE computer, and CORE housing.

Cables

LIDAR cable (not shown): Connects the CORE computer and the GXP to an optional Spot LIDAR payload (if installed).

Shielded ribbon cable (not shown): Connects the GXP to the Spot robot’s rear data port.

Ethernet cable (not shown): LAN 1 connects to the GXP. The LIDAR cable RJ45 connects to LAN 2.

SPOT LIDAR CABLE CONNECTORS

The LIDAR cable is required for connecting the GXP and the CORE computer and provides additional connections for an optional LIDAR camera. Unless a LIDAR is attached, the DB9 and M12 connectors are not used.

LIDAR cable


CABLE CONNECTOR CONNECTS TO:

LIDAR cable M12 Optional LIDAR sensor payload

LIDAR cable DC power CORE DC input

LIDAR cable RJ45 CORE LAN 2

LIDAR cable DB15 Spot GXP DB15

LIDAR cable DB9 Optional LIDAR sensor payload

Ethernet: GXP RJ45 CORE LAN 1

SPOT CORE COMPUTER

Rear panel Front panel

About the Spot CORE system

The Spot CORE system runs Ubuntu Desktop 18.04 LTS. This system image is customized for Spot to include base developer packages, such as compilers and editors. Unnecessary applications such as LibreOffice and Ubuntu games, have been removed.


SPOT GXP

Spot GXP connectors

Spot GXP has one DB15 port that supplies regulated power and one RJ45 port for network and data.

ATTACHING SPOT CORE

Spot CORE can be attached to the robot in one of two positions on the robot’s back. In both cases, the CORE assembly is oriented the same with the GXP toward the front:

● Rearward mounted: The payload cable is attached to the rear payload port. The CORE computer is oriented toward the rear of the robot (as shown).

● Forward mounted: The assembly is positioned closer to the front of the robot and the payload cable is attached to the front payload port.


Spot CORE in the rearward mount configuration

The process of attaching Spot CORE to the robot is largely the same for both mounting configurations.

CHANGE THE DEFAULT PASSWORD

The CORE computer is configured with default login credentials. During the initial login process, you are prompted to change the default password.

1. Attach a monitor, keyboard, mouse and power supply to the CORE computer. Alternatively, you can use ssh to access the CORE system.

2. If not using ssh, boot the computer and login with the following credentials: user name: spot password: password

3. Follow prompts to change the password. 4. Logout and shutdown the computer.


5. Detach monitor, keyboard, mouse and power supply.

ATTACH THE SPOT CORE UNIT TO THE ROBOT

Tools needed

● Phillips #1-2 screwdriver ● Torque wrench ● M5 allen key ● Threadlocker

Parts needed

● Spot CORE unit ● Six M5 hex head screws ● Six t-slot nuts

1. Power down the robot and position it on the ground or on a bench in sit pose. 2. Lay the Spot CORE assembly on the back of the robot with the GXP facing toward

the front of the robot and the ribbon cable pointed to the rear. 3. Remove the payload port cap for the port you are using and keep in a safe place.

The robot will not operate without the payload cap or a payload attached to the port.

4. Attach the free end of the payload cable to the port and tighten the mounting screws to 0.2 N*m.

5. Insert three t-slot nuts on each side of the payload rails, taking care that the tip of the set screw is pointed down. Loosen the set screw, if needed, to fit the nut into the slot so that it lays flat and moves freely. Do not tighten the set screws.

6. Slide the t-slot nuts into position under the six connection points in the base plate. 7. Apply threadlocker to the six hex head screws and thread each one into a t-slot nut.

Finish by tightening the six hex head screws to 5 N*m.

DETACHING THE CORE COMPUTER FROM SPOT

Detaching the CORE computer makes it easier to connect a display, keyboard, and mouse.

To detach the CORE unit from the robot:

1. Remove the Spot CORE assembly from the robot following the installation process in reverse order.

2. Turn the unit over to access the HDMI port for attaching an external monitor. 3. When reattaching Spot CORE, be sure to observe proper torque values for all

fasteners.


