Product Maintenance

This appendix explains how to care for your devices, retrieve and share logs, work through common device and configuration problems, recalibrate an SRC Pro's joysticks, and proof test a configuration before you return it to service.

This appendix explains the following items:

Care and Handling of Devices

The EPC, SRC Pro, and WES Pro, because they are enclosed devices, share the following characteristics (the NSC Pro, which is an open board, is described separately):

  • They are designed and built to operate in extreme environmental conditions and as such, have been subjected to rigorous mechanical and electrical tests.

  • You can safely operate them in a humid or dusty environment without fear of damaging the device. However, do not charge the SRC Pro or WES pro in a humid or dusty environment. For the WES Pro, wipe off the docking station with a towel, if it is wet, before inserting the WES Pro.

  • You can operate them in the rain. However, when you are locating the EPC outside or attaching it to equipment that is operating outside or can be exposed to any amount of water, you must mount the EPC vertically.

    Mounting the EPC horizontally allows water to pool and block airflow through a membrane, potentially causing the EPC to malfunction.

  • Avoid placing the EPC in an area or on a machine with extended exposure to direct sunlight.

  • All three devices are able to withstand an occasional drop from a height of one meter or less onto a hard surface, however, be careful not to drop them repeatedly. Although they are durable, they are not unbreakable, so (especially with the SRC Pro and WES Pro) be careful not to set them down and accidentally run over them with heavy equipment.

  • You can clean them with a mild detergent and cloth.

The NSC Pro is an embedded board that is designed and built to operate in extreme temperature ranges (-40 °C - 85 °C). That said, when testing and installing the NSC Pro be certain to take all precautions that you would for any electronic device (making sure that you are grounded, minimizing exposure to dust, moisture, etc.)

See Wiring an NSC Pro for ISM/Bluetooth (SRC Pro, WES Pro, EPC) for instructions on wiring and mounting the NSC Pro, including precautions to take when handling it.

Troubleshooting Your Devices

If a device fails for any reason, do the following:

  • Discontinue use
  • Reboot the device

If rebooting does not resolve your issue, email support@fortrobotics.com to address the issue. In the meantime, to keep your system functioning, you can use FORT Manager to replace the damaged device in your network if you have another device available. For more information, see Configurations and Use Cases.

Using Logs

To assist you with safety, security, power, and communication issues, FORT devices record events as they happen. There are two ways to read them, and they show different things:

  • The Logs tab in the device's detail view in the FORT Manager web app shows the entries already held in the FORT Manager database for that device, most recent first, defaulting to the last 24 hours. It does not reach the device.
  • The FORT Manager Desktop App fetches entries from the device itself over a tethered connection and adds them to the FORT Manager database. Use it whenever you need entries the database does not have yet, and to download a log file.

The procedure below covers the Desktop App. For the web app tab, see The Logs Tab.

Log retrieval is supported on the Endpoint Controller, the NSC Pro, the WES Pro and the SRC Pro.

To Retrieve Log Files

  1. Launch the FORT Manager Desktop App on your computer.

  2. Boot up or power on your device.

  3. Connect your computer to the device:

    • For an EPC, connect over Ethernet to port J2 on the EPC using the M12-RJ45 cable.

    • For an NSC Pro, SRC Pro, or WES Pro, connect via USB. The NSC Pro requires the docking station, the WES Pro requires its docking station, and the SRC Pro uses mini-USB on models 1001 and 1002 and USB-C on the 1003. For more information on cables, see Loading a Configuration with the Desktop App.

    The application displays a message that it has detected a device for tethering. If multiple devices are connected to the computer, the application displays a list of devices to choose from.

  4. Select the device and click Tether.

    The application displays information about the device including the name of the configuration to which the device belongs.

    1. If FORT Manager doesn’t auto detect the device, click Tether a Device and select the type of device:

      • For an EPC, enter the IP address.

      • For other devices, enter the COM port, generally COM3.

    2. Click Connect.

  5. Click Logs > Fetch Logs.

FORT Manager categorizes messages by severity, type, and sub-type, and shows which component of the device produced each entry.

  • Log Levels:

    • DEBUG

    • INFO

    • WARNING

    • ERROR

    • CRITICAL

  • Log Types:

    • Safety

    • Security

    • Power

    • Communication

By default, FORT Manager shows all levels and all types (and sub-types). You can filter by severity, such that the app shows messages at that level and greater. For example, if you select ERROR, it shows all ERROR and CRITICAL messages but no INFO or WARNING messages. Note that DEBUG shows all levels.

In addition, you can filter by a specific type or a type and sub-type. For example, you could display only Safety messages, or only a specific safety message such as Low RSSI; or do both and combine a type/sub-type filter with a level filter, such as Critical Safety messages.

