Omron LD-90 - E-Stop and Safety Laser Commissioning

148 LD-60/90 Platform User's Manual 11970-000 Rev M
8.7 Replacing Non-Periodic Parts
The Left Motor and Right Motor connectors use the same type of plug, and can be inad-
vertently reversed. Ensure that you can clearly identify the left from the right.
See Internal LD Platform Core Connections on page 95.
10.
Remove the old core.
11.
Connect all of the cables that were attached to the internal core connector panel to the
new core internal connector panel. See Internal LD Platform Core Connections on page
95.
Wait until after the next step to reconnect the Sonar 1 cable.
12.
Put the core into the chassis.
13.
Connect the Sonar 1 cable to the core.
14.
Install the core mounting brackets around the new core.
Using the screws and washers you removed from the old core, put four screws into the
sides of the core, with four more going down into the platform chassis.
15.
Reconnect all of the cables to the top portion of the core.
Refer to Payload Bay Connections - Core on page 77.
16.
Reconnect the battery power and data cables to the battery.
17.
Close and latch the battery compartment door.
18.
Reinstall the inner rear skin.
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 AMR is commissioned at the factory, and will not need to be
re-commissioned. However, you must redo the E-Stop Commissioning and the Safety Laser
Commissioning procedures under the following circumstances:
l
If you replace the core.
l
If the hardware detects a failure, the AMR may automatically decommission itself. If
this happens, ARAM will display a fault pop-up in MobilePlanner.
l
If you are using a user-supplied E-Stop.
l
If you want 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
clicking Next Test on the final screen.
E-Stop Commissioning
This procedure verifies that pressing the E-Stop button triggers the E-Stop circuitry. This is veri-
fied by ensuring that you hear the brakes activate after pressing the E-Stop button.