Troubleshooting

In case of any issue with software, read the Troubleshooting section of the manual for the corresponding software.

Warning

Select your version before reading any user manual for software. The following image shows where to select a version from any Embention user manual.

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Maintenance mode

Maintenance mode is the main troubleshooting tool that Veronte Autopilot 1x puts at the user disposal. While in maintenance mode, all communication channels are enabled by default, so it is possible to connect with Autopilot 1x through any of its configuration interfaces, no matter its current configuration.

The main use of maintanance mode is to solve issues related to the current configuration, mainly related with communication or memory writting issues.

While in maintenance mode, it is possible to perform actions such as force the load of a new configuration file or format the SD card.

If at some point the communication with Autopilot 1x is lost, it is possible to use maintenance mode to go back to a previous state of the configuration (as long as it was exported previously), format the SD card to start over or update the unit’s firmware.

Tip

It is heavily recommended to always use maintenance mode to load a new configuration that is very different from the current one.

How to enter in maintenance mode

There are two ways to enter in maintenance mode: using software or forcing it.

Using software to enter in maintenance mode

To enter in maintenance mode using software, read the maintenance mode section of the manual for the corresponding software.

Forcing maintenance mode

There are two ways to force the maintenance mode: using power supply or using the I2C pins.

Using the power supply to force maintenance mode

When communication with the unit is lost, it is possible to active maintenance mode by power input.

In order to active maintenance mode, power cycle the Veronte Autopilot 1x repetively with a period of 1 second. After 30 cycles, the autopilot will enter in maintenance mode.

Autopilot 1x might enter in maintenance mode if a problem with the power supply is detected upon boot up (voltage or current is out of range).

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How to power cycle an autopilot

Using the I2C pins to enter in maintenance mode

To enter in maintenance mode with I2C, connect both I2C pins each other, then power up the Veronte Autopilot 1x. Both pins are I2C_CLK (number 31) and I2C_DATA (number 32) according to the pinout.

Pinout changes from Autopilot 1x 4.8

The pinout for 4.5 and 4.8 versions are very similar, but they have several differences. To prevent any confusion, the following table shows the pinout for both versions. The different pins are marked with warn, all the rest have the same function.

Electrical - Connector HEW.LM.368.XLNP

68 pin connector for both versions

Pin

Signal

Type

Comments

1

I/O1

I/O

PWM / Digital I/O signal (0-3.3V). Protected against ESD and short circuit

2

I/O2

I/O

PWM / Digital I/O signal (0-3.3V). Protected against ESD and short circuit

3

I/O3

I/O

PWM / Digital I/O signal (0-3.3V). Protected against ESD and short circuit

4

I/O4

I/O

PWM / Digital I/O signal (0-3.3V). Protected against ESD and short circuit

5

I/O5

I/O

PWM / Digital I/O signal (0-3.3V). Protected against ESD and short circuit

6

I/O6

I/O

PWM / Digital I/O signal (0-3.3V). Protected against ESD and short circuit

7

I/O7

I/O

PWM / Digital I/O signal (0-3.3V). Protected against ESD and short circuit

8

I/O8

I/O

PWM / Digital I/O signal (0-3.3V). Protected against ESD and short circuit

9

GND

GROUND

Ground signal for actuators 1-8

10

I/O9

I/O

PWM / Digital I/O signal (0-3.3V). Protected against ESD and short circuit

11

I/O10

I/O

PWM / Digital I/O signal (0-3.3V). Protected against ESD and short circuit

12

I/O11

I/O

PWM / Digital I/O signal (0-3.3V). Protected against ESD and short circuit

13

I/O12

I/O

PWM / Digital I/O signal (0-3.3V). Protected against ESD and short circuit

14

I/O13

I/O

PWM / Digital I/O signal (0-3.3V). Protected against ESD and short circuit

15

I/O14

I/O

PWM / Digital I/O signal (0-3.3V). Protected against ESD and short circuit

16

I/O15

I/O

PWM / Digital I/O signal (0-3.3V). Protected against ESD and short circuit

17

I/O16

I/O

PWM / Digital I/O signal (0-3.3V). Protected against ESD and short circuit

18

GND

GROUND

Ground signal for actuators 9-16

19

RS 232 TX

Output

RS 232 Output (-13.2V to 13.2V Max, -5.4V to 5.4V Typical). Protected against ESD and short circuit

20

RS 232 RX

Input

RS 232 Input (-25V to 25V Max, -0.6V Low and 2.4V High Threshold). Protected against ESD and short circuit

21

GND

GROUND

Ground signal for buses

22

Analog 4

Input Analog

Input 0-3.3V. Protected against ESD and short circuit

23

Analog 5

Input Analog

Input 0-3.3V. Protected against ESD and short circuit

24

GND

GROUND

Ground signal for buses

25

CanA P

I/O

CANbus interface, up to 1Mbps (2.3V Typical, 1.2V-2.3V Differential). Protected against ESD