PAYLOAD SETTINGS After mounting the Spot CORE assembly on the robot, configure the Spot CORE payload settings in the robot’s admin console:

1. Open the robot’s admin console. By default, the console address is: http://10.0.0.3. 2. Open the Payloads section of the console and click Add payload. 3. Select the preset configuration for Spot CORE payloads.

If needed, use this table to manually create a new payload configuration.

Position (m) X -0.16 m

Y 0 m

Z 0 m

Orientation (radians) Yaw 0 rad.

Roll 0 rad.

Pitch 0 rad.

Total mass (kg) 2.0 kg

Position of Center of Mass (m) X -0.13 m

Y 0 m

Z 0.045 m

Moment of inertia tensor (kg-m2) XX 0.00675 kg-m2

XY 0 kg-m2

XZ 0 kg-m2

YY 0.0126167 kg-m2

YZ 0 kg-m2

ZZ 0.0166667 kg-m2

Bounding boxes: Center (m)

X -0.13m m

Y 0 m

Z 0.045 m

Bounding boxes: Orientation (radians) ZXY

Yaw 0 rad.

Roll 0 rad.

Pitch 0 rad.

Bounding boxes: XYZ extent (m)

X 0.13 m

Y 0.095 m

Z 0.045 m


RESTORE THE SPOT CORE SYSTEM

Spot CORE can be restored to its original state by applying the original system image using the Boston Dynamics USB stick shipped with Spot CORE.

Use this procedure if Spot CORE becomes unbootable or otherwise unusable.

RESTORE SPOT CORE TO FACTORY STATE

Detach the Spot CORE unit from the robot. See DETACHING THE CORE COMPUTER FROM SPOT for details.

Prerequisites:

● Spot CORE unit connected to its AC adapter ● Monitor, keyboard, and mouse are attached ● The Boston Dynamics USB stick that was shipped with Spot CORE. This contains

the system image.

Step 1: Boot to USB and apply the update

When the CORE system boots from the Boston Dynamics USB stick, the customized image for Spot CORE is applied automatically.

This process completely replaces the system image. Existing data and accounts are overwritten.

To start, make sure the CORE computer is powered down.

1. Insert the Boston Dynamics USB stick. 2. Power on the CORE computer, holding down the Delete key to enter the system

BIOS. 3. Using the arrow keys, move to the Boot menu and select the USB stick as the

primary boot option. 4. Press F10 to save and exit. The process takes a minute or so to complete.


When the process is complete, the CORE computer is automatically powered down.

Step 2: Change the default password

1. Remove the USB stick. 2. Power up the CORE computer and wait for the Ubuntu desktop login prompt 3. Login with the following default credentials:

User name: spot Password: password

4. Follow the system prompts to create a new password. 5. Complete the process, log out, and shut down the computer.

Step 3: Reattach the CORE computer to the Spot robot

1. Disconnect keyboard, mouse, power supply, and monitor. 2. Reattach RJ45, power, and data cables. Refer to SPOT LIDAR CABLE CONNECTORS

for details about specific cable connections. 3. Tuck the cables into the space between the CORE and the GXP, and reattach the

cover. 4. Restart the robot.


SPOT CORE SPECIFICATIONS

ITEM DESCRIPTION

Motherboard i5 Intel® 8th Gen (Whiskey Lake-U) Core™ CCG Lifecycle

Memory (RAM) 16 GB SO-DIMM DDR4 2666

Primary storage 512 GB M.2 22x60 SSD

Physical interfaces

1 x RS-232 ports 3 x USB 3.1 2 x USB 2.0 2 x DisplayPort 1 x HDMI

Input power 12-24VDC

Audio 1 audio jack (line-out, mic-in)

Hardware setting Auto Power On

Accessories Computer port & dust blocking kit Power adapter DC 12 V, 5A, 60 W Level VI

Operating system

Ubuntu Desktop 18.04 LTS 64-bit


DOCUMENT CHANGE HISTORY

Document version Date Change description

1.0 28 Jan. 2020 Initial limited construction pilot release

1.1 1 Mar. 2020 Spot CORE product release. Updates to: ● Product illustrations ● Authentication details ● System recovery details ● Description of CORE image components

Added Document Change History section.

2.0 April 2020 Updated for Spot 2.0


spot core™ payload reference · 2020-06-01 · detaching the core computer from spot detaching...

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