178 LD-250 Platform User's Guide 20472-000 Rev B
8.10 Replacing Non-Periodic Parts
Zone Maximum Speed (mm/s)
7 1575
8 1800
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.
Safety Decommissioning
If any safety mechanism detects an anomaly, automatic decommissioning of the safety circuit
occurs. To continue operation you must complete a recommissioning process (see Section 8.6
E-Stop and Safety Laser Commissioning).
The following safety mechanisms might cause decommissioning:
l
Mismatched channels: ESTOP redundant lines are not in agreement.
l
Mismatched speed zone: Speed detection redundant channels are not in agreement.
l
Forward speed exceeds 1600 mm/s.
l
Reverse speed exceeds 225 mm/sec.
Accessing the Payload Bay
Access to the payload bay depends on the design of your payload structure. If you have a
small, light payload structure, you might be able to disconnect it and lift it off (taking care not
to damage the connection cables).
Depending on the location of fasteners, the load-bearing bars in the payload bay might also
permit you to loosen and slide the payload forward or backward to access the LD-250 Core or
its cables.
A taller or heavier payload structure might include a hinged mount, so that you can tilt it off
the LD-250 after you disconnect its retaining fasteners. For most payload structures, this design
enables a technician to access the payload bay without assistance.
Take care when accessing the payload bay, that the cables between the LD-250 and the pay-
load structure are not disturbed when you tilt the payload structure.
Removing and Installing Skins
Figure 8-22 shows the 8 separate skin panels.
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