Adept Lynx Platform User's Guide, Rev D
Page 76 of 126
Chapter 6: Operation
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Set the AIV‘s DockUntilDoneCharging parameter to True. In this case, the battery will
balance before saying it's done charging, so the battery will get balanced every time the
AIV docks. You do not have to do anything extra to balance the battery.
In this mode, the battery will typically take about 10 minutes to balance after charging.
NOTE:This is the mode that Adept recommends for AIVs that aren't doing
battery swapping.
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Exchange the in-service battery, periodically, with a fully-charged spare battery.
A spare battery that remains plugged into a docking station will be balanced. In this
mode, you don’t have to worry about battery balancing, although it does add the task of
manually swapping batteries.
The interval between battery swaps depends on how the AIV is used. This includes the
weight it carries, the electrical load of any accessories, and what percent of the time it is
in service. You will need to determine the best interval for your situation. Swapping the
battery at every shift change is a commonly-used interval.
NOTE:This is the mode that Adept recommends for battery swapping, if
you are not charging the battery while it is inside the AIV.
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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-zero) values. You would then do a battery swap with
a fully-charged and balanced battery periodically, such as once a week.
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StateOfChargeToChargeTo determines the state of charge the battery needs to
attain before the AIV can stop charging.
A 90% value here would get the battery mostly charged, but not balanced.
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MinutesToChargeFor determines the number of minutes the battery needs to
charge before the AIV can stop charging.
The AIV will stop charging when the battery reaches either of these parameter
values.
CAUTION: If both of these parameters are left at the default of 0,
and DockUntilDoneCharging is set to False, the AIV will dock,
and never undock.
Adept recommends that you do a battery swap weekly, at a minimum. If you see a
reduction in run-time, you should do a swap more often than that.
NOTE:The longer you wait to balance a battery, the longer it will take to bal-
ance. A battery that is badly out of balance can take well over 10 hours to bal-
ance after charging.
6.4 Operator Panel
The Operator panel comprises a screen, an E-Stop button, ON and OFF buttons, a brake-release
button, and a keyswitch. The panel will typically be mounted on the payload structure, so that
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