Omron LD Platform User Manual Download Page 3

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Table of Contents

Chapter 1: Introduction

Definitions

1.1 Product Description

Body and Drive

What's Included - Basic Components

Optional Components (partial list)

User-Supplied Components / System Requirements

1.2 Software Overview

Mobile Robot Software Suite

SetNetGo

1.3 How Can I Get Help?

Related Manuals

Support

Including a Debuginfo File

Chapter 2: Safety

2.1 Dangers, Warnings, Cautions, and Precautions

2.2 What to Do in an Emergency /Abnormal Situation

Releasing the Brakes

Releasing an E-Stop

2.3 User's Responsibilities

Magnetic Field Hazards

Qualification of Personnel

Payload Movement and Transfer

Configurable Warning Buzzer

Multi-AIV Avoidance

2.4 Environment

General Environmental Conditions

Public Access

Clearance

Obstacles

Safety Scanning Laser Emergency Stop

2.5 Intended Use

Non-intended Use

Platform Modifications

2.6 Battery Safety

11970-000 Rev H1

LD Platform OEM User's Guide

Summary of Contents for LD Platform

Page 1: ...I611 E 02 LD Platform User s Guide...

Page 2: ...y errors or omissions in the doc umentation Critical evaluation of the documentation by the user is welcomed Your comments assist us in preparation of future documentation Please submit your comments...

Page 3: ...utions 17 2 2 What to Do in an Emergency Abnormal Situation 17 Releasing the Brakes 17 Releasing an E Stop 18 2 3 User s Responsibilities 18 General Hazards 18 Falling Hazards 19 Electrical Hazards 19...

Page 4: ...tion 45 4 1 Settings and Configuration 45 Maintenance Ethernet Connection 45 Setting Up Wireless Ethernet 46 4 2 Mapping 48 4 3 Acceleration Deceleration and Rotation Limits 49 4 4 Supplemental Inform...

Page 5: ...er and Charging 82 Battery Indicators and Controls 82 Docking Station 83 Manually Charging the Battery 85 Balancing the Battery 85 7 4 Operator Panel 86 Screen 87 E Stop 88 ON Button 89 OFF Button 89...

Page 6: ...Sonar Controller 112 Light Discs 113 Operator Panel 113 Wheels and Tires 114 Drive Assemblies 114 Front or Rear Casters 117 Cleaning Casters on ESD Platforms 118 Safety Scanning Laser 119 Low Front La...

Page 7: ...32 Chapter 10 Technical Specifications 133 10 1 Dimension Drawings 133 10 2 Platform Specifications 134 Physical 134 Performance 135 Sensors 136 Battery Outputs 137 10 3 Docking Station Specifications...

Page 8: ......

Page 9: ...s operating in the same workspace Enterprise Manager 1100 A system that manages a fleet of AIVs This includes the Enterprise Manager appliance and the software that runs on it 1 1 Product Description...

Page 10: ...ve with spring loaded passive casters front and rear for balance The drive wheels have independent spring suspension with solid foam filled tires The wheels are at the mid line of the platform so the...

Page 11: ...obot can use Acuity to navigate using over head light patterns seen with an upward facing camera l Electrostatic Discharge ESD Skins ESD skins are black in appearance They are made of a conductive the...

Page 12: ...e safety scanning laser and sonar and performs high level autonomous robotics functions like obstacle avoidance path planning localization nav igation and so on culminating in motion commands to the M...

Page 13: ...starts in Operator Mode Refer to the separate Mobile Robot Software Suite User s Guide for details Mobile Adept Robot Controller MARC At the lowest level a microcontroller running MARC firmware handl...

Page 14: ...efer to the corporate websites http www ia omron com and http www adept com Related Manuals This manual covers the installation setup operation and maintenance of an LD Platform OEM There are addition...

Page 15: ...e adapter settings Right click on the LAN Connection and click on Properties In the Properties dialog scroll to and double click the Internet Protocol TCP IP or TCP IPv4 option In Internet Protocol Pr...

Page 16: ...1970 000 Rev H1 1 3 How Can I Get Help 1 From the SetNetGo screen select System Debug Info This will display the Download debug info button 2 Click Download debug info 3 Save the downloaded file and a...

