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adept technology Lynx Platform Скачать руководство пользователя страница 11

Adept Lynx Platform User's Guide, Rev D

Page 11 of 126

Chapter 1: Introduction

Optional Components and Attachments (partial list)

l

Adept Enterprise Manager™ 1100 system

This is a system that manages a fleet of AIVs, for multi-AIV coordination and job man-
agement. It includes the Enterprise Manager appliance running the Mobile Robot soft-
ware.

l

Spare batteries

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Vertical-mount object-detection lasers

Option for payload structure development.

l

Payload structure sonar kit

Includes four sonar emitter/receiver pairs and one sonar controller, which handles the
eight sonar units.

l

Cleanroom version

The platform is available in a cleanroom-suitable version.

l

Call Buttons/Door boxes

Allow an AIV to be requested from a remote location, or allow the Adept system to con-
trol an automated door, so the AIV can pass through it.

Refer to the

Adept Lynx Platform Peripherals Guide

for details on these.

User-Supplied Components / System Requirements

PC with Microsoft Windows®

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Ethernet (wireless preferred)

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100 megabytes of available hard-disk storage

Software Overview

A fair amount of software is involved in setting up and running an Adept Lynx platform.

The platform comes with the following software:

Mobile Software Suite

The Mobile Software suite includes all of the software used for the Lynx platform, with the
exception of the SetNetGo OS.

ARAM

The Advanced Robotics Automation Management software (ARAM™) runs on the Lynx plat-
form core. It operates ranging sensors like the safety scanning laser and sonar, and performs
all the high-level, autonomous robotics functions, including obstacle avoidance, path plan-
ning, localization, navigation, and so on, culminating in motion commands to the MARCOS
firmware. ARAM also controls the battery and light discs, and manages digital and analog
I/O, which, along with Lynx platform power, provide for integration of application-specific
sensors and effectors (user-supplied).

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Содержание Lynx Platform

Страница 1: ...Adept Lynx Platform User s Guide...

Страница 2: ......

Страница 3: ...960 Inglewood Drive Pleasanton CA 94588 USA Phone 925 245 3400 Fax 925 960 0452 Revierstra e 5 44379 Dortmund Germany Phone 49 231 75 89 40 Fax 49 231 75 89 450 Block 5000 Ang Mo Kio Avenue 5 05 12 Te...

Страница 4: ...your comments to tech pubs adept com Copyright 2013 2015 by Adept Technology Inc All rights reserved Adept the Adept logo the Adept Technology logo AdeptVision AIM Hexsight Motivity LaserPlans Seekur...

Страница 5: ...ety Precautions 14 1 5 What to Do in an Emergency 15 1 6 Additional Safety Information 15 Manufacturer s Declaration of Conformity MDOC 15 Adept Robot Safety Guide 15 1 7 Manufacturer s Declaration 15...

Страница 6: ...44 Dimensions 45 Center of Gravity 45 4 2 Connections Between Platform and Payload Structure 48 Operator Panel 48 Option Connections 49 Chapter 5 Connectivity 51 5 1 Required Connections 51 5 2 Paylo...

Страница 7: ...While Performing Maintenance 92 8 2 Periodic Maintenance Schedule 92 Cleaning 92 Tires 93 Axles 93 Lasers 93 Docking Station Contacts 93 8 3 Accessing the Payload Bay 93 8 4 Removing and Installing C...

Страница 8: ...8 of 126 Table of Contents Lynx Core 116 E Stop and Safety Laser Commissioning 118 8 7 Spare Parts List 119 Chapter 9 Technical Specifications 121 9 1 Dimension Drawings 121 9 2 Platform Specification...

Страница 9: ...uct Description The Adept Lynx platform is a general purpose mobile robot platform designed and sized to carry loads up to 60 kg 132 lb while working around people It is self guided and self char ging...

Страница 10: ...umper with two sonar pairs and two rear facing sonar pairs Each pair is one transmitter and one receiver l One fully charged battery This is shipped separately from the platform due to air shipping re...

Страница 11: ...rm Peripherals Guide for details on these User Supplied Components System Requirements PC with Microsoft Windows l Ethernet wireless preferred l 100 megabytes of available hard disk storage Software O...

Страница 12: ...ePlanner software is used to make this map and perform this configuration Refer to the separate Adept Motivity User s Guide for details on how to map a working space and prepare the virtual elements g...

