Chapter 10: Maintenance
7. Remove the Sonar 1 cable from the core.
This cable is too short to allow the core to be lifted, until the cable is removed.
8. Gently lift the LD Platform core up, until you have access to the internal connections.
9. Remove all of the cables that are attached to the internal LD Platform core connector
panel.
The Left Motor and Right Motor connectors use the same type of plug, and can be inad-
vertently reversed. Ensure that you can identify the left from the right.
See Internal LD Platform Core Connections on page 105.
10. Remove the old LD Platform core.
11. Connect all of the cables that were attached to the internal LD Platform core connector
panel to the new core internal connector panel. See Figure 6-12.
Wait until after the next step to reconnect the Sonar 1 cable.
12. Put the core into the chassis.
13. Connect the Sonar 1 cable to the core.
14. Install the core mounting brackets around the new LD Platform core.
Using the screws and washers you removed from the old core, put four screws into the
sides of the LD Platform core, with four more going down into the platform chassis.
15. Reconnect all of the cables to the top portion of the LD Platform core.
Refer to Standard Platform Connections on page 89.
16. Reconnect the battery power and data cables to the battery.
17. Close and latch the battery compartment door.
18. Reinstall the inner rear cover.
19. Reinstall the platform top plate and Latching Mechanism cover.
Refer to Accessing the Payload Bay on page 156.
20. Dispose of the old core according to local and national regulations concerning electronic
components.
E-Stop and Safety Laser Commissioning
Under normal circumstances, the AMR is commissioned at the factory, and will not need to be
re-commissioned. However, you must redo the E-Stop Commissioning and the Safety Laser
Commissioning procedures under the following circumstances:
l
If the core gets replaced, it will be necessary to redo the E-Stop Commissioning and the
Safety Laser Commissioning procedures.
l
If the hardware detects a failure, the AMR may automatically decommission itself, and
the AMR will have to be re-commissioned to recover. In this event, ARAM will display
a fault popup in MobilePlanner.
l
If you are using a user-supplied E-Stop.
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