Omron LD Platform, Руководство пользователя

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96 LD Platform OEM User's Guide 11970-000 Rev H1
7.7 Startup
The core has an internal gyroscope to track the platform's rotation.
The platform uses a combination of rotation and distance traveled to back up the navigation
laser during localization. These limit the area on the platform's map that the platform needs to
search.
Bumper
A bumper, with a low-sensing laser, is mounted at the front of the platform, in case the
obstacle-avoidance systems fail to detect an obstacle.
You can add optional user (payload structure) bumpers using the User Bumper connector on
the rear upper core, in the payload bay. There are six pins for front left, center, and right
sensors, and rear right, center, and left sensors. The core provides the connector, but the pay-
load bumpers are user-supplied.
NOTE: The User Bumpers connector is not safety-rated.
7.7 Startup
Procedure
Press and hold the power ON button 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 connections, and then power ON.
Startup is complete when the light discs stop indicating boot (two blue light segments, moving
in opposite directions from 6 o'clock to 12 o'clock and back).
By default, the core, navigation laser, and some auxiliary power start automatically when you
press ON. To change that behavior, or to assign AUX power to your own accessories, modify
their related parameters in MobilePlanner software. You can also control power from a client
connected with the core.
Joystick
The joystick plugs into the left side of the platform, under the small access panel at the upper-
right corner of the platform. See Location of Parts on the Platform on page 99. This is internally
connected to the joystick port located on the rear side of the core in the payload bay.
CAUTION: We recommend locking the joystick up when not in use, to pre-
vent an unauthorized person from operating an AIV.