Страница 13: ...etwork It is used for the original wireless Eth ernet configuration of the platform and to perform systems diagnostics such as retrieving log files It is also used to update ARAM NOTE It is possible t...

Страница 14: ...electrical situation which if not avoided could result in serious injury or major damage to the equipment WARNING This indicates a potentially hazardous situation which if not avoided could result in...

Страница 15: ...tton on a yellow background field and then follow the internal procedures of your company or organization for an emergency situation If a fire occurs use a type D extinguisher foam dry chemical or CO...

Страница 16: ...ion sources on the Adept corporate website l For contact information http www adept com contact americas l For product support information http www adept com support service and support main l For use...

Страница 17: ...an Adept SmartFleet EX Appliance for managing a fleet of Lynx AIVs Adept Lynx Platform Peripherals Guide Covers Lynx peripherals such as the Lynx Touchscreen Call Door boxes and Acuity Localization op...

Страница 18: ...we can best contact you We will assume e mail is the best format unless otherwise notified We will try to resolve the problem through communication If the platform must be returned to the factory for...

Страница 19: ...on of Parts on the Platform on page 91 SetNetGo Access If the MobilePlanner software is available use the SetNetGo interface within that software to access SetNetGo Otherwise open a web browser and en...

Страница 20: ...v D Page 20 of 126 Chapter 1 Introduction 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 an...

Страница 21: ...the shipping crate The platform must always be stored and shipped in an upright position in a clean dry area that is free from condensation Do not lay the crate on its side or any other non upright po...

Страница 22: ...received do not match your order please contact Adept immediately Retain the crates and packaging materials These items may be necessary to settle claims or at a later date to relocate the equipment T...

Страница 23: ...ont of the crate cover Set the front aside This will be used as a ramp later in this procedure 3 Remove the lag screws that attach the remainder of the crate cover to the pallet 4 Lift and slide off t...

Страница 24: ...rm Refer to Installing the Battery on page 25 8 Remove the two wing nuts from the top board which spans the width of the crate over the platform Remove the top board 9 Place the front of the crate cov...

Страница 25: ...s hoses etc l large highly reflective objects Floors must provide good traction typical of good walking conditions l Slope up to 1 12 l Step traversal up to 15 mm 0 6 in l Gap traversal up to 15 mm 0...

Страница 26: ...the inner rear platform cover a Pull the bottom of the cover away from the platform chassis This is easiest if you grip it with two hands toward the center b Lower the cover down so its top tab clear...

Страница 27: ...age 27 of 126 Chapter 2 Setup Figure 2 4 Battery Compartment Connectors 3 Lift and slide the new battery into the platform body The battery weighs 20 kg 44 lbs There are recesses at the front and the...

Страница 28: ...d replaced by one person using one hand in each of the grips as shown in the following figure Figure 2 6 Lifting the Battery The connectors for power and data go toward the rear of the platform 4 Atta...

Страница 29: ...to the E STOP port User Interface for the platform to function The jumper is provided as part number 12730 000L An E Stop button would be user supplied See the following figure Figure 2 7 E Stop Jumpe...

Страница 30: ...which requires a license IP Address Netmask Gateway DNS1 Choose Static DHCP is not recommended and fill in the IP address netmask gateway and DNS1 as supplied by your network administrator NOTE The fo...

Страница 31: ...m Bandwidth Considerations The typical bandwidth in a fleet will average about 50 Kbps AIV This would increase if the AIV is connected to the Enterprise Manager and is actively viewed by MobileEyes Th...

Страница 32: ...se the platform s maneuvers especially automated ones onto the docking station l The top of the docking station foot is spring loaded and lifts off of the bottom of the foot slightly to accommodate va...

Страница 33: ...Wall Mount and Floor Mount Units are mm in Wall Mount Bracket 98 20 3 8 0 8 3x 6 0 25 8x 25 1 0 18x 6 0 25 Figure 2 8 Docking Station Wall Mount 2 Screw the two shoulder bolts each with a washer into...

Страница 34: ...f the docking station directly to the floor using three user supplied screws For dimensions of the available holes in the base refer to Figure 2 8 Adept recommends M5 self tapping or M4 sheet rock scr...

Страница 35: ...to the base of the docking station with three M4 x 12 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 ne...

