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User’s Guide

Mobile Autonomous Robotic Cart

4 Series Model 4470 and Model 4475

MARC® 4470

MARC® 4475

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Summary of Contents for 4 Series

Page 1: ...User s Guide Mobile Autonomous Robotic Cart 4 Series Model 4470 and Model 4475 MARC 4470 MARC 4475 ...

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Page 3: ...add minimum custom hardware to create intelligence movement MARC is the most cost effective autonomous material handling solution on the market Finally the rest of us have an affordable way to get all the benefits of AMR Thanks again and know we are here for you Sincerely The MūL Technologies team PLEASE READ THIS ENTIRE MANUAL BEFORE USING MARC IT CONTAINS CRITICAL INFORMATION ON USING MARC SAFEL...

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Page 5: ... Active Map Mode 21 Using MARC in Fixed Map Mode 21 Operating modes Looping Mode 22 Using the Home Button 23 What to expect during normal operation 24 Best practices and general tips for smooth operation 25 Powered manual movement mode 26 Adjusting the volume 27 Using MARC battery packs 28 Charging the batteries 29 Locking and unlocking battery packs 30 Inserting the battery pack into MARC 31 Load...

Page 6: ...6 Packing list MARC cart 20Ah Battery packaged separately Battery keys in battery packaging Battery charger User s Guide this document Quick Start Guide System overview ...

Page 7: ... including User s Guide www multechnologies com documentation Contact the MūL Technologies support team Visit our web site multechnologies com Reach out to the team support multechnologies com or by phone at 262 242 8830 Mailing address MūL Technologies 10202 North Enterprise Drive Mequon WI 53092 MARC system FAQs www multechnologies com faq MARC online assistance www multechnologies com support ...

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Page 9: ...at could result in personal injury or damage to the equipment if proper precautions are not taken Indicates a situation that could result in property damage if proper precautions are not taken Indicates generally useful information tips and best practices to assist user with the setup operation and maintenance of the equipment including MARC systems and battery packs Indicates danger of electrical...

Page 10: ...loor and transport it to another floor it will not be able to navigate properly Always reset the destinations and create a new map when using on a different level The robot will go around objects that are not part of the map but this may influence the efficiency of the planned route The ambient temperature in the robot s environment must be between 5 C 41 F and 50 C 122 F for operation of the robo...

Page 11: ... disposal of lithium ion batteries many individual states or localities have established their own guidelines for battery disposal and should be contacted for any disposal guidelines that they may have Lithium ion batteries are presently the most commonly used energy storage devices on motorized equipment Learning how to maintain lithium ion batteries can not only prolong battery lifetime but also...

Page 12: ...rough risk assessment Since every facility presents unique issues and risks it is critical that the individual or organization that is implementing MūL Technologies MARC automated products complete this assessment based on their own facility Considerations for this assessment include in part foot traffic and moving equipment must maintain a minimum 3 foot distance from autonomous MARC products whe...

Page 13: ... 15 button EZ Go Navigation panel 3 Battery assembly including ON OFF key switch 4 Proximity sensors 16 total 4 each side 5 LED status indicators 8 total 2 each leg 6 High resolution 3D depth camera 2 total front and rear 7 Free turning rear wheels 8 RCP Robotic Cart Platform module 9 Drive wheels 10 Emergency stop button on front of cart not shown in image ...

Page 14: ...proximity sensors create an anti collision system with 360 view of the area near the cart Internal 3 axis digital gyroscope combined with a 3 axis accelerometer for measuring tilt acceleration and shock Sensor parameters LIDAR scans 360 at 16000 samples per second measuring at a distance of 25m with 1 angular resolution and 2mm distance resolution 16 proximity sensors with 1m range and 1mm distanc...

Page 15: ...ing two people lift MARC upward and remove from pallet 6 Unbox the battery packaged separately making sure to remove the keys from the packaging o Battery may need to be charged before use please see Charging the batteries on page 29 o Insert key and verify the battery remains in the unlocked position 1 below o Slide the battery onto the rails on the system battery holder 2 and push till engaged o...

Page 16: ...n 9 You are ready to use MARC Please read and understand this manual before use while operation is simple it is important to understand how MARC works Continue next page to program your first locations MARC should not be moved while it is starting up The cart is ready for use when the cart announces Cart ready and the LED indicators illuminate in a pulsing green pattern As a best practice move the...

