Manual

igus^® smart plastics i.Cee²

Safety instructions¶

The following information boards will appear a few times in the manual, they are classified so that the degree and type of hazard are marked.

Qualified personnel

The i.Sense:modul II may only be operated and maintained by qualified specialists.

• The staff must have read and understood this manual and any additional documentation that may exist.

• Personnel must be familiar with all relevant applicable standards, regulations and accident prevention regulations.

• The personnel must be able to foresee or recognize any hazards that may arise when using the controls.

• Personnel must be able to ensure the safety of people and objects when using the sensor unit in the overall system.

• Personnel must be trained in the handling of ESD sensitive equipment and must have all necessary Take precautions.

Compliance with EU Directives

The CE marking on the device confirms compliance with the following European directives:

The applicable directives are listed in the EU declaration of conformity of the respective device.

Cyber Resilience Act (CRA) Notice

This product contains digital components. For such products, the Security requirements of the EU Cyber Resilience Act (Regulation (EU) 2024/2847). The CRA specifies that software and connected devices must be used across the entire life cycle must be operated safely and kept up to date.

To ensure that you can use your system reliably and safely, please note:

• Install deployed firmware and software updates regularly.
• Use secure network and access settings.
• Change default passwords immediately after commissioning.
• Disable unnecessary interfaces or services.

If you see a technical anomaly or a possible security vulnerability , please report them via the official igus support channel: security@[manufacturer].com or via the service portal.

The CRA also requires users to have access to information on: Receive security support, known risks, and update processes. For more details, please refer to the documentation of this product or with your national market surveillance authority.

Note on the EU Dual-Use Regulation (EU) 2021/821

Individual electronic components and sensors in this product may vary depending on the fall under the EU Dual-Use Regulation (EU) 2021/821. This ordinance regulates goods that are used in both civilian and military area.

For export to countries outside the EU, a permit can therefore be obtained may be necessary. Whether this is true depends on the target market, the application and the respective technical configuration.

Please check before passing on or exporting the product:

• whether there are export restrictions for your destination country,
• whether your application is considered security-critical or military-grade,
• whether a permit is required under applicable regulations.

For more information, please contact your national export control authority (e.g. BAFA in Germany) or in the official EU documents.)

Product Overview¶

Operating modes (overview)¶

• Normal operation: Device is started, network active, services can be operated.
• Service/Diagnosis: Status check via TFT screens or via SSH (systemctl).
• Provisioning: Serial number/hostname/access point SSID are put into production (script or UI workflow). Note: Features and default network settings may vary depending on the image/release (e.g. iCee2-CORE vs. i.Cee²/ATLAS).

Table of i.Cee² Reference ID / Model Number¶

General description¶

i.Cee² is a single board computer that connects sensors and assets, executes control logic and transfers it to production without platform changes.
Designed for industrial teams that need a reliable path from experimentation to operations.

Key features¶

Processor: * Raspberry Pi CM4 (Quad-Core Cortex-A72)

I/O: * 12 DO (Digital Outputs) * 6 AI (analog inputs) * 2 seasons

Industrial bus: * RS-485 * CAN * 2× Ethernet port (independently managed)

Communication: * Built-in LTE * Wi-Fi * BLE * USB

Interface & Services: * 1.47" IPS TFT display + joystick for local setup and feedback. * Contains 1GB of data (up to 500MB LTE + 500MB DB storage) over sensblue.cloud — no external SIM required. * EU hosted servers, TLS, weekly backups, VPN on request. * Other versions on request.

Hardware Specifications¶

Power supply¶

Digital Inputs¶

Digital outputs (relays)¶

Digital Outputs (Transistor/SSR)¶

Analog Inputs¶

Analog Outputs¶

Electrical Specifications (Quick Reference)¶

• Power supply: 12-24 VDC (±5%)
• Power consumption: typical < 15 W, max. 25 W (all peripherals active)
• Digital inputs: 4 channels, 0–24 VDC, optional "fast inputs" up to 100 Hz (depending on configuration)
• Digital Outputs: 2× Relays + 8× Transistor/SSR (PNP/Source)
• Analog Inputs: 4 channels, 0-10 V or 0/4-20 mA (configurable per channel)
• Analog Outputs: 2 channels, 0-20 mA (optional 4-20 mA)

Environmental conditions¶

Protection class / installation - Degree of protection: IP20
- Mounting: DIN rail (EN 60715)

Communication interfaces¶

Ethernet¶

RS-485¶

USB¶

HDMI¶

RF Communication¶

Local Peripherals¶

HDMI¶

1 Ad¶

2 Joystick¶

Mechanical¶

Connection¶

Expansion¶

Mechanical drawings¶

Front view¶

Ground view¶

Top view¶

System type¶

Raspian Debian GNU/Linux 13 (trixie) Version 13.2 Linux atlas 6.12.47 +rpt-rpi-v8 #1 SMP PREEMPT Debian 1 :6.12.47-1 +rpt1 (2025-09-16) aarch64 GNU/Linux.