You can also filter logs by selecting a date and time window:

  1. Click the calendar icon in Start Date and select a date and time (or click in the Start Date field and manually enter a date and time).

  2. Click the calendar icon in End Date and select a date and time (or click in the End Date field and manually enter a date and time).

    FORT Manager immediately shows messages in the specified range.

  3. Click the calendar icon and click Clear if you want to remove the date/time range.

Click Download to download a txt-, json-, or csv-formatted list of all messages that are stored in the FORT Manager database.

As events happen, the device records them in its own log store. Fetching copies the entries it holds into the FORT Manager database, where they are added to everything you have fetched before. Download gives you the contents of the FORT Manager database, not of the device — so a download includes entries the device has since overwritten, and does not include anything the device has recorded since your last fetch.

The Logs Tab

Open a device from the Devices page and select the Logs tab. The tab lists the entries held in the FORT Manager database for that device, each with a timestamp, most recent first.

The tab shows what has already been fetched. Entries the device has recorded since the last fetch are not in the database and therefore not in the tab; to collect them, tether the device with the Desktop App and use Logs > Fetch Logs as described above. To download a log file as txt, json, or csv, use the FORT Manager Desktop App.

The Health and History Tabs

Two more tabs in a device's detail view help with troubleshooting before you tether anything.

  • Health
    • Shows the device's configuration state, its firmware version, its signal strength and the time it last synchronised with FORT Manager, on one page. Signal strength is reported as RSSI — Received Signal Strength Indicator — the same measure a WES Pro shows under Device Attributes and the same measure behind the Low RSSI log sub-type.
  • History
    • Lists events for the device — deployments, configuration changes, and firmware updates — colour-coded by type, with a filter to show one type at a time. History records what was done to the device through FORT Manager; the Logs tab records what the device itself reported.

Log Storage on the Device

Each device stores its log entries in a fixed amount of space.

Entries you have already fetched are safe: they are held in the FORT Manager database and are not affected by what the device later overwrites. Fetching regularly is what builds a history longer than the device itself can hold.

Sharing Logs

Exported logs are sized to be shared by email or attached to a support request. For more information before you send exported logs, see Information You Send to FORT Support.

Calibrating the Axis

The SRC Pro joysticks are calibrated at the factory, however, if you observe that the fingersticks and thumbsticks are not operating properly, follow the steps in these procedures to verify that the axis values are correct and to recalibrate them if necessary.

To Verify Calibration

  1. Power on the SRC Pro, press the Menu button, and navigate to the Settings tab.

  2. Press the down arrow key to scroll to and select Axis Values.

  3. Press 1 and navigate to the Calibration tab.

  4. Move each individual fingerstick and thumbstick around its full range of motion.

    Each axis should read 0 when the fingerstick or thumbstick is centered and the full range should be from -2048 to 2047.

  5. Press 1 to exit the menu.

    If the values you see are incorrect, follow the steps in the next procedure to recalibrate your device.

To Recalibrate the SRC Pro

  1. Power on the SRC Pro and press the Menu (4-line) button.

  2. Press the down arrow key to scroll to and select Calibrate Axis.

  3. Press 1.

  4. Follow the on screen instructions to move each individual fingerstick and thumbstick around its full range of motion Up, Down, Left, Right).

    The screen displays an indicator of the current position and the full range that it has reached so far. You can press 2 at any point to exit the menu without applying the new calibration settings.

  5. Let go of all fingersticks and thumbsticks when complete and press 1 to select the Finish option and accept the new calibration settings.

  6. Press 1 or 2 to close.

  7. Press the down arrow to scroll to and select Axis Values to verify the new calibration settings.

  8. Move each individual fingerstick and thumbstick around its full range of motion.

    Each axis should read 0 when the fingerstick or thumbstick is centered and the full range should be from -2048 to 2047.

  9. Press 1 to exit the menu.

Troubleshooting Configurations

Table 1. Configuration Issues
Symptom Root Cause Resolution

A device cannot be added to a configuration in FORT Manager.

The device does not carry the radio the configuration uses. LRBLE configurations require model 1003.

Check the device model on its nameplate or on the Devices page and compare it against Device Models and Communication Methods.

Ethernet is not offered as an interface for the EPC sender at the device level.

Long Range Bluetooth is selected for that sender on the General tab.

Return to the General tab and change the interface there. For more information, see Settings in a 2:1 LRBLE Configuration.

The EPC sender's E-Stop does not stop the machine, but the SRC Pro's does.

The E-Stop device is wired to the wrong channel on the EPC sender, or the EPC sender is out of LRBLE range of the receiver.