Page 17: ...rk Press the station button for each programmed key in our example 1 and 3 and MARC will travel to the location programmed for that button Additional tips In Active Map Mode MARC does not retain information when powered down or restarted This section describes Active Map Mode You can also use MARC in Fixed Map Mode if you plan to use MARC in a specific area See Operating modes Active Map and Fixed...

Page 18: ...st and second screens The Save Map button is used to save or erase the currently mapped area and also used to indicate the current map status The button appears grey if there is currently not a saved map Active Map Mode and green when a map is saved Fixed Map Mode To save a map press the button for 3 seconds till the double beep confirmation is heard The button will turn green and the audio cue Ma...

Page 19: ...lume button increases the volume in increments of 10 and the volume button decreases volume in increments of 10 When in the main screen showing the programmed location buttons tap the battery level button on the lower right to access the second screen with the volume adjustment buttons Powered Assist manual drive buttons allow the user to operate the cart manually The buttons will move the cart in...

Page 20: ... mapped area audio cue will be heard Once MARC is in Fixed Map Mode the map will become saved permanently until an Erase Map process is executed or the software is updated Additionally the unit must now remain in the currently mapped area while operating or the message Out of mapped area will be heard and the cart will need to be returned to the mapped area for use Optionally the map can be erased...

Page 21: ...p icon is green as shown MARC is in Fixed Map Mode Fixed Map Mode will remain in effect until the Save Map button is used to erase a map or the software is updated This results in the mode of operation moving from Fixed Map Mode to Active Map Mode Adding a new destination while in Fixed Map Mode If the desired destination is within the area that has been mapped you can simply add it to an unused s...

Page 22: ...n after one minute 5 seconds before the cart resumes movement to the next destination the audio cue Going to next destination will be heard To decrease the wait time press one of the blue buttons to send the cart to the pressed station and continue operating in looping mode Tips for using Looping Mode If the unit arrives at one of its loop locations it will be still during the waiting period If yo...

Page 23: ... it has been set which is automatic Note that any time a map is erased Home will automatically be set for the exact location the cart is in when the erase process has fully completed Be sure not to move the cart during the boot up process A tip for using the Home button functionality is to create a known parking spot for a specific cart and use that as the physical Home location Then if the maps n...

Page 24: ... be different than when it was initially programmed If the cart encounters an obstacle that blocks its path the tone will be heard as it attempts to recalculate a path If the cart cannot reach its destination and is prevented from progressing anywhere in its path for more than 45 seconds the cart will indicate that it has abandoned its route The cart will announce Route abandoned and the indicator...

Page 25: ... can cause the wheels to slip and thus interfere with the mapping process General tips If you are using MARC in a specific area in Fixed Map Mode it is important not to move MARC outside of that area You may want to include a parking spot for MARC in the initial mapping to have a consistent place to put MARC when temporarily not in use When in Fixed Map Mode MARC should not be moved when powered d...

Page 26: ...ARC toward the left until the key is released Pressing the up arrow key moves the cart forward away until the key is released Pressing the right arrow turns MARC toward the right until the key is released Pressing the down arrow key moves the cart backward toward until the key is released It is acceptable to press either a forward or reverse arrow key simultaneously with either a left or right arr...

Page 27: ... to increase the volume The current volume level is indicated in small text at the bottom of the button Volume indicators are in percentages and increase in 10 increments with each tap Tap the volume button to decrease the volume The current volume level is indicated in small text at the bottom of the button Volume indicators are in percentages and decrease in 10 increments with each tap ...

Page 28: ...e the battery The battery contains safety and protection devices which if damaged may cause the battery to generate heat explode or ignite Do not allow the battery to get wet In the event the battery leaks and the fluid gets into a person s eyes do not rub the eye Rinse well with water and immediately seek medical care If left untreated the battery fluid could cause damage to the eye Use only the ...

Page 29: ...he port cover clockwise to allow charging cable to be inserted as shown at right The battery can be charged while installed in MARC You must ensure that the same steps are followed in order and verify the battery s keys have been removed Always plug the charger cable into the battery port before plugging the charger into an A C outlet to avoid risk of damage to battery and charger While MARC is ru...

Page 30: ...d then release slowly while turning the key to the next position Unlocked NOTE Push key in NOTE To move from unlocked position to Locked but off position it is important to push the key inward and release as the key moves to the next position Battery is inserted and secured in position but is not supplying power This is the mode the cart can be stored during longer durations of non use Locked but ...