Network information¶

There are three ways to connect to the device. IP and connection status can be checked on the LCD Network Interface.

Eth1 (ethO)¶

Client dynamic IP is obtained from the DHCP server.

Eth2 (eth1)¶

Static IP: 93.48.86.253

Access point (wlanO)¶

IP: 192.168.30.1

Installation¶

General information¶

1. Mount the device on a DIN rail and supply it professionally (12–24 VDC).
2. After power on, wait for boot; Network data can be displayed on the TFT network screen depending on the release.
3. For initial access, use one of the following connections:
4. ETH1 (DHCP)
5. WLAN access point (SSID/password depending on serial number/release)
6. ETH2 / service port (if active in the release, usually private subnet)

Mechanical installation¶

• Mounting on DIN rail (EN 60715)
• Protection class IP20 (installation in suitable control cabinet/environment)
• Mechanical drawings (front/floor/top view) see chapter "Technical data"

Electrical installation¶

• Connect power to 12-24 VDC (±5%).
• Lay cables in such a way that there is no tensile/crushing load.
• Perform I/O wiring according to technical specifications and project-specific design. Note: Detailed terminal/pin assignment is not yet fully included in the information provided and should be supplemented (terminal diagram/pinout).

Sensors¶

Interfaces / Peripherals (Overview)¶

Ethernet / WLAN¶

• ETH1: DHCP Client (Standard Access)
• WLAN-AP: SSID typically iCee2-<SERIAL_NUMBER>-AP (password per release)
• ETH2 / service port (release dependent): private subnet (e.g. called 192.168.50.0/24)

RS-485 (release dependent)¶

• RS-485 Serial Driver Interface available on tty/AMA2 (iCee2-CORE Release)

USB¶

• 2× USB host (test via SSH possible: usb-devices)

CAN / CANopen (ATLAS)¶

• CAN controller: MCP2518FD (SPI)
• Encoder Reference: RM8007 (CANopen)
• Measurement rate (reference): approx. 500 measurements/s (estimation from bus cycle)

Note: Concrete connection diagrams/pinouts for RS-485/CAN/USB are only partially included in the supplied information (e.g. software examples), but should be supplemented for a complete hardware manual.

Software¶

Software Information¶

MQTT Broker¶

Port: 1883

Address: AP-> 192.168.30.1

Eth1: 93.48.86.253

User: < not necessary>

Login

Relay outputs actor¶

App Interface¶

User app interface and functionalities available to the open part of the MQTT broker. Simplified interface for configuring and receiving peripheral data. The connection to the broker for this area does not require any access data.

Setting/resetting the digital output pin/pin status¶

Both relays default status is open.

Question topic: relayOutputs/config/in

{
  "id": "<TIMESTAMP>",
  "origin": "APP",
  "task": {
    "taskParams": {
      "D01": {
        "state": "open"
      },
      "D02": {
        "state": "open"
      }
    }
  }
}

{
  "id": "<TIMESTAMP>",
  "origin": "APP",
  "task": {
    "taskResult": {
      "D01": {
        "success": true,
        "state": "open"
      },
      "D02": {
        "success": true,
        "state": "open"
      }
    }
  }
}

Activate all relays¶

Request topic: relayOutputs/runtime/in

{
  "id": "<TIMESTAMP>",
  "origin": "APP",
  "task": {
    "action": "READ"
  }
}

Reply-Topic: relayOutputs/runtime/out

{
  "id": "<TIMESTAMP>",
  "origin": "APP",
  "task": {
    "taskResult": {
      "D01": {
        "success": true,
        "state": "open"
      },
      "D02": {
        "success": true,
        "state": "close"
      }
    }
  }
}

Set the state of all relays¶

Request topic: relayOutputs/runtime/in

{
  "id": "<TIMESTAMP>",
  "origin": "APP",
  "task": {
    "action": "SET",
    "taskParams": {
      "D01": {
        "state": "open"
      },
      "D02": {
        "state": "close"
      }
    }
  }
}

{
  "id": "<TIMESTAMP>",
  "origin": "APP",
  "task": {
    "taskResult": {
      "D01": {
        "success": true,
        "state": "open"
      },
      "D02": {
        "success": true,
        "state": "close"
      }
    }
  }
}

RTC Actor¶

App Interface¶

User app interface and functionalities available to the open part of the MQTT broker. Simplified interface for configuring and receiving peripheral data. The connection to the broker for this area does not require a vote of confidence.