Page 17: ...tes a situation which if not avoided could result in minor injury or damage to the equipment Precautions for Safe Use This indicates precautions on what to do and what not to do to ensure safe use of...

Page 18: ...Ensuring that the environment is suitable for safe operation of the AIV If a fleet of AIVs two or more is installed the Enterprise Manager must be used unless no two AIVs will ever operate in the sam...

Page 19: ...IV s expected operating area should be physically marked so that the AIV s navigation laser will see the barrier and stop before reaching it The AIV s navigation laser scans at 201 mm 7 9 inches so th...

Page 20: ...h the platform is tipped on its side Qualification of Personnel It is the end user s responsibility to ensure that all personnel who will work with or around AIVs have attended an appropriate Omron tr...

Page 21: ...ning buzzer You should configure this buzzer as appro priate for the facility in which the AIV will be operating The buzzer sounds whenever the AIV moves backwards or turns Other situations are config...

Page 22: ...ll not attempt to drive there You can also block off these area using forbidden zones in the MobilePlanner software but that should be in addition to physical barriers Public Access The platform is de...

Page 23: ...simply maneuver around the obstacle it will search for another path to reach its goal If it can t find another path it will wait for human intervention 2 5 Intended Use The LD Platform OEMs are not i...

Page 24: ...ges corners or protrusions Note that any change to the platform can lead to loss in safety or functionality The user or integrator must ensure that all safety features are operational after modificati...

Page 25: ...xpose the battery to water If the battery is leaking submerge in mineral oil and contact your local Omron Support l In case of fire use a type D extinguisher foam dry chemical or CO2 Maintenance Every...

Page 26: ...e the platform in a temperature controlled environment from 5 to 60 C 41 to 140 F The recommended humidity range is 5 to 95 non condensing It should be shipped and stored in the supplied shipping crat...

Page 27: ...slip or are damaged do not sign the receipt l If the items received do not match your order please contact your local Omron Support immediately Retain the containers and packaging materials These ite...

Page 28: ...orm are shipped in the same crate Retain all parts and fasteners removed for possible repacking 1 Remove the two Klimp clips from the front panel and back of the crate at the bottom Figure 3 2 Front P...

Page 29: ...lding the Front Panel Set the front panel aside It will be used as a ramp later in this procedure Figure 3 5 Crate with Front Panel Removed 4 Slide off the crate cover to reveal the crate pallet and c...

Page 30: ...drive wheels and supports the platform during transit Completely remove the eyebolt at the front brace battery end 6 Remove the two wing nuts and washers holding the front brace to the crate The front...

Page 31: ...up to protect the motors and drives When you receive your plat form the drive wheels will not touch the ground until you remove the wheel pins For each side of the platform a Remove the platform side...

Page 32: ...il the battery is installed Refer to Installing the Battery on page 33 Repacking for Relocation If the platform or other equipment needs to be relocated reverse the steps in the installation procedure...

Page 33: ...m s rear battery skin which is held in place with magnets CAUTION Pinch hazard The magnets holding the skin in place are strong enough to pinch you if you are not careful No tools are needed for eithe...

Page 34: ...the bottom of the skin away from the platform chassis This is easiest if you grip it with two hands toward the center b Lower the skin down enough that its top tab clears the rear skin 2 Unlatch and o...

Page 35: ...Use one hand in each of the grips as shown in the following figure Figure 3 13 Lifting the Battery The connectors for power and data go toward the rear of the platform 4 Attach the battery power and...

Page 36: ...ause the payload structure is user designed we only provide the hole pattern for how you can attach it Refer to Dimensions on page 52 The connections both power and signal that are available on the pl...

Page 37: ...Chapter 3 Setup Figure 3 15 E Stop Jumper on LD Platform Core 11970 000 Rev H1 LD Platform OEM User s Guide 37...

Page 38: ...omated docking station can either manually or automatically charge your platform s battery The docking station sits on the floor You can attach it to a wall with the wall bracket directly to the floor...

Page 39: ...3 5 114 4 5 267 10 5 247 9 7 123 4 9 121 4 8 356 14 0 315 12 4 369 14 5 384 15 1 Wall Mount and Floor Mount Units are mm inches Wall Mount Bracket 98 20 3 8 0 8 3x 6 dia 0 25 8x 25 1 0 18x 6 dia 0 25...