Страница 36: ...pt Lynx Platform User s Guide Rev D Page 36 of 126 Chapter 2 Setup Figure 2 11 Docking Station Mounted on Floor Plate 406 16 0 495 19 5 Units are mm in Figure 2 12 Docking Station Floor Plate Dimensio...

Страница 37: ...an be changed by tilting the station enough to see the bottom of the base making the adjustment accessible NOTE Squeeze and keep the platform foot against the bottom of the foot to make this adjustmen...

Страница 38: ......

Страница 39: ...n the Adept Motivity User s Guide This chapter describes how to quickly start up configure and operate your new Adept Lynx platform For mapping and integration details refer to the Adept Motivity User...

Страница 40: ...sonar on the other hand are disabled entirely when driving with the joystick Follow Mode Connect the joystick start up normally then press the joystick GOAL button Step in front of the platform and it...

Страница 41: ...for the ETH 0 Ethernet port Windows Start Settings Network Connections Local Area Connection Select Properties and from its dialog scroll to and double click the Internet Protocol TCP IP option In the...

Страница 42: ...llections and deploy your platform in any of your working spaces by select ing the appropriate map file NOTE It is a good idea to have the automated docking station installed prior to cre ating the ma...

Страница 43: ...ure with substantial weight the center of gravity of the entire AIV needs to be considered This is par ticularly important if you intend to equip the Lynx platform with a robot arm which would be lift...

Страница 44: ...value of 94 from the table If your payload structure includes a device that draws 150 watts half of the time add 75 150 50 to 94 to get 169 Watts total Dividing 1500 W hr by 169 Watts yields 1500 W h...

Страница 45: ...rs to protect the lasers from impact Ensure that any such guard does not block the laser beam The height of your payload structure will affect the center of gravity covered in the next sec tion 0 00 1...

Страница 46: ...culations of safe placements for the center of gravity for payload structures with the weights listed The center of gravity in each instance needs to be within the area shown All units are mm NOTE The...

Страница 47: ...Adept Lynx Platform User s Guide Rev D Page 47 of 126 Chapter 4 Payload Structures 10 kg Figure 4 3 Center of Gravity Graphs 10 kg 30 kg Figure 4 4 Center of Gravity Graphs 30 kg...

Страница 48: ...ty of I O and power connections which you can use to make your AIV more effective Operator Panel The Operator screen E Stop Brake release ON and OFF can be moved using a single con nector the HMI Pane...

Страница 49: ...6 69 161 6 34 70 2 76 4x 5 C L C L Punch Thru 3 mm 0 12 Clearance Area HMI Panel Profile 0 2 Thru Units in mm in Figure 4 6 Operator Interface Cutout Dimensions Many other options are available Detail...

Страница 50: ......

Страница 51: ...rnally connected to another Joystick port in the payload bay l Maintenance Ethernet The Maintenance Ethernet port is located under a small access panel on the left side of the platform in the upper ri...

Страница 52: ...e CAN Bus B DB9F Consult Adept 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 depending on the connection of the BANK terminal...

Страница 53: ...ation Pin No Hardware Software Notes 1 INPUT_1 1 Input_1 1 0 30 V Range R in 3 9 k 2 INPUT_1 2 Input_1 2 0 30 V Range R in 3 9 k 3 INPUT_1 3 Input_1 3 0 30 V Range R in 3 9 k 4 INPUT_1 4 Input_1 4 0 3...

Страница 54: ...BANK4 Common for INPUT_4 X 21 OUTPUT_1 Output_1 22 OUTPUT_2 Output_2 23 OUTPUT_3 Output_3 24 OUTPUT_4 Output_4 25 OUTPUT_5 Output_5 26 OUTPUT_6 Output_6 27 OUTPUT_7 Output_7 28 OUTPUT_8 Output_8 29 O...

Страница 55: ...1 3 VDC ON state voltage range 4 to 30 VDC Operational current range 0 to 7 5 mA OFF state current range 0 to 0 5 mA ON state current range 1 0 to 7 5 mA Impedance V in I in 3 9 k minimum Current at V...

Страница 56: ...ce I out 0 5 A R on 0 14 85 C Output leakage current I out 5 A DC short circuit current limit 0 7 A I LIM 1 7 A Figure 5 4 Typical Digital Output Wiring Example Analog I O Connector type HDB15M Pin No...

Страница 57: ...Range 10 mA Ro 200 13 14 15 GND Aux Sensors Connector type HDB15M Use Optional vertical lasers Designation Pin No Hardware Software Notes 1 RS232_VERT1_TXD 2 RS232_VERT2_TXD 3 RS232_FOOT_TXD 4 5V_SW1...