Set timer/alarm clock interruption¶

Mode: Timer, alarm or not.

alarmSet: Date and time for alarm interruption (No effect whether the mode is timer or not).

timerSetSeconds: Period in seconds for timer interruption (no effect whether the mode is alarm or not).

Desired topic: Clock/Configuration/Setting

{
  "id": "<TIMESTAMP>",
  "origin": "APP",
  "task": {
    "taskParams": {
      "CLOCK\_SET\_MODE": {
        "mode": "timer",
        "alarmSet": "\[timestamp epoch ms\]",
        "timerSetSeconds": "<INT>"
      }
    }
  }
}

{
  "id": "<TIMESTAMP>",
  "origin": "APP",
  "task": {
    "taskResult": {
      "success": true,
      "CLOCK\_SET\_MODE": {
        "mode": "timer",
        "alarmSet": "\[timestamp epoch ms\]",
        "timerSetSeconds": "<INT>"
      }
    }
  }
}

Toggle RTC synchronization logic (described below)¶

tcState: State of the synchronization logic of the RTC, this value is non-persistent, so on each reboot the value reverts to the default (by default, the value is ON)

Desired topic: Clock/Configuration/Setting

{
  "id": "<TIMESTAMP>",
  "origin": "APP",
  "task": {
    "action": "TOGGLE"
  }
}

Req-Topic: clock/config/out

{
  "id": "<TIMESTAMP>",
  "origin": "APP",
  "task": {
    "taskResult": {
      "success": true,
      "rtcState": "OFF"
    }
  }
}

read-clock configurations¶

Mode: Timer, alarm or not.

alarmSet: Date and time for alarm interruption (No effect whether the mode is timer or not).

timerSetSeconds: Period in seconds for timer interruption (no effect whether the mode is alarm or not).

rtcState: Current state of the RTC's synchronization logic.

Desired topic: Clock/Configuration/Setting

{
  "id": "<TIMESTAMP>",
  "origin": "APP",
  "task": {
    "action": "READ"
  }
}

{
  "id": "<TIMESTAMP>",
  "origin": "APP",
  "task": {
    "taskResult": {
      "success": true,
      "CLOCK\_CONFIGS": {
        "mode": "timer",
        "alarmSet": "\[timestamp epoch ms\]",
        "timerSetSeconds": "<INT>",
        "rtcState": "ON"
      }
    }
  }
}

Reading Clock¶

Demand Topic: Clock/Runtime/In-Phase

{
  "id": "<TIMESTAMP>",
  "origin": "APP",
  "task": {
    "taskResult": {
      "success": true,
      "timestamp": "\[timestamp epoch ms\]"
    }
  }
}

Synchronization loop flowchart (every 30 seconds)¶

RTC Actor – Overview

Core System Health Actor¶

App Interface¶

User app interface and functionalities available to the open part of the MQTT broker.

This interface allows any external app to receive system metrics such as CPU load, RAM usage, disk usage, temperature, core frequency, system throttling status, and availability. No qualifications are required to subscribe to this topic. The System Health Actor does not receive any commands. It is completely autonomous and publishes its metrics every 1 second.

Runtime data¶

Topic: SystemHea l th/Runtime/ off

Release rate: 1 Hz (one message per second, clock jump for sure)

metrics provided¶

Example Payload (systemHealth/runtime/out)

{ "id": 1736022028123, "Origin": "System Health", "Task": { "taskResult": { "cpu_percent": 7.1, "CPU_tempC": 47.3, "CPU0_freq": 15000000000, "CPU1_freq": 15000000000, "CPU2_freq": 15000000000, "CPU3_freq": 1500000000, "cpu0_throttle": "0x0", "Ram_percent": 32.9, "disk_percent\": 41.2, "Uptime_sec": 5321 } } }

Peripheral Device Health¶

To maintain the health of the peripherals, we had to implement a SystemHealth actor in each bus manager (busi2cO, busi2c-1, etc.).

example¶

For busi2c-0:

Answer topic: systemHealth/busi2c-0/runtime/out

Payload:

{
  "id": 1770378753024,
  "origin": "system-health-busi2c-0",
  "task": {
    "taskResult": {
      "ADC": {
        "status": "ERROR",
        "description": "IRQ Retrying",
        "last\_report": 1770378753006,
        "stats": {
          "AI1": {
            "samples": 563154,
            "retries": 760548,
            "discards": 253313
          },
          "AI2": {
            "samples": 563154,
            "retries": 760475,
            "discards": 253314
          },
          "AI3": {
            "samples": 563154,
            "retries": 760528,
            "discards": 253313
          },
          "AI4": {
            "samples": 563154,
            "retries": 760549,
            "discards": 253312
          }
        }
      },
      "DAC": {
        "status": "OK",
        "description": "Running....",
        "last\_report": 1770378752576,
        "stats": {
          "AO1": {
            "samples": 240755,
            "retries": 0,
            "discards": 0
          },
          "AO2": {
            "samples": 240755,
            "retries": 0,
            "discards": 0
          }
        }
      },
      "RTC": {
        "status": "OK",
        "description": "",
        "last\_report": 1770378752094,
        "stats": {
          "samples": 248710,
          "retries": 0,
          "discards": 0
        }
      },
      "TEMP": {
        "status": "OK",
        "description": "",
        "last\_report": 1770378752579,
        "stats": {
          "samples": 240754,
          "retries": 0,
          "discards": 0
        }
      }
    }
  }
}

Answer topic: systemHealth/busi2c-1/runtime/out

Payload:

{
  "id": 1770382405107,
  "origin": "system-health-busi2c-1",
  "task": {
    "taskResult": {
      "JOYSTICK": {
        "status": "OK",
        "description": "Running....",
        "last\_report": 1770382405050,
        "stats": {
          "read\_all": {
            "samples": 410154,
            "retries": 0,
            "discards": 0
          },
          "read\_raw": {
            "samples": 0,
            "retries": 0,
            "discards": 0
          },
          "buttons": {
            "JDOWN": {
              "reads": 410154,
              "last\_state": "pressed"
            },
            "JRIGHT": {
              "reads": 410154,
              "last\_state": "pressed"
            },
            "JUP": {
              "reads": 410154,
              "last\_state": "pressed"
            },
            "JLEFT": {
              "reads": 410154,
              "last\_state": "pressed"
            },
            "JCENTER": {
              "reads": 410154,
              "last\_state": "pressed"
            }
          }
        }
      },
      "RELAYS": {
        "status": "OK",
        "description": "Relay Output MQTT connected",
        "last\_report": 1770298859099,
        "stats": {
          "read\_all": {
            "samples": 0,
            "retries": 0,
            "discards": 0
          },
          "set": {
            "samples": 0,
            "retries": 0,
            "discards": 0
          },
          "set\_many": {
            "samples": 0,
            "retries": 0,
            "discards": 0
          },
          "raw\_read\_all": {
            "samples": 0,
            "retries": 0,
            "discards": 0
          }
        },
        "outputs": {
          "DO1": {
            "writes": 0,
            "last\_state": "unknown"
          },
          "DO2": {
            "writes": 0,
            "last\_state": "unknown"
          }
        }
      },
      "DI": {
        "status": "OK",
        "description": "Running",
        "last\_report": 1770382404832,
        "stats": {
          "read\_all": {
            "samples": 181758,
            "retries": 0,
            "discards": 0
          },
          "read\_raw": {
            "samples": 0,
            "retries": 0,
            "discards": 0
          },
          "inputs": {
            "DI1": {
              "reads": 181758,
              "last\_state": "low"
            },
            "DI2": {
              "reads": 181758,
              "last\_state": "low"
            },
            "DI3": {
              "reads": 181758,
              "last\_state": "low"
            },
            "DI4": {
              "reads": 181758,
              "last\_state": "low"
            }
          }
        }
      }
    }
  }
}

TempSensor Actor¶

App Interface¶

User app interface and functionalities available to the open part of the MQTT broker. Simplified interface for configuring and receiving peripheral data. The connection to the broker for this area does not require a vote of confidence.