Confirm the E-Stop is wired to the channel FORT Manager assigned, then confirm the EPC sender is within range throughout the work area. For more information, see Two-to-One over Long-Range Bluetooth.
The machine will not restart after an E-Stop is released. The other sender is still requesting a stop. The output stays off while either sender requests one. Check both senders. Release the E-Stop on the WES Pro and confirm the E-Stop device wired to the EPC sender's Input 1 is also released. For more information, see Two-to-One with a WES Pro and an EPC.
The WES Pro stops the machine but the EPC sender does not. The E-Stop device is wired to the wrong input on the EPC sender, or the EPC sender is out of LRBLE range of the receiver. Confirm the E-Stop is wired to Input 1 — Inputs 2 and 3 do nothing in this configuration. Then confirm the EPC sender is in range throughout the work area. For more information, see Settings in a WES Pro and EPC Configuration.
The EPC sender stops the machine but the WES Pro does not. The WES Pro is not paired to the receiver, is out of range, or its battery is flat. Check the WES Pro's connection status and battery. For more information, see Connecting the WES Pro to a Receiver
You cannot select CANopen for a configuration with an NSC Pro receiver. Expected. The NSC Pro supports J1939 only. Select J1939 or disable CAN. For more information, see Data Interfaces (NSC Pro).
You want each sender to stop a different part of the machine. Not supported in this configuration. Both senders act on Output 1. Contact FORT support to discuss your requirement. For more information, see Two-to-One with a WES Pro and an EPC.
Neither sender stops the machine, though both show as connected. The output wired on the receiver does not match the Output to Control selection. Check the selection, then confirm the receiver's J1 wiring uses the matching pin pair — 18 and 23 for Output #1, 17 and 22 for Output #2. For more information, see Choosing Which Output the Senders Control.
The WES Pro stops the machine but the EPC sender does not. The E-Stop device is wired to the input that does not match the output selection. Wire it to Input 1 for Output #1 or Input 2 for Output #2. The other input is grayed out in FORT Manager and does nothing.
The machine stops on only one channel, or a channel fault is reported. Only one pin of the output pair is wired. Each output is a dual channel pair. Wire both pins. For more information, see EPC I/O Connector Pinout and Cable.
You cannot change Output to Control on an existing configuration. Expected. The setting is fixed when the configuration is created. Build a new configuration with the output you need and load it onto your devices.
The receiver EPC does not appear in the device list. Expected when the configuration uses LRBLE and CAN is disabled — the receiver has no settings to configure. No action. The receiver is still in the configuration and still needs the configuration loaded onto it.
A device you own does not appear in the device list when you build a configuration. The model has reached end of support, or the device was never registered. Check the model against SRC Pro Models and Support Status. If the model is supported, register the device in FORT Manager and try again.
A firmware update for a device is refused, or no update is offered. No firmware is published for the model, either because it is already current or because the model has reached end of support. Check the model against SRC Pro Models and Support Status. An end-of-support device keeps the firmware it is running and continues to operate.
A control this guide describes is not present in FORT Manager. The control does not apply to the configuration type or device model you selected, your role does not permit it, or the feature is not enabled for your organization. Check the configuration type and device model against Device Models and Communication Methods. If none of those explains it, see What You See in FORT Manager.
The logs contain nothing from the period you are investigating, or start later than you expect. The device has overwritten its oldest entries. The device stores a fixed amount and deletes the oldest to make room. Nothing recovers overwritten entries. Reproduce the problem if you can, then fetch the logs immediately. To keep a longer history, fetch regularly rather than only when something goes wrong. For more information, see Log Storage on the Device.

Proof Testing Pro Series Devices

Before integrating FORT devices with your work environment — and at periodic intervals — you must perform some basic safety (proof) tests to detect dangerous hidden failures in the EPC’s safety system. If the proof test detects any failures, you must perform immediate repairs to restore the system to its as new condition or as close to as new as possible.

Based on your application, you should determine how frequently you must perform a proof test on the system.

We recommend separate tests for each type of configuration, EPC-to-EPC, EPC-to-NSC Pro, SRC Pro-to-EPC, WES Pro-to-NSC Pro, etc. and we provide some examples below, but there are multiple combinations that we do not show. You should test the devices in the configurations that you have built and implemented.

To Proof Test an EPC-to-EPC or EPC-to-NSC Pro Configuration

To verify that inputs connected to a sender EPC and outputs connected to a receiver (EPC or NSC Pro) are working correctly and can cause an emergency stop on demand, perform the following procedure:

  1. Make sure that the sender and receiver are up and running and communicating with each other.

  2. While safety is not being requested by the sender EPC, measure the voltages at the input pins of the sending EPC.

    The voltages should be high and close to the supply voltage of the EPC.

