CLS2Sim v5.7.23

First steps

Warnings
First start
UI Overview
Connecting to the hardware
Connecting to the sim
Connection speed details

Safety and Warning Information Control Loading Systems

GENERAL. THE CORRECT AND SAFE OPERATION OF THE UNIT IMPLIES IT'S PROPER AND PROFESSIONAL TRANSPORT, STORAGE, ASSEMBLY, PROJECT PLANNING AND CAREFUL OPERATION AND MAINTENANCE.

HANDLE WITCH CARE. DO NOT DROP. DISCONNECT POWER AND COMMUNICATION CABLES BEFORE MOVING.

WARNING! KEEP THE HANDLE AREA CLEAR WHEN POWER IS APPLIED. WAIT UNTIL INIT-SEQUENCE IS FINISHED (NO MOVING) BEFORE TOUCHING THE HANDLE.

WARNING! CONTROL LOADING SYSTEMS ARE NOT TOYS. SMALL CHILDREN UNDER 16 YEARS SHOULD NOT OPERATE THE SYSTEMS WITHOUT SUPERVISION OF AN ADULT. DEPENDING ON THE SETTINGS, OR IN CASE OF FAILURE, AXIS CAN MOVE OR TURN IN ANY DIRECTION AND WITHOUT WARNINGS.

WARNING! THE UNIT MUST NOT BE OPERATED WITHOUT CASING (PROTECTIVE HOODS)!

WARNING! THE UNIT MUST NOT BE OPERATED WITHOUT A PERMANENTLY INSTALLED YOKE/GRIP!

WARNING! THE UNIT MUST BE MOUNTED SECURELY ON A FLAT AND STABLE SURFACE BEFORE PUTTING IT INTO OPERATION!

WARNING! KEEP A MINIMUM DISTANCE OF 12 INCHES FROM THE YOKE/GRIP TO YOUR BODY. ONLY HANDS AND FEET ARE ALLOWED TO TOUCH THE UNIT DURING OPERATION!

WARNING! KEEP ANIMALS AWAY FROM THE SYSTEM!

POWER SUPPLY WARNING! THE HARDWARE MUST NOT BE POWERED BY ANY OTHER POWER SUPPLY THAN THE ONE DELIVERED WITH THE UNIT! USING ANY THIRD-PARTY POWER SUPPLY CAN LEAD TO ELECTRIC SHOCK OR FIRE!

NO OPENING AND REPAIR! THE UNIT MUST ONLY BE OPENED AND REPAIRED BY BRUNNER PERSONNEL!

IMPORTANT ERGONOMIC INFORMATION. LONG PERIODS OF REPETITIVE MOTION USING AN IMPROPERLY SET-UP WORKPLACE, INCORRECT BODY POSITION AND POOR WORK HABITS MAY BE ASSOCIATED WITH PHYSICAL DISCOMFORT AND INJURY TO NERVES, TENDONS AND MUSCLES.

First start

Autodetection

When starting CLS2Sim for the first time, the application will try to autodetect your hardware configuration.

If anything goes wrong during detection, just wait for any search to finish and close the window.
When closing the window for any reason, the application will switch to manual configuration.

First you will have to connect all cables.

After you plugged everything in, click on "Start autodetection". The application will search for hardware in the following order:

Hardware connected over USB HID.
Hardware connected over Ethernet.
Hardware connected over USB virtual com port.

If any hardware has been found, you can click on connect:

If a connection could be established, the CAN bus will be searched for any connected devices.

If autoconnection was successful click on "Finish". Else close the window.

Manual configuration

If for any reason autodetection fails, you will be able to select your hardware configuration manually.
You will find the required name of your device on the device itself, by the connectors.

The main window

After finishing the hardware configuration, the main window will show:

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Overview

The GUI is divided into 5 different groups. Following is a short overview of the five groups and their functions.

File Menu

The file menu contains the Settings Item, which will open the connection settings. This option is only available if the application is not connected to the hardware. In The Tools menu the logo editor for the CLSE yoke can be found. The About menu contains program information and help.

Control Loading System

In the upper left corner resides the "Control Loading System" section. All controls are managed from this part of the application. The status of each axis is shown and a profile can be selected. A click on "Profile Manager" allows managing of all CLS profiles. Please note that the profile manager is only available when being connected to the hardware.

Hardware

In the middle left area resides the "Hardware" section. The term "Hardware" includes the Control loading system, the motion platform and the E2CAN Gateway. In general terms it refers to the BEH hardware that needs to be connected to the simulation. This area allows connection as well as initialization or fault reset of the hardware. It also shows the communication rate to the hardware.

Simulation

In the middle right area resides the "Simulation" section. The Simulation allows connection and disconnection to the simulation software. It shows the target IP address as well as the connection status and update rate.

Logging window

In the lower part of the application resides the logging window. In normal operation mode it will only display errors. All displayed information can also be viewed in the logfile "logfile.log" created in the installation directory.

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Settings

Before connecting to hardware or a simulation, the application must be configured.
To eliminate certain caveats, please make sure that the hardware is powered, before doing the set-up. Go to File -> Settings and configure the hardware and the simulator connection.
Please see the Settings help page for Instructions.

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Connecting to the hardware

After the connection set-up is done, you can connect to the hardware, by clicking the connect button in the hardware section. Connecting can take up to 20 seconds. Should an error occur, it will be displayed in the lower part of the program. On successfully connecting to the hardware, the application will look like this. The "Control Loading System" section will only be activated if any CLS device is connected, same goes for the "Motion Platform" section, which will activate if a platform has been detected.

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Explanation of the UI

You will now see a green or yellow status indicator for each connected axis. The color table is as follows.

Color	Meaning
	No hardware has been detected for this axis.
	The hardware for this axis is connected and initialization has been done. The axis is ready to be connected to the simulation.
	The hardware for this axis is connected but initialization has not been done yet. Click on Init to start initialization. Please be aware that the hardware moves through its full range.
	The hardware for this axis is connected but an error has occurred. Identify the type of error in the logging window in the lower part of the application. During normal operation, errors should not occur, except for the "under voltage" error, which is raised, when the hardware experiences a short power outage. If you are sure that further operation is safe, you can click on the "Fault reset" button (The "Init" button changes to "Fault reset" in case of an error). The hardware will be reset and is now operational again.

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Connecting to the simulation

First, make sure you have followed the instructions for your particular simulation in the Simulator client installation page.
Make sure that you have selected the correct simulation in the connection settings of CLS2Sim and have entered the correct IP address. (See Connection Settings)
Click on the Connect button on the right side of the main window.

If everything went right, the Simulation groupbox will look like the image below.
If the connection failed, the application may hang up to 30 seconds trying to connect.
It will also print a log message informing the user of the failed connection attempt.

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Connection speed details

After clicking the Details button, a small dialog window will open showing connection statistics.

Position updates, show min,max,avg update rate for the position data of your device.
The slowest update is significantly different from avg, that's normal.
As long as the avg update rate is 10 times per second or better it's ok.

One or two timeouts per minute is absolutely no problem, but if you constantly have timeouts each second,
that is an indication that there is an electrical problem on the CAN bus between the Brunner devices.
Possible issues:

Your cables between two devices are too long. (should be less than 3m)
Your total cable length is too long. (Should be less than 8m)
Your terminating resistor configuration is incorrect. Go to helpdesk.brunner-innovation.ch and open a ticket