Temperature sensor settings¶

Required Topic: tempSensor/config/in

ALARM:

• Activate: true(active)/false
• Temperature: Alarm temperature lower limit
• TemperatureHigh: Alarm temperature upper limit

  {
    "id": "<TIMESTAMP>",
    "origin": "APP",
    "task": {
      "taskParams": {
        "ALERT": {
          "activate": true,
          "tempLow": 0,
          "tempHigh": 80
        }
      }
    }
  }
  

  Answer topic: tempSensor/konfiguration/out

  {
    "id": "<TIMESTAMP>",
    "origin": "APP",
    "task": {
      "taskResult": {
        "success": true,
        "ALERT": {
          "activate": true,
          "tempLow": 0,
          "tempHigh": 80
        }
      }
    }
  }
  

  Read ##### Temperature Sensor Configurations

Required Topic: tempSensor/config/in

ALARM:

• Activate: true(active)/false

LIMITS:

• Temperature: Alarm temperature lower limit
• TemperatureHigh: Alarm temperature upper limit

  {
    "id": "<TIMESTAMP>",
    "origin": "APP",
    "task": {
      "action": "READ"
    }
  }
  

  Answer topic: tempSensor/konfiguration/out

  {
    "id": "<TIMESTAMP>",
    "origin": "APP",
    "task": {
      "taskResult": {
        "success": true,
        "ALERT": {
          "activate": true,
          "tempLow": 0,
          "tempHigh": 80
        }
      }
    }
  }
  

View temperature and alarm status¶

• Unit: Temperature Unit
• Warning: true (triggered) or false

Required topic: tempSensor/Runtime

{
  "id": "<TIMESTAMP>",
  "origin": "APP",
  "task": {
    "action": "READ"
  }
}

{
  "id": "<TIMESTAMP>",
  "origin": "APP",
  "task": {
    "taskResult": {
      "success": true,
      "data": {
        "temperature": <\_FLOAT\_>,
        "unit": "C",
        "alert": true
      }
    }
  }
}

TFT Actor¶

App Interface¶

User app interface and functionalities available to the open part of the MQTT broker. Simplified user interface for controlling and interacting with the TFT display or LCD front panel. The connection to the broker for this area does not require any access data.

TFT Display Actor¶

The TFT actor is responsible for:

• Rendering static and informative screens on the TFT display
• Reagent on joystick input (LEFT/ RIGHT/ CENTER/ UP/ DOWN)
• Manage screen navigation and user confirmation flows
• Provide feedback to the application via MQTT

screen carousel concept¶

The TFT actor keeps an ordered list of screens (carousel).

• The screens are navigated with the joystick:

- LEFT --> Previous Screen

- CORRECT --> Next Screen

• The carousel wraps around:

- LEFT on the first screen --> last screen

- EXACTLY on the last screen --> first screen

screen types¶

The TFT actor supports the following screen types:

a.) Picture screen

• Displays a static JPEG image
• Default screen is displayed at startup
• No user interaction required

b.) Network Information Screen

• Display an interface with information about the device's networks
• Updated on load
• No user interaction required

joystick navigation logic¶

Carousel navigation:

boot behavior¶

For system boots:

1. The TFT actuator initializes the display
2. The last available carousel is loaded
3. The first screen is rendered
4. Joystick subscriptions will be activated
5. The Actor Waits for Runtime Commands

Design Notes and Limitations¶

• TFT actor does not show joystick state freely
• Joystick actor remains independent
• TFT actor consumes joystick events internally
• Carousel State is local to the TFT actor
• Screen rendering is synchronous; Incoming treatment is carried out asynchronously
• Confirmation screens always require explicit CENTER printing

Interaction via MQTT¶

Enabling interaction with the carousel via the topic tft/runtime/in . Available actions are public to the user.

Runtime Commands

Go to the screen

Required topic: tft/runtime/in

{
  "id": "<TIMESTAMP>",
  "origin": "APP",
  "task": {
    "action": "SET\_CAROUSEL",
    "params": {
      "index": 2
    }
  }
}

{
  "id": "<TIMESTAMP>",
  "origin": "tft",
  "task": {
    "taskResult": {
      "success": true,
      "index": 2
    }
  }
}

{
  "id": "TIMESTAMP",
  "origin": "APP",
  "task": {
    "action": "SET\_CAROUSEL",
    "params": {
      "startIndex": 0,
      "screens": \[
        {
          "type": "image",
          "image": "default.jpg"
        },
        {
          "type": "image",
          "image": "status.jpg"
        },
        {
          "type": "confirm",
          "question": "Do you want to continue?"
        }
      \]
    }
  }
}

Answer

Answer topic: tft/runtime/out

{
  "id": "TIMESTAMP",
  "origin": "tft",
  "task": {
    "taskResult": {
      "success": true,
      "activeIndex": 0,
      "totalScreens": 3
    }
  }
}