Страница 58: ...ser Bumpers Aux Power User Power Maint LAN Joystick HMI Panel Sonar 2 Figure 5 5 Rear Upper Core Connection Type Description Light Pole Mini Fit 2 x 3 Connects to a user supplied light tower with 3 li...

Страница 59: ...r Connections The Lynx 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 Lynx core and safety scanning las...

Страница 60: ..._P4_N 6 GND 1 equivalent circuit Typical user load Wiring terminal block Adept Supplied Equipment User Supplied Equipment Figure 5 6 Sample Light Pole Diagram User Interface Connector type Mini Fit 7...

Страница 61: ...al 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 ESTOP_OUT_2H Pins 7 14 shor...

Страница 62: ...Adept Lynx Platform User s Guide Rev D Page 62 of 126 Chapter 5 Connectivity Figure 5 7 E Stop Chain Diagram...

Страница 63: ...signal bumper hit 3 USER_BUMPER_3 Short to ESTOP_SRC to signal bumper hit 4 USER_BUMPER_4 Short to ESTOP_SRC to signal bumper hit 5 USER_BUMPER_5 Short to ESTOP_SRC to signal bumper hit 6 USER_BUMPER...

Страница 64: ...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...

Страница 65: ...buttons for ON Start OFF Brake Release 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...

Страница 66: ...replacement VGA Wheel Lights Sonar 1 Charge Contacts Battery Power Debug USB1 USB2 USB3 Bumper Speakers Batt Comm LIDAR R Motor L Motor Figure 5 8 Internal Connectors on the Lynx Core Front Connection...

Страница 67: ...r contacts Speakers Mini Fit 2 x 2 Drives built in speakers Battery Comm Mini Fit 2 x 3 Battery communication control Lynx Internal Data Pinouts Wheel Lights Light Discs Connector type DB9F Use Motion...

Страница 68: ...ing laser Designation Pin No Hardware Software Notes 1 RS422_LIDAR_RX Connections to Adept Supplied 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_20...

Страница 69: ...ration Pin No Designation Notes 1 BUMPER_R2L Right Channel 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 BU...

Страница 70: ...70 of 126 Chapter 5 Connectivity Batt Comm Connector type Mini Fit 3 x 2 Use Battery control Pin No Designation Notes 1 GND Connections to the Adept Supplied Battery 2 RS232_BATT_RXD 3 RS232_BATT_TXD...

Страница 71: ...l Humidity 5 to 95 non condensing The Adept Lynx platform is not intended for use in hazardous environments explosive gas water dust oil mist It has an IP rating of IP 40 WARNING Do not allow the plat...

Страница 72: ...er s Guide The MobilePlanner application running on your computer is used to configure the many high level operating characteristics of the platform including speeds and accelerations sensor safety zo...

Страница 73: ...AIV in the workspace the AIV man ages charging automatically through the automated docking station The AIV will approach the docking station frontward and then turn around and back onto the docking st...

Страница 74: ...outside of the platform and swap the charged battery for the battery that is inside the platform This is covered in Standalone Bat tery on page 75 Figure 6 2 Docking Station Indicators Controls and Co...

Страница 75: ...of the platform slides over the contacts of the docking station NOTE You will need to press the brake release button first Standalone Battery The battery can be charged outside of the platform by usin...

Страница 76: ...y while it is inside the AIV l Set the AIV s DockUntilDoneCharging parameter to False to let the AIV get a partial charge by docking The StateOfChargeToChargeTo and MinutesToChargeFor parameters need...

Страница 77: ...Screen The screen is a color TFT 320 x 240 pixels 3 5 in diagonal It can display 256K colors and is backlit NOTE Tapping lightly on the screen will turn on the backlight in case it has timed out Defau...

Страница 78: ...n E Stop When pressed the red latching push button removes power from the platform s motors and from the E Stop power port after a 1 second delay giving the software time to stop the plat form safely...

Страница 79: ...ower is required to release the brakes Keyswitch The keyswitch can be used to disable the OFF button The key can be removed in either the locked or unlocked positions 6 5 Other Controls and Indicators...

Страница 80: ...no errors ready Entire light disc on each side pulses blue slowly 0 25 Hz Beacon is steady green Slow pulse Driving with Warning doesn t prevent driving such as low battery The light discs will be ora...