Page 40: ...the docking station directly to the floor using three user supplied screws For dimensions of the available holes in the base refer to Figure 3 16 We recommend M5 self tap ping or M4 sheet rock screws...

Page 41: ...2 flat head stainless steel screws The floor plate comes with three screws so you will have two spares The docking station and floor plate do not need to be attached to the floor as the weight of the...

Page 42: ...2 LD Platform OEM User s Guide 11970 000 Rev H1 3 3 Unpacking Figure 3 19 Docking Station Mounted on Floor Plate 406 16 0 495 19 5 Units are mm inches Figure 3 20 Docking Station Floor Plate Dimension...

Page 43: ...see the bottom of the base making the adjustment accessible NOTE Squeeze and keep the docking station s foot against the base to make this adjustment easier Adjust the height of the contacts by using...

Page 44: ......

Page 45: ...e Ethernet Connection To prepare your platform for autonomous mobile operation attach a PC to the platform s main tenance Ethernet port and connect with the SetNetGo OS through the MobilePlanner SetNe...

Page 46: ...le them and then type in the IP and netmask values Setting Up Wireless Ethernet The SetNetGo OS is used to configure the wireless Ethernet among other things Refer to the Mobile Robot Software Suite U...

Page 47: ...Channel Set l Wireless Watchdog IP Address l Wireless Watchdog Max Count 0 disables this Security Settings Encryption l Disabled l WEP 64 bit l WEP 128 bit l TKIP RC4 l CCMP AES l TKIP CCMP AES Authe...

Page 48: ...54 Mbps If you have multiple access points this number becomes even less of a concern Also other factors will affect the bandwidth requirements such as if the AIV supports a cam era on top and streams...

Page 49: ...of the AIV in the workspace 4 3 Acceleration Deceleration and Rotation Limits CAUTION If you change AbsoluteMaxTransVel you should commission the AIV before putting it into service Reducing the absolu...

Page 50: ...tDecel 360 1 360 a Although the Min value in software is 2500 the hardware safety system on the platform will generate a fault if the velocity is anything from 300 to 2500 mm s 4 4 Supplemental Inform...

Page 51: ...isible warning device such as a flashing light when it is either ready to move or is moving The platform comes with light discs on each side that do this The core also provides an output so you can ad...

Page 52: ...he platform Payload Bay Access The area between the platform and your payload structure is the payload bay You will occa sionally need to access the platform and the connectors in the payload bay This...

Page 53: ...d Holes In the preceding figure all of the M6 self clinching nuts A have a torque limit of 3 N m 26 6 in lbf CAUTION Do not exceed this torque when attaching your payload structure to these self clinc...

Page 54: ...u can apply to them so the M5s have a much higher torque limit than the M6s in this application Center of Gravity As much as possible you should keep the payload structure center of gravity centered o...

Page 55: ...ures with the weights listed The center of gravity in each instance needs to be within the area shown All units are mm NOTE These figures show the limits of where the payload structure center of grav...

Page 56: ...1500 1000 500 0 400 200 0 200 400 300 200 100 0 100 200 300 Side View Front View Isometric View Figure 5 4 Center of Gravity Graphs 10 kg 30 kg 500 0 500 1500 1000 500 0 300 200 100 0 100 200 300 1500...

Page 57: ...yload Related Tradeoffs If you have to extend your center of gravity beyond the guidelines given here you will need to adjust various parameters in MobilePlanner software to compensate for that If you...

Page 58: ...a single con nector the HMI Panel connector This allows you to put many of the more common operator controls somewhere on your payload structure with just one cable Figure 5 7 Standard Operator Panel...

Page 59: ...n the left side of the platform in the upper right corner This is intern ally connected to the core in the payload bay The Maintenance Ethernet port is permanently set to IP address 1 2 3 4 with a net...

Page 60: ...Port 1 and Port 2 general use CAN Bus B DB9F Consult your local Omron Support for use Digital I O HDB44F HDB44F 16 digital inputs in 4 banks of 4 Each bank can be wired as active high or active low de...