Analoglnputs Actor¶

App Interface¶

User app interface and functionalities available to the open part of the MQTT broker. Simplified interface for configuring and receiving peripheral data. The connection to the broker for this area does not require a vote of confidence.

configurations¶

Topic: analoglnputs/konfiguration/in – Setting ADC channel configurations

Mode

• continuous
• Single

Type

• Voltage
• current

  {
    "id": "<TIMESTAMP>",
    "origin": "APP",
    "task": {
      "taskParams": {
        "AI1": {
          "mode": "single",
          "type": "voltage"
        },
        "AI2": {
          "mode": "single",
          "type": "voltage"
        },
        "AI3": {
          "mode": "single",
          "type": "current"
        },
        "AI4": {
          "mode": "single",
          "type": "current"
        }
      }
    }
  }
  

  Answer topic: analoglnputs/config/out

  {
    "id": "<TIMESTAMP>",
    "origin": "APP",
    "task": {
      "taskResult": {
        "AI1": {
          "success": true
        },
        "AI2": {
          "success": true
        },
        "AI3": {
          "success": true
        },
        "AI4": {
          "success": true
        }
      }
    }
  }
  

Runtime Data¶

Topic: Analog Inputs/Runtime/In.

Action:

• READ
• PAUSE (only applicable in continuous mode)
• RESUME (only applicable in continuous mode)

  {
    "id": "<TIMESTAMP>",
    "origin": "APP",
    "task": {
      "taskParams": {
        "AI1": {
          "action": "READ"
        },
        "AI2": {
          "action": "READ"
        },
        "AI3": {
          "action": "READ"
        },
        "AI4": {
          "action": "READ"
        }
      }
    }
  }
  

  Answer Topic: Analog Inserts/Runtime/Off

  {
    "id": "<TIMESTAMP>",
    "origin": "APP",
    "task": {
      "taskResult": {
        "AI1": {
          "success": true,
          "value": <\_FLOAT\_>
        },
        "AI2": {
          "success": true,
          "value": <\_FLOAT\_>
        },
        "AI3": {
          "success": true,
          "value": <\_FLOAT\_>
        },
        "AI4": {
          "success": true,
          "value": <\_FLOAT\_>
        }
      }
    }
  }
  

Analog Output Actor¶

App Interface¶

User app interface and functionalities available to the open part of the MQTT broker. Simplified interface for configuring and receiving peripheral data. The connection to the broker for this area does not require a vote of confidence.

Setting Analog Output Signal¶

Desired topic: analogOutputs/config/in

Output: Current within 0-20 mA

Mode: On/Off

{
  "id": "<TIMESTAMP>",
  "origin": "APP",
  "task": {
    "taskParams": {
      "mode": "on",
      "AO1": {
        "current": <\_FLOAT\_>
      },
      "AO2": {
        "current": <\_FLOAT\_>
      }
    }
  }
}

{
  "id": "<TIMESTAMP>",
  "origin": "APP",
  "task": {
    "taskResult": {
      "mode": "on",
      "AO1": {
        "success": true,
        "current": <\_FLOAT\_>
      },
      "AO2": {
        "success": true,
        "current": <\_FLOAT\_>
      }
    }
  }
}

Setting Analog Outputs¶

Requirement Topic: Analog Expenditure/Duration

Current: Current within 0-20 mA

{
  "id": "<TIMESTAMP>",
  "origin": "APP",
  "task": {
    "taskParams": {
      "AO1": {
        "action": "SET",
        "current": <\_FLOAT\_>
      },
      "AO2": {
        "action": "SET",
        "current": <\_FLOAT\_>
      }
    }
  }
}

{
  "id": "<TIMESTAMP>",
  "origin": "APP",
  "task": {
    "taskResult": {
      "AO1": {
        "success": true,
        "current": <\_FLOAT\_>
      },
      "AO2": {
        "success": true,
        "current": <\_FLOAT\_>
      }
    }
  }
}

Reading Analog Output Settings¶

Requirement Topic: Analog Expenditure/Duration

Current: Current within 0–20 mA

{
  "id": "<TIMESTAMP>",
  "origin": "APP",
  "task": {
    "taskParams": {
      "AO1": {
        "action": "READ"
      },
      "AO2": {
        "action": "READ"
      }
    }
  }
}

{
  "id": "<TIMESTAMP>",
  "origin": "APP",
  "task": {
    "taskResult": {
      "AO1": {
        "success": true,
        "current": <\_FLOAT\_>
      },
      "AO2": {
        "success": true,
        "current": <\_FLOAT\_>
      }
    }
  }
}

Digital Input Actor¶

App Interface¶

User app interface and functionalities available to the open part of the MQTT broker. Simplified interface for configuring and receiving peripheral data. The connection to the broker for this area does not require any access data.