Страница 81: ...ndent timing Stopped with Warning such as low battery The light discs will be orange instead of blue for Stopped with Warning Beacon alternates long green with short yellow Slow pulse Obstacle Detecte...

Страница 82: ...0 cw 0 to 270 ccw 25 0 to 180 cw 0 to 180 ccw 50 0 to 270 cw 0 to 90 ccw 75 full circle full circle 100 NOTE The state of charge displayed is continuous not limited to 25 increments E Stop The light d...

Страница 83: ...signal all ok Blue Pulse Green Solid Stopped all ok Orange Moving Circle Green Yellow Alt Drive with warning doesn t prevent driving e g low battery Orange Orange front Moving Circle Blinking signal G...

Страница 84: ...t direction Diagonal positions of the drive button move the platform in an arc The Adept Lynx platform slows to a stop when you release the trigger To stop more quickly continue to squeeze the trigger...

Страница 85: ...ore has 12 indicator lights The following table gives their meanings Indicator Meaning Left Column LOGIC The microcontroller has power PC The Lynx core and the servo controller are communicating DRIVE...

Страница 86: ...ugh so that it can rotate without touching the obstacle Front Facing The platform s front bumper houses two sonar pairs for detecting low obstacles Each pair con sists of one emitter and one receiver...

Страница 87: ...55 255 255 0 The Maintenance Ethernet port is set to IP address 1 2 3 4 and the wireless IP comes set with an AP based managed SSID of Wireless Network unsecured Consult with your network systems admi...

Страница 88: ......

Страница 89: ...hared with mul tiple AIVs working in the same space l Spare Batteries At least one spare battery is needed if you opt to swap the platform s battery rather than having it charge itself at a docking st...

Страница 90: ...ere laser localization is difficult either because the envir onment has too many changing features or simply not enough features for laser loc alization If there are many objects such as pallets or ca...

Страница 91: ...cking station It does not cover maintenance of the payload structure which is the user s responsibility Lynx Core Platform Sonar Controller Safety Scanning Laser Bumper Front Sonar x4 Light Disc x2 Dr...

Страница 92: ...the bat tery 8 2 Periodic Maintenance Schedule The drive motors and gearbox are sealed and permanently lubricated so they do not require periodic maintenance Cleaning The following table gives a summ...

Страница 93: ...not lubricate the docking station paddle Lubrication will reduce the life of the paddle 8 3 Accessing the Payload Bay Access to the payload bay will be dependent on how you have designed your payload...

Страница 94: ...down so the outer surfaces don t get scratched The covers can be removed in the order in which they are listed above l The rear outer must wait for the rear inner and the two side covers l The front u...

Страница 95: ...light disc wires plug into connectors on the inner side of each side cover 5 Unplug the light disc connector and move the side cover away from the platform Repeat for the other side cover Front Upper...

Страница 96: ...tenance Refer to the following two figures Figure 8 2 Sonar Leads with Connectors Still in Chassis 3 Unscrew all four sonar connectors Ensure that both sides of all connectors are labeled and match If...

Страница 97: ...support 3 Tilt the top of the cover into position Rear Outer Cover Because this cover houses the rear sonar units they must be reconnected once the metal brace across the bottom is in the clip just b...

Страница 98: ...on each side of the gap stick out the same amount away from the chassis This is most likely to be uneven near the top of the cover 5 If either edge sticks out more than the neighboring cover pull the...

Страница 99: ...hours day 5 days week Life expectancy for 19 7 is 4 years 19 hours day is full time with time out to recharge NOTE There are no serviceable parts inside the battery case Do not open it WARNING Replac...

Страница 100: ...rip at the front and the rear of the battery to help you lift it Installation Refer to Removing and Installing Covers in the Maintenance section for cover removal and installation 1 Remove the inner r...

Страница 101: ...101 of 126 Chapter 8 Maintenance Figure 8 6 Battery Compartment Connectors 3 Lift and slide the new battery into the platform body The battery weighs 20 kg 44 lbs There are recesses at the front and t...

Страница 102: ...d and replaced by one person using one hand in each of the grips as shown in the following figure Figure 8 8 Lifting the Battery The connectors for power and data go toward the rear of the platform 4...

Страница 103: ...es the AIV onto the docking station may be subject to wear after exten ded use The time to replace the roller should be based on your visual inspection and judg ment of when it is too worn Adept does...