26

CanA N

I/O

Twisted pair with a 120 ohms Zo recommended (2.3V Typical, 1.2V-2.3V Differential). Protected against ESD

warn

27

4.5: GND

4.5: GROUND

4.5: Ground signal for buses

4.8: 4XV_WD

4.8: I/O

4.8: Reserved. Do not connect

28

CANB_P

I/O

CANbus interface. It supports data rates up to 1 Mbps. Protected against ESD

29

CANB_N

I/O

Twisted pair with a 120 ohms Zo recommended. Protected against ESD

30

GND

GROUND

Ground signal for buses

31

I2C_CLK

Output

Clk line for I2C bus (0.3V to 3.3V). Protected against ESD and short circuit

32

I2C_DATA

I/O

Data line for I2C bus (0.3V to 3.3V). Protected against ESD and short circuit

33

GND

GROUND

Ground for 3.3V power supply

34

3.3V

POWER

3.3V - 100mA power supply. Protected against ESD short circuit with 100mA resettable fuse

35

GND

GROUND

Ground for 5V power supply

36

5V

POWER

5V – 100mA power supply. Protected against ESD short circuit with 100mA resettable fuse

37

GND

GROUND

Ground for analog signals

38

ANALOG_1

Input

Analog input 0-3.3V. Protected against ESD and short circuit

39

ANALOG_2

Input

Analog input 0-3.3V. Protected against ESD and short circuit

40

ANALOG_3

Input

Analog input 0-3.3V. Protected against ESD and short circuit

warn

41

4.5: GND

4.5: GROUND

4.5: Ground for FTS signals

4.8: 4XV_A

4.8: I/O

4.8: Reserved. Do not connect

42

FTS1_OUT

Output

Deadman signal from comicro. Protected against ESD and short circuit

43

FTS2_OUT

Output

!SystemOK Bit. Protected against ESD and short circuit

warn

44

4.5: GND

4.5: GROUND

4.5: Ground signal for safety buses

4.8: 4XV_B

4.8: I/O

4.8: Reserved. Do not connect

warn

45

4.5: V_ARB_TX

4.5: Output

4.5: Veronte comicro UART output to activate safety mechanism. Protected against ESD and short circuit

4.8: UARTA_TX

4.8: Output

4.8: Microcontroller UART

warn

46

4.5: V_ARB_RX

4.5: Input

4.5: Veronte comicro UART output to activate safety mechanism. Protected against ESD and short circuit

4.8: UARTA_RX

4.8: Input

4.8: Microcontroller UART

47

GND

GROUND

Ground signal comicro power supply

48

V_ARB_VCC

POWER

Veronte comicro power (6.5V to 36V). Protected against ESD and reverse polarity

49

FTS3_OUT_MPU

Output

MPU alive voting signal, to use with 4xVeronte. It is a Square Wave at [100,125] Hz. Protected against ESD and short circuit

50

OUT_RS485_P

Output

Non-inverted output from RS485 bus (-7V to 12V Max, -2.3V to 2.3V Typical). Protected against ESD and short circuit

51

OUT_RS485_N

Output

Inverted output from RS485 bus (-7V to 12V Max, -2.3V to 2.3V Typical). Protected against ESD and short circuit

52

IN_RS845_N

Input

Inverted input from RS485 bus (-7V to 12V Max, -2.3V to 2.3V Typical). Protected against ESD and short circuit

53

IN_RS845_P

Input

Non-inverted output from RS485 bus (-7V to 12V Max, -2.3V to 2.3V Typical). Protected against ESD and short circuit

54

RS-485_GND

GND

Ground for RS-485 bus

55

EQEP_A

I/O

DIGITAL output / DIGITAL input / Encoder quadrature input A (0-3.3V). Protected against ESD and short circuit

56

EQEP_B

I/O

DIGITAL output / DIGITAL input / Encoder quadrature input B (0-3.3V). Protected against ESD and short circuit WARNING!: Only use it as digital I/O with Veronte units of Hardware version 4.5 or lower

57

EQEP_S

I/O

DIGITAL output / DIGITAL input / Encoder strobe input (0-3.3V). Protected against ESD and short circuit

58

EQEP_I

I/O

DIGITAL output / DIGITAL input / Encoder index input A (0-3.3V). Protected against ESD and short circuit

59

GND

GROUND

Ground for encoders

60

V_USB_DP

I/O

Veronte USB data line. Protected against ESD

61

V_USB_DN

I/O

Veronte USB data line. Protected against ESD

warn

62

4.5: V_USB_ID

4.5: I/O

4.5: Veronte USB ID line. Protected against ESD and short circuit

4.8: USB_SHIELD

4.8: GND

4.8: USB cable shielding

63

FTS_OUT_MPU

Output

Abort mission voting signal from MPU, to use with 4xVeronte. Bit Low (0V) if mission OK. High (3.3V) if mission wants to be terminated. Protected against ESD and short circuit

64

FTS2_OUT_MPU

Output

Abort mission voting signal 2 from MPU, to use with 4xVeronte. Bit Low (0V) if mission OK. High (3.3V) if mission wants to be terminated. Protected against ESD and short circuit

65

GND

GROUND

Veronte ground input

66

GND

GROUND

Veronte ground input

67

VCC

POWER

Veronte power supply (6.5V to 36V). Protected against ESD and reverse polarity.

Warning

Both pins are common. They MUST be connected to the same power supply.

68

VCC

POWER

Warning

Remember!! All GND pins are common.