    • If any of the measured voltages is low, or much lower than the supply voltage, then a failure is present and you must inspect the wiring and the connected components to identify the source of failure.

    • If no error is present, verify that the contactors of the relays attached to the receiver EPC(s) are all closed.

      If any of the contactors is open, investigate the source of the failure.

  3. Request safety (by activating the safety sensor/element attached to the input(s) of the sending EPC); the contactors of the relays attached to the receiver (EPC or NSC Pro) should all be open.

    • Verify that both of the voltages at the input pins of the sending EPC indicate a low voltage.

      If one or both voltages is high, it indicates that a failure is present at the external input wiring (this includes switches or solid state devices that are connected to the inputs of the EPC). Inspect the wiring and connected input devices to find the source of failure.

    • Verify that both contactors on the relays connected to the receiver (EPCs(s) or NSC Pro(s)) are open. If one or both contactors are not open it indicates a failure is present. Inspect the wiring and the relays to find the source of failure.

  4. Remove the request for safety and verify that the devices are up and running.

To Proof Test an SRC Pro-to-EPC or SRC Pro-to-NSC Pro Configuration

To verify that outputs connected to a receiver (EPC or NSC Pro) are working correctly and can cause an emergency stop on demand, perform the following procedure:

  1. While the SRC Pro is up and running, use Machine Select and mode select to connect it to a running EPC or NSC Pro in the configuration.

  2. While safety is not being requested, verify that the contactors on the receiver (EPC or NSC Pro) are all closed.

    If any of the contactors is open, investigate and identify the source of the failure.

  3. Request safety by pressing the E-Stop button on the SRC Pro and verify that both contactors on the relay connected to the receiver (EPC or NSC Pro) are open. If one or both contactors are not open, which indicates a failure, inspect the wiring and the relays to find the source of the failure. 4. Remove the request for safety on the SRC Pro and verify that the devices are up and running.

    Repeat this procedure for each EPC or NSC Pro in the configuration.

To Proof Test WES Pro-to-EPC or WES Pro-to-NSC Pro Configuration

To verify that outputs connected to a receiver (EPC or NSC Pro) are working correctly and can cause an emergency stop on demand, perform the following procedure:

  1. While the WES Pro is up and running, be certain that one or more EPCs 1 or NSC Pros in the configuration are running.

  2. While safety is not being requested, verify that the contactors on the receiver EPC are all closed.

    If any of the contactors is open, investigate and identify the source of the failure.

  3. Request safety by pressing the E-Stop button on the WES Pro and verify that both contactors on the relay connected to the receiver (EPC or NSC Pro) are open.

    If one or both contactors are not open, which indicates a failure, inspect the wiring and the relays to find the source of the failure.

  4. Remove the request for safety on the WES Pro and verify that the devices are up and running.

Repeat this procedure for each EPC or NSC Pro in the configuration.

Wireless Communication Loss

A wide range of events can cause loss of signal events; for example, moving the transmitter out of range of the receiver, introducing enough interference or obstructions, turning off the transmitter, or anything else that prevents communication between the devices.

During normal operation, a receiver expects to receive at least one valid safety message from the sender within the (user-configurable) timeout period or else it enters the safe state (turns off its outputs). If the receiver stops receiving valid messages because of communication loss (or any other reason), once the timeout period is exceeded, the safety processor on the EPC opens the safety relays to initiate the E-Stop command.

In other words, the timeout value defines the maximum time the receiver holds its outputs ON without receiving a valid safety message from the transmitter.

This value sets the worst-case delay between an E-Stop activation on the transmitter and output deactivation on the receiver (outputs will turn OFF no later than the configured timeout after the last valid message is received).

FORT recommends a 500 ms timeout as a starting point. You must assess whether a timeout longer than 500 ms is safe for your application, based on factors such as required stopping time/distance and applicable safety standards.

While performing safety tests on your Pro Series devices, verify that communication loss isn’t affecting the performance of your equipment or causing unsafe operation. You can experiment with different values for the timeout while testing: 250 ms, 500 ms, 750 ms, 1 sec, 3 sec, or 5 sec, 2 to address any issues you find. You set the timeout value in FORT Manager when building a configuration. See Building a Configuration.

In good communication conditions the actual response is typically much faster than the timeout; the timeout value only bounds the worst case under lossy or lost communication.

For example: With a 3-second timeout, receiver outputs may remain ON for up to 3 seconds after the E-Stop is pressed before turning OFF.

1 A WES Pro can pair with one receiver only. The receiver can be an EPC or an NSC Pro. Consult the Release notes for information specific to the version of the product that you are using.
2 The timeout values could change in later versions of the product. Be certain to check the Release notes for current information.