Page 61: ...3 Input_1 3 0 30 V Range Rin 3 9 k 4 INPUT_1 4 Input_1 4 0 30 V Range Rin 3 9 k 5 BANK1 Common for INPUT_1 X 6 INPUT_2 1 Input_2 1 0 30 V Range Rin 3 9 k 7 INPUT_2 2 Input_2 2 0 30 V Range Rin 3 9 k...

Page 62: ...TPUT_6 Output_6 27 OUTPUT_7 Output_7 28 OUTPUT_8 Output_8 29 OUTPUT_9 Output_9 30 OUTPUT_10 Output_10 31 OUTPUT_11 Output_11 32 OUTPUT_12 Output_12 33 OUTPUT_13 Output_13 34 OUTPUT_14 Output_14 35 OUT...

Page 63: ...nput_4 2 17 Input_4 3 18 Input_4 4 19 20 42 GND 37 VBAT_IO_OUT4 Wiring Terminal Block Typical User Input Signal Note all Input signals can be used for either sinking or sourcing configurations Bank 1...

Page 64: ...gital Output Wiring Example Analog I O Connector type HDB15M Pin No Designation Notes 1 ANALOG_IN1 0 10 V Range 2 ANALOG_IN2 0 10 V Range 3 ANALOG_IN3 0 10 V Range 4 ANALOG_IN4 0 10 V Range 5 ANALOG_I...

Page 65: ...e lasers 2 RS232_VERT2_TXD dev ttyUSB6 side lasers 3 RS232_FOOT_TXD dev ttyUSB7 low front laser 4 5V_SW1 USB_1_and_2_Power 5 V 1 A shared with USB port 1 5 10 SW_20V_VERT Vertical_Laser_Power 20 V 300...

Page 66: ...per Core NOTE The connectors in the top row of the rear upper core mate with Molex Mini Fit Jr 5557 series receptacles Connection Type Description Light Pole Mini Fit 2 x 3 Connect to a supplied split...

Page 67: ...onar 2 DB9M Not used Power Connections The platform provides conditioned 5 12 and 20 VDC and raw battery 22 30 VDC power to the platform s and accessory electronics including the onboard core and lase...

Page 68: ...ion Notes 1 GND Cable shield 2 LIGHT_P1 Red 3 LIGHT_P2 Yellow or orange 4 VBAT_IO_OUT4 VBAT 0 5A Max shared with DIO 5 LIGHT_P3 Green 6 LIGHT_P4 Buzzer VBAT_IO_OUT4 4 LIGHT_P1_N 2 LIGHT_P2_N 3 LIGHT_P...

Page 69: ...hort to FBAT_ALWAYS for manual brake release 11 ESTOP_USR_1H Short 4 11 to close ESTOP_USR_1 12 ESTOP_USR_2H Short 5 12 to close ESTOP_USR_2 13 ESTOP_OUT_1H Pins 6 13 short when ESTOP_CH1 is closed 14...

Page 70: ...70 LD Platform OEM User s Guide 11970 000 Rev H1 6 2 Payload Bay Connections Figure 6 7 E Stop Chain Diagram...

Page 71: ...bumper sensor 3 USER_BUMPER_3 Short to ESTOP_SRC to signal bumper hit Front right bumper sensor 4 USER_BUMPER_4 Short to ESTOP_SRC to signal bumper hit Rear right bumper sensor 5 USER_BUMPER_5 Short...

Page 72: ...ax switched in SW 9 10 SW_VBAT_OUT34 Battery_Out_3_and_4 VBAT 10 A max switched in SW Limit to 5 A per pin 11 12 SAFE_VBAT_OUT SW_VBAT_OUT34 gated by dual channel ESTOP relays 9 10 and 11 12 share the...

Page 73: ...se and E Stop functions 2 RS422_HMI_TX 3 MOTOR_BRAKE 4 5 ESTOP_FP_1H _2H 6 RS422_HMI_RX 7 RS422_HMI_RX 8 START_BUTTON 9 10 ESTOP_FP_1L _2L 11 HMI_5V_SW HMI_Power 12 14 GND 13 OFF_BUTTON 15 FBAT_ALWAYS...

Page 74: ...latform Core Front NOTE The Bumper Speakers and Batt Comm connectors on the internal core mate with Molex Mini Fit Jr 5557 series receptacles NOTE The Charge Contacts and Battery Power connectors on t...