Page 31: ...you are going to use the cart immediately insert and turn the key to powered ON position and press cart power button to boot up the cart This process takes up to 2 minutes and ends with an announcement Cart ready and LEDs pulsing green o Leaving the key in the locked but off position is appropriate for storage Batteries should not be stored in very hot or very cold conditions or to be subject to c...

Page 32: ...ome unstable and tip Load height should not exceed 70 cm 27 inches above surface of top shelf Loads must not overhang the edges of shelf surface in any direction Do not transport items that have the potential to roll or shift during cart movement Always load cart with heaviest load away from handle toward drive wheels Do not transport hazardous materials Do not transport open liquids Avoid top hea...

Page 33: ...cked route abandoned Audio cue route abandoned will also be heard repeatedly Pulsing purple Failed Sensor single leg shows failed sensor pair Flashing red Red check engine light indicating a major failure Intervention required Solid green Command Received Solid yellow System is booting up Also used to indicate yellow check engine light is active during operation Solid white MARC is calculating a r...

Page 34: ...area Cannot set destination here MARC is in Fixed Map Mode and has been moved out of its mapped area Destinations cannot be set outside the mapped area Route abandoned Cart was unable to reach the destination Generally this would be caused by an object blocking MARC from reaching its destination Route canceled A button was pressed by the operator cancels process while the cart was moving toward a ...

Page 35: ... the moist cloth Here are some general tips for cleaning your MARC products MARC is not waterproof and should not be sprayed directly or submerged If using a household or industrial cleaner be sure to test a small area to verify it does not damage the polypropylene material Spray or dip a cloth into the cleaner and wipe the cart with a damp not wet cloth For stubborn stains consider using Mr Clean...

Page 36: ...36 MARC system dimensions Small cart dimensions Large cart dimensions ...

Page 37: ...al issue with the system The cart will cease to operate until the issue is resolved In the event there are multiple check engine lights you can press the check engine button to cycle through them for review Things that can cause the red light include Safety system inoperable Cable disconnected below cart Tilted cart Possible resolutions Reboot MARC system to see if indicator light is cleared Make ...

Page 38: ...e that the cart has completely booted up After you hear Cart Ready the cart will accurately set a destination Make sure the cart is not moving when you set a destination Make sure only one station button is pressed at a time to set a location I hear a noise coming from the cart while it is not moving If the cart is in the process of moving it may be calculating the path for it to follow It may als...

Page 39: ...istance sensor malfunctioning 1026 Distance sensor error FR Front right distance sensor malfunctioning 1027 Distance sensor error RL Rear left distance sensor malfunctioning 1028 Distance sensor error RR Rear right distance sensor malfunctioning 1090 Access point error Access point missing or malfunctioning MARC will perform normal operations but the software update procedure will not function 110...

Page 40: ...o prevent the cart from moving autonomously while the charging cord is attached movement is disabled until the charger is removed 1060 Cart tilted The cart experienced a tilt of greater than 10 degrees 1130 Camera missing Front or rear high definition depth camera is not responding 1140 Digital board error The main communication board of MARC is not responding 1150 LIDAR missing The laser measurem...

Page 41: ...through the information by tapping the info button NOTE If you are unable to use the info button for some reason the serial number can also be found on the label attached to the metal battery bracket under the handle of the cart shown in red above 4 With a wireless computing device e g laptop and while within range 10 feet of MARC connect to your MARC s wireless network Closer is better depending ...

Page 42: ...the updating Depending upon the update this may take a few seconds to several minutes 15 Once complete you will see a Success message box pop up 16 Power off your MARC then back on 17 Verify your MARC successfully boots up 18 Repeat steps 5 through 8 to verify the new version is displayed Since the updates are large uploading can take several minutes Once uploaded you will see an acknowledgement a...

Page 43: ...elp diagnose and correct the condition causing the error Code Message Comments 0 SUCCESS The updating process completed successfully 1 FAILED_TO_VERIFY There is an internal updating issue Please contact the MūL Technologies team 2 FAILED_TO_DECRYPT 3 FAILED_TO_EXTRACT 4 FAILED_TO_INSTALL ...

Page 44: ...44 MūL Technologies LLC 10202 N Enterprise Drive Mequon WI 53092 multechnologies com 262 242 8830 contact multechnologies com Revision 220418C T ...

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