Adjust the speed of the digital input pins/pins quickly/slowly¶

The fast speed setting supports edge detection up to 100 Hz and the slow speed setting up to 10 Hz.

Quick Mode generates a message every time the I/O state changes, which can result in a high message payload during operation. Therefore, Quick Mode should only be enabled if absolutely necessary is required.

Prerequisite topic: digitallnputs/config/in

{
  "id": "<TIMESTAMP>",
  "origin": "APP",
  "task": {
    "taskParams": {
      "DI1": {
        "speed": "fast"
      },
      "DI2": {
        "speed": "slow"
      },
      "DI3": {
        "speed": "fast"
      },
      "DI4": {
        "speed": "fast"
      }
    }
  }
}

{
  "id": "<TIMESTAMP>",
  "origin": "APP",
  "task": {
    "taskResult": {
      "DI1": {
        "success": true,
        "speed": "fast"
      },
      "DI2": {
        "success": true,
        "speed": "slow"
      },
      "DI3": {
        "success": true,
        "speed": "fast"
      },
      "DI4": {
        "success": true,
        "speed": "fast"
      }
    }
  }
}

Get the status of all digital input pins.¶

Desired topic: digital entries/runtime

{
  "id": "<TIMESTAMP>",
  "origin": "APP",
  "task": {
    "action": "READ"
  }
}

{
  "id": "<TIMESTAMP>",
  "origin": "APP",
  "task": {
    "taskResult": {
      "DI1": {
        "success": true,
        "state": "high"
      },
      "DI2": {
        "success": true,
        "state": "low"
      },
      "DI3": {
        "success": true,
        "state": "high"
      },
      "DI4": {
        "success": true,
        "state": "low"
      }
    }
  }
}

Digital Source Actor¶

App Interface¶

User app interface and functionalities available to the open part of the MQTT broker. Simplified interface for configuring and receiving peripheral data. The connection to the broker for this area does not require any declarations of faith.

Get the state of all digital output pins¶

Requirement topic: digitalOutputs/Runtime/in

{
  "id": "<TIMESTAMP>",
  "origin": "APP",
  "task": {
    "action": "READ"
  }
}

{
  "id": "<TIMESTAMP>",
  "origin": "APP",
  "task": {
    "taskResult": {
      "DO1": {
        "success": true,
        "state": "low"
      },
      "DO2": {
        "success": true,
        "state": "high"
      },
      "DO3": {
        "success": true,
        "state": "high"
      },
      "DO4": {
        "success": true,
        "state": "low"
      },
      "DO5": {
        "success": true,
        "state": "low"
      },
      "DO6": {
        "success": true,
        "state": "low"
      },
      "DO7": {
        "success": true,
        "state": "low"
      },
      "DO8": {
        "success": true,
        "state": "low"
      }
    }
  }
}

Set the state of all digital output pins¶

Requirement topic: digitalOutputs/Runtime/in

{
  "id": "<TIMESTAMP>",
  "origin": "APP",
  "task": {
    "taskParams": {
      "DO1": {
        "action": "SET",
        "state": "low"
      },
      "DO2": {
        "action": "SET",
        "state": "high"
      },
      "DO3": {
        "action": "SET",
        "state": "high"
      },
      "DO4": {
        "action": "SET",
        "state": "low"
      },
      "DO5": {
        "action": "SET",
        "state": "low"
      },
      "DO6": {
        "action": "SET",
        "state": "low"
      },
      "DO7": {
        "action": "SET",
        "state": "low"
      },
      "DO8": {
        "action": "SET",
        "state": "low"
      }
    }
  }
}

{
  "id": "<TIMESTAMP>",
  "origin": "APP",
  "task": {
    "taskResult": {
      "D01": {
        "success": true,
        "state": "low"
      },
      "D02": {
        "success": true,
        "state": "high"
      },
      "D03": {
        "success": true,
        "state": "high"
      },
      "D04": {
        "success": true,
        "state": "high"
      },
      "D05": {
        "success": true,
        "state": "high"
      },
      "D06": {
        "success": true,
        "state": "low"
      },
      "D07": {
        "success": true,
        "state": "low"
      },
      "D08": {
        "success": true,
        "state": "low"
      }
    }
  }
}

Notes¶

If the Busi2c-3 is not powered, we will get the following:

Subject: Paragraph a lExpenditure/Duration/from

{
  "id": "<TIMESTAMP>",
  "origin": "APP",
  "task": {
    "taskResult": {
      "DO1": {
        "success": false,
        "state": "DO\_not\_powered"
      },
      "DO2": {
        "success": false,
        "state": "DO\_not\_powered"
      },
      "DO3": {
        "success": false,
        "state": "DO\_not\_powered"
      },
      "DO4": {
        "success": false,
        "state": "DO\_not\_powered"
      },
      "DO5": {
        "success": false,
        "state": "DO\_not\_powered"
      },
      "DO6": {
        "success": false,
        "state": "DO\_not\_powered"
      },
      "DO7": {
        "success": false,
        "state": "DO\_not\_powered"
      },
      "DO8": {
        "success": false,
        "state": "DO\_not\_powered"
      }
    }
  }
}

Joystick Actor¶

App Interface¶

User app interface and functionalities available to the open part of the MQTT broker. Simplified interface for configuring and receiving peripheral data. The connection to the broker for this area does not require a vote of confidence.

Get all joystick pins into state¶

Req-Topic: joystick/runtime/in

{
  "id": "<TIMESTAMP>",
  "origin": "APP",
  "task": {
    "action": "READ"
  }
}

{
  "id": "<TIMESTAMP>",
  "origin": "APP",
  "task": {
    "taskResult": {
      "JLEFT": {
        "success": true,
        "state": "pressed"
      },
      "JRIGHT": {
        "success": true,
        "state": "released"
      },
      "JUP": {
        "success": true,
        "state": "released"
      },
      "JDOWN": {
        "success": true,
        "state": "released"
      },
      "JCENTER": {
        "success": true,
        "state": "released"
      }
    }
  }
}

Included Software Stack¶

Hardware Libraries¶

[IMAGE PLACEHOLDER]

Related Products¶

Accessories¶

Document history¶

i.Cee² in the field¶

[IMAGE PLACEHOLDER]

Troubleshooting¶

Typical problems¶

No access to web interfaces - Check network (ETH1 DHCP / WLAN-AP / Service port) - Determine IP address via TFT network screen or router

Services not running (status) - Check via SSH: - systemctl is-active nodered - systemctl is-active grafana-server - systemctl is-active openvpn - systemctl is-active mender-updated

USB devices are not recognized - Check via SSH: usb-devices - Test on both USB ports

FAQS¶

• How do I find the IP address of the device?
  Via the TFT network screen or via the DHCP server/router.

• How do I check if the basic services are running?
  Via TFT status screen (if available) or via SSH with systemctl is-active ....

• How is the serial number/hostname/access point set?
  Via production script setup-hostname-wlan-ap.sh <SERIAL_NUMBER> or (depending on release) via a UI mask with PIN and subsequent reboot.

Accessories¶

Accessories / Options (release dependent)¶

• SSD piggyback (NVMe) for storage expansion
• LTE modem (integrated, depending on variant/release)
• External antennas (SMA/RP-SMA, depending on the radio variant)

Abbreviation¶

• AP: Access Point
• DI/DO: Digital inputs/outputs
• AI/AO: Analog inputs/outputs
• RTC: Real Time Clock
• OTA: Over-the-Air Update

Explanation of terms¶

• Service port (ETH2): dedicated, private network interface (release dependent) for maintenance/service.
• Piggyback: Add-on module/expansion board (e.g. SSD or acquisition board).

Note: Circuit diagrams/terminal diagrams are not included in the information provided and must be supplemented on a project-specific basis.

Service / Maintenance¶

For support cases, please have ready: - Device serial number / hostname - Release/Version (TFT version screen, if available) - short error description + photo/screenshot of the status screen - (if available) excerpt of relevant systemctl checks

Documentation links (internal): - Production Procedures / Production manual - HW libraries MQTT API - Image Repository (SharePoint)

Service¶

Customer Service

de-smartplastics-service@igus.net
+49 (0) 2203 9649 9806

Technical support for igus^® smart plastics

Documentation/FW

https://www.igus.de/info/i-sense-modul-2

Download manuals, FW updates and certificates

Smart Plastics website

https://www.igus.de/info/vorausschauende-wartung-smart-plastics

Possibility to order sensors, processing units and other accessories

Contact

www.igus.de

info@igus.de

Phone: +49 (0) 2203-9649-0F

Imprint

© 2026

All rights reserved.

igus^® SE & Co. KG

Spicher Str. 1a

51147 Cologne