Страница 104: ...ns Docking Station AC Power Fuse 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...

Страница 105: ...e fuses need to be 250 V 10 A and Time lag An example of a fuse that meets this is LittelFuse 0215010 XP 5x20 mm cartridge type Docking Station Internal Fuse Symptoms When the docking station is switc...

Страница 106: ...Rear Sonar Units The platform s 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 inne...

Страница 107: ...andard front rear sonar A second controller is only present if you purchased the optional payload structure sonar kit 1 Move the payload structure out of the way so you have access to the payload bay...

Страница 108: ...payload bay and replace it with the new one e Connect the eight sonar unit cables to the new controller Ensure that the cable labels match the controller labels f Plug the larger cable into the new co...

Страница 109: ...ing figure The wheel and tire assembly is Adept P N 11210 000 Figure 8 12 Samples of Tire Wear Removal 1 Remove the side cover a small distance from the platform on the side where you want to replace...

Страница 110: ...Remove the wheel from the drive assembly The motor drive shaft is keyed with the wheel Retain the key for installing the new wheel Installation 1 Put the key you removed into the drive shaft keyway 2...

Страница 111: ...on page 93 The light disc PCA cable will still be attached 5 Disconnect the cable from the light disc PCA so the side cover can be moved com pletely away from the platform This will expose the drive...

Страница 112: ...sembly Installation 1 Lift the new drive wheel up compressing its springs enough so that you can insert a 6 x 10 mm 0 24 x 0 4 in pin into the hole on the rear side of the assembly there is a hole on...

Страница 113: ...the screws that hold on the caster you can avoid removing the payload structure and the battery which is only necessary to tilt the platform on its side 1 Move the payload structure out of the way If...

Страница 114: ...he platform to its upright position 12 Reinstall the battery connect the power and data cables and close the battery com partment door 13 Reinstall the inner rear cover 14 Reinstall the side covers 15...

Страница 115: ...Adept Lynx Platform User s Guide Rev D Page 115 of 126 Chapter 8 Maintenance Figure 8 18 Safety Scanning Laser...

Страница 116: ...er NOTE The laser orientation can be adjusted Be careful to mount the laser horizontal with respect to the floor Lynx Core The Lynx core is a sealed unit with internal fans as the only moving parts 1...

Страница 117: ...the same type of plug and can be inad vertently reversed Ensure that you can identify the left from the right See Internal Lynx Core Connections on page 66 10 Remove the old Lynx core 11 Connect all o...

Страница 118: ...e other test by click ing Next Test on the final screen E Stop Commissioning This procedure verifies that the E Stop circuitry is triggered when the E Stop button is pressed This is verified by ensuri...

Страница 119: ...ide 12416 000 Roller Docking Station 12417 000 Contact Paddle Docking Station x 2 12872 000 Assembly Frame Docking Funnel Covers Latches 12804 100 Cover bumper lower front 12804 200 Cover front upper...

Страница 120: ...2170 000 Safety Laser S300 Expert 270 Degree 12718 000L Cable SICK LIDAR Laser Suspension Drive and Battery 12745 000 Assembly Right Drive Train 12746 000 Assembly Left Drive Train 12072 000 Assembly...

Страница 121: ...rm User s Guide Rev D Page 121 of 126 Chapter 9 Technical Specifications 9 1 Dimension Drawings 499 19 6 380 15 0 47 1 9 200 7 9 Units are in mm in 697 27 4 Figure 9 1 Adept Lynx Platform Top Side and...

Страница 122: ...25 8x 25 1 0 18x 6 0 25 349 13 75 146 146 Figure 9 2 Docking Station Dimensions 9 2 Platform Specifications Description Specification Physical platform only Length 686 mm 27 in Width 483 mm 19 0 in H...

Страница 123: ...d max 300 degrees sec Traversable step max 15 mm 0 6 in Traversable gap max 15 mm 0 6 in Climb grade 1 12 Traversable terrain All wheelchair accessible Battery Run time 13 hours approx no payload Duty...

Страница 124: ...tter receiver pairs available user mounted Payload Structure bumper option 6 inputs user designed and mounted sensors 9 3 Docking Station Specifications Description Specification Current 8 A 10 A Time...

Страница 125: ......

Страница 126: ...P N 11970 000 Rev D 5960 Inglewood Drive Pleasanton CA 94588 925 245 3400...

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