Chapter 8: Maintenance
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The payload includes an optional user-supplied E-Stop.
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The commissioning procedures are included in the regular preventive maintenance.
NOTE: After performing either of these tests, you can access the other test by
clicking Next Test on the final screen.
E-Stop Commissioning
This procedure verifies that pressing any E-Stop button triggers the E-Stop circuitry. The indic-
ators are:
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The brakes activate with a distinctive click as the relays and solenoids close
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The wheel light disks change from slow-pulsing blue to a more rapid blinking red.
You must repeat the test for each E-Stop button, including the Operator Panel and an optional
payload E-Stop, if you added one.
1.
Make that all E-Stop buttons are disengaged (up) before you begin the test.
2.
In MobilePlanner software, select:
Main Menu > Robot > Safety Commissioning
3.
Follow the on-screen instructions to complete the test. You can print a certificate after
successfully completing the commissioning.
Safety Laser Commissioning
This procedure verifies that the:
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Safety and navigation laser correctly reports speed zone information;
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E-Stop circuitry trips when you place a detectable obstacle in front of the AMR.
To do this test, you must first disable the drive wheels. See: Engage and Disengage the Drive
Wheel Motors on page 148.
Table 8-3 lists the maximum speed for each speed zone. For the LD-250, each speed zone rep-
resents 225 mm/s, so if the maximum speed is 1440, five zones are reported. (Later, when you
press the Drive button in the commissioning wizard, it reports the maximum AMR speed.)
Table 8-3 LD-250 Speed Zones
Zone Maximum Speed (mm/s)
1 225
2 450
3 675
4 900
5 1125
6 1350
20472-000 Rev B LD-250 Platform User's Guide 177
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