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Adept Courier User`s Guide

1. 72 Programming 5i ib elfe ide ri iSc ries 73 Installing ZKAccess Software sssssslsssssessse sese eese meter 74 Starting ZK Access SOftwate norocosi spere eee inae eea a ea aara E aE 76 Programming RFID Cards oooococccccccccccccoococnnnnr rn nn ninos 77 gA Fi Bie eal BOXES ts A 78 RP Mesh Bridge suscita tica dido rada 78 Adept Lynx Courier User s Guide Rev A Page 7 of 80 Chapter 1 Introduction 1 1 Adept Lynx Courier AIV Overview The Adept Lynx Courier AIV Autonomous Intelligent Vehicle is a general purpose mobile robot based on the Adept Lynx mobile robot platform The on board intelligence of the vehicle eliminates the need for additional infrastructure such as tracks reflectors or magnets Users can use a simple push button panel to dispatch the AIV to its next destination or a call button to call for an AIV It can also be configured to receive commands from an enterprise workflow system and to operate as part of a fleet of Courier AlVs There are two variants of the Courier AIV One is open the other is closed and lockable See the following figure Figure 1 1 Closed and Open Courier AIVs Adept Lynx Courier User s Guide Rev A Page 9 of 80 Chapter 1 Introduction The Courier ATV consists of three sections Adept Lynx Platform The bottom of the Adept Lynx Courier AIV is an Adept Lynx platform It provides the mo
2. test tr customiInput customiInput ta customInput i customInput P customInput i custominput customOutpu astonoutv 4 Create two new macros e Right click in the blank space of the Editable Lists pane and click New O 10 0 152 185 Configuration JVO Draw Build amp Fitin Window Reduce Ma Source Lists Robot Tasks lt gt i addidleCallback i applicationBl prox and back i applicationBl SwitchToLaserOnly applicationFa SwitchToLightOnly i applicationFa E i arbitraryServ 1 ARCLSendText P camLookAtSp This will create a new macro with a default name of MacroN where N is the next sequential integer from the last macro created N starts at 1 when you con nect with a Courier AIV e Rename this macro LightOn e Right click again in the blank space of Editable Lists and click New e Rename this macro LightOff Adept Lynx Courier User s Guide Rev A Page 38 of 80 Chapter 4 Configuration There will be two new macros in the Editable Lists menu LightOn and LightOff 5 Drag CustomOutputOff from Robot Tasks on the left under the LightOff macro a A window will pop up asking for a value b Enter the alias you found in step 1 ShelfLights 6 Drag CustomOutputOn from Robot Tasks on the left under the LightOn macro a A window will pop up