Adept Lynx Platform User's Guide, Rev D
Page 118 of 126
Chapter 8: Maintenance
17.
Close and latch the battery compartment door.
18.
Reinstall the inner rear cover.
19.
Reinstall the payload structure.
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 Lynx AIV is commissioned at the Adept factory, and will not
need to be re-commissioned. However:
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 AIV may automatically decommission itself, and
the AIV will have to be re-commissioned to recover. In this event, ARAM will display a
fault popup in MobilePlanner.
l
Some customers have expressed a desire to perform the commissioning procedures on a
regular basis as part of their preventive maintenance process.
NOTE:After performing either of these tests, you can access the 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 ensuring that you hear the brakes activate after pressing the E-Stop button.
1.
Ensure that the E-Stop button is NOT depressed before starting.
2.
From the MobilePlanner software, select:
Main Menu > Robot > Safety Commissioning
3.
Follow the on-screen instructions to complete the test. You can print a certificate after
successful completion of the commissioning.
Safety Laser Commissioning
This procedure verifies that the safety scanning laser reports speed zone information correctly,
and that the E-Stop circuitry is tripped when an obstacle that should be detected by the laser is
placed in front of the AIV. Each speed zone represents 300 mm/sec, so if the maximum speed
is 1500, five zones should be reported. (When you press the Drive button in the wizard, the
wizard will display the maximum AIV speed.)
1.
From the MobilePlanner software, select:
Main Menu > Robot > Safety Commissioning
2.
Follow the on-screen instructions to complete the test. You can print a certificate after
successful completion of the commissioning.
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