Page 75: ...Battery Comm Mini Fit 2 x 3 Battery communication control Internal Data Pinouts Wheel Lights Light Discs Connector type DB9F Use Motion and status indicator light disc on the platform sides Designatio...

Page 76: ...vigation laser Designation Pin No Hardware Software Notes 1 RS422_LIDAR_RX Connections to LIDAR 2 RS422_LIDAR_RX 3 OSSD1 4 OSSD2 5 WF_OUT 6 O3_OUT 7 STANDBY 8 EDM 9 No Connection 10 18 SW_20V_LIDAR Ma...

Page 77: ...nnel 2 Low 2 BUMPER_R1L Right Channel 1 Low 3 BUMPER_L2L Left Channel 2 Low 4 BUMPER_L1L Left Channel 1 Low 5 BUMPER_R2H Right Channel 2 High 6 BUMPER_R1H Right Channel 1 High 7 BUMPER_L2H Left Channe...

Page 78: ...70 000 Rev H1 6 2 Payload Bay Connections Batt Comm Connector type Mini Fit 3 x 2 Use Battery control Pin No Designation Notes 1 GND Connections to the Battery 2 RS232_BATT_RXD 3 RS232_BATT_TXD 4 FBAT...

Page 79: ...on each side of the AIV so that a person cannot get trapped between the AIV and a wall or other fixed object You should consult the applicable standards for your area An exception to side clearance c...

Page 80: ...15 mm 0 6 inch WARNING The platform is designed and intended for smooth level floors While it is capable of driving over a step or gap as listed frequent or high speed driving over steps or gaps will...

Page 81: ...obstacles that are detected by the onboard sensors Navigational parameters are stored onboard the platform and can be viewed and modified using the MobilePlanner software which is covered in the Mobi...

Page 82: ...ory power consumption Recharge time is approximately 4 hours Battery Indicators and Controls The battery has from left to right four green LEDs and one push button labeled SHOW LEVEL The firmware scan...

Page 83: ...echar ging your platform battery Autonomous Charging During normal autonomous operation the AIV manages charging automatically through the automated docking station The AIV will approach the docking s...

Page 84: ...h located on the right side of the dock has an integrated thermal fuse which can shut down the dock if it becomes too hot If this happens you have to wait for the fuse to cool down turn the switch to...

Page 85: ...ion it will not charge Make sure that the yellow charge light comes on and stays on Standalone Battery You can charge the battery outside of the platform by using the connector on the left side of the...

Page 86: ...Set the AIV s DockUntilDoneCharging parameter to False to let the AIV get a partial charge by docking The StateOfChargeToChargeTo and MinutesToChargeFor parameters need to be set to appropriate non ze...

Page 87: ...can display 256K colors and is backlit NOTE If the backlight times out tapping lightly on the screen will turn it back on NOTE This is not the same as the Touchscreen option Default Sample Screen Cont...

Page 88: ...of the restart or shutdown E Stop When pressed the red latching push button prevents any AIV motion by disabling the motors To reset the E Stop twist the button slightly so it pops up The motors must...

Page 89: ...n it is next powered on NOTE The OFF button can be disabled by the keyswitch which can be locked and the key removed Brake Release Button The brake release is used when you need to manually move the A...

Page 90: ...urns 30 The blue drive indicators will include a blinking orange segment at the front of one light disc to indicate that the platform is about to turn in the direction of the signal Beacon blinks gree...

Page 91: ...nd the blinking segment have independent timing Stopped with Warning such as low battery When Stopped with Warning the light discs turn orange instead of blue Beacon alternates long green with short y...

Page 92: ...f charge SOC showing steady green from the top of the disc to the current SOC A small white arc travels back and forth between the two ends of the green arc Beacon blinks green red if E Stopped 75 100...

Page 93: ...id indicates that a light is on continuously l Alt indicates that the beacon switches between different lights with no pause Two lights with Alt means one light is always on but not two at once Table...

Page 94: ...st Green White arc Partial Circle moving small arc Green normally Red if E Stopped Blink Charging Red Blink Red Blink E Stop stops driving Blue Left Right Half circles Green Yellow Red Alt Booting LD...

Page 95: ...n operating the platform in areas that have these types of objects If the platform will need to drive close to these objects we recommend that you use a combination of markings on the objects e g tape...

Page 96: ...tton for half a second then release It takes about a minute for all the systems to start up and make their various interconnections If the platform doesn t start up try power OFF check your connection...

Page 97: ...ns of the directional control button move the platform in an arc Releasing the trigger causes the AIV to slow to a stop To stop more quickly continue to squeeze the trigger and pull or push the direct...

Page 98: ......

Page 99: ...payload structure which is the user s responsibility Platform Core Platform Sonar Controller Safety Scanning Laser Bumper Front Laser Light Disc x2 Drive Wheel x2 Front Caster x2 Rear Caster x2 Rear...

Page 100: ...s as defined in the Mobile Robot LD Safety Guide should perform the procedures and replacement of parts covered in this section DANGER During platform maintenance and repair turn off the platform and...

Page 101: ...Safely If for any reason you need to lift the platform by hand take care to lift from safe lifting points WARNING Platform damage Lifting the platform from the wrong points can damage the platform Fr...

Page 102: ...ions of the following warning devices for proper function Flashing Light Each AIV must have a readily visible flashing light to serve as a warning whenever the AIV is ready to move or is moving The ex...

Page 103: ...tion l Invisible Laser Aperture Label 13307 000L One of these labels will be on the front navigation laser l Medical implant Magnetic Field Warning Label 18621 000 o Docking funnel underside of platfo...

Page 104: ...ons say to place it in a prominent location on the payload structure Verify that the label is there and legible l Incline Limit Label 18622 000 CAUTION MAXIMUM GRADE CAPABILITY 8 3 The Incline label i...

Page 105: ...tation contacts 3 months Clean axles and tires As needed Clean all lasers 6 months as needed Table 8 1 Cleaning NOTE The frequency of these procedures depend on your particular system its operating en...

Page 106: ...leaks If a battery is found to be leaking do not expose it to water If possible submerge it in mineral oil Contact your local Omron Support immediately for disposal instructions l Store batteries upr...

Page 107: ...4 Slide the battery back and out of the platform There is a hand grip at the front and the rear of the battery to help you lift it Installation Refer to Removing and Installing Skins in the Maintenan...

Page 108: ...for Gripping A single person can lift and replace the battery Use one hand in each of the grips as shown in the following figure Figure 8 5 Lifting the Battery The connectors for power and data go to...

Page 109: ...come worn after extended use The time to replace the roller should be based on your visual inspection and judgment of when it is too worn We do not specify a quantitative measure for this Refer to the...

Page 110: ...only to legacy docking stations The only user serviceable fuses are in the docking station The two external AC fuses are loc ated between the power switch and the AC power plug Symptoms When the dock...

Page 111: ...es only to legacy docking stations There are no user serviceable fuses on the current docking station Symptoms When the docking station is switched on the blue power light does not come on but the doc...

Page 112: ...four rear sonar units can be replaced individually All four sonar units are identical although two are used as emitters and two as receivers in pairs 1 Remove the inner and outer rear covers from the...

Page 113: ...deck using the two screws removed from the old controller 9 Reinstall the payload structure 10 Dispose of the old controller according to local and national regulations concerning elec tronic compone...

Page 114: ...field replaceable This will replace the drive motor gearbox encoder and wheel tire assembly Removal 1 Remove the inner rear skin 2 Unlatch and open the battery compartment door at the back of the plat...

Page 115: ...heel pin when you uncrated the platform you can use that An M5 x 10 screw also works well for this Figure 8 11 Spring Compression Hole 7 The drive assembly is held in place with three nuts on studs ac...

Page 116: ...and make installation easier If you saved a wheel pin when you uncrated the platform you can use that An M5 x 10 screw also works well for this See Spring Compression Hole on page 115 NOTE Make sure...

Page 117: ...r skin 3 Unlatch and open the battery door skin at the back of the platform The battery compartment door is lockable You may need to unlock it before opening 4 Disconnect the battery by unplugging the...

Page 118: ...re 1 Return the platform to its upright position 2 Reinstall the battery connect the power and data cables and close the battery com partment door 3 Reinstall the battery door skin 4 Reinstall the sid...

Page 119: ...rlier Safety Scanning Laser The Safety Scanning Laser is not user serviceable If it needs to be replaced contact your local Omron Support Low Front Laser 1 Remove the four M5 screws holding the laser...

Page 120: ...ore is an enclosed unit with internal fans as the only moving parts 1 Move the payload structure out of the way so you can access the payload bay 2 Remove the battery door skin 3 Unlatch and open the...

Page 121: ...ables that were attached to the internal core connector panel to the new core internal connector panel See Figure 6 8 Wait until after the next step to reconnect the Sonar 1 cable 12 Put the core into...

Page 122: ...by click ing Next Test on the final screen E Stop Commissioning This procedure verifies that pressing the E Stop button triggers the E Stop circuitry This is veri fied by ensuring that you hear the b...

Page 123: ...f the plat form after being mechanically disconnected For most payload structures this will enable a single technician to access the payload bay without assistance Use care when accessing the payload...

Page 124: ...Skin 6 Front Upper Skin 7 Bumper With the exception of the bumper no tools are needed for either the removal or installation of the platform s skins Removing Skins NOTE After removing skins place the...

Page 125: ...second time will reattach it to the platform 2 Pull the left side out and slide the panel to the left The panel is attached with a lanyard You will need to place this panel out of the way when removi...

Page 126: ...be disconnect once the skin is part way off the chassis Each pair consists of one emitter and one receiver 1 Pull the top of the skin away from the chassis a few inches The skin will pivot on the met...

Page 127: ...ou must install the front upper and rear outer skins first and second l The access panel must wait for the left side skin Bumper Skin This is the only skin that requires tools to install 1 Place the s...

Page 128: ...nsure that the labels for the connectors and leads match 5 Tuck the connectors into the four holes in the chassis until just an inch of sonar lead is sticking out 6 Tilt the top of the skin up to meet...

Page 129: ...nt side of the panel in and the latch will hold it This is a toggle latch pressing it once engages it pressing it a second time releases it Battery Door Skin 1 Slide the skin up so its top tab fits un...

Page 130: ......

Page 131: ...each fleet of AIVs After generating a map you can share it with multiple AIVs working in the same space Joystick This is mainly used to manually drive the platform when doing a scan in preparation fo...

Page 132: ...tform Peri pherals User s Guide Side mount Lasers This is an option for payload structure development The two lasers mount on the sides of the payload structure to detect obstacles that protrude into...

Page 133: ...p of covers Units are mm inches Figure 10 1 Platform Top Side and Front Dimensions NOTE Refer also to Platform Deck Dimensions with M6 threaded Holes on page 53 and Platform Deck Dimensions with M5 th...

Page 134: ...ia 0 25 8x 25 1 0 18x 6 dia 0 25 349 13 75 146 146 Figure 10 2 Docking Station Dimensions 10 2 Platform Specifications Physical Description Specification Length 699 mm 27 5 inches Width 500 mm 19 7 in...

Page 135: ...D 90 180 s Stop position accuracy 100 mm for position 2 for rotation with the HAPS option 10 mm for position 0 5 for rotation Traversable step max LD 60 LD 60 15 mm 0 6 inch LD 90 10 mm 0 4 inch NOTE...

Page 136: ...Specification Sensors Safety Scanning Laser 1 at front of platform 201 mm 7 9 inches above floor 240 15 m range Class 1 eye safe PLd Safety per ISO 13849 Sonar Pairs Each pair is one emitter and one...

Page 137: ...Switched Aux power 12 VDC 1 12 VDC 5 1 A Switched Aux power 20 VDC 1 20 VDC 5 1 A Switched Aux power 22 30 VDC 2 battery 4 A Switched 22 30 VDC 1 battery 10 A Switched 22 30 VDC 1 battery 10 A Safe Sw...

Page 138: ...0 to 240 VAC 50 to 60 Hz Power consumption 800 W Short circuit current rating SCCR 1500 A Humidity 5 to 95 non condensing Temperature 5 to 40 C 41 to 104 F Dimensions WxDxH with Floor plate 349 x 369...

Page 139: ......

Page 140: ...DEPT TECHNOLOGIES INC 4550 Norris Canyon Road Suite 150 San Ramon CA 94583 U S A Tel 1 925 245 3400 Fax 1 925 960 0590 Regional Headquarters OMRON EUROPE B V Wegalaan 67 69 2132 JD Hoofddorp The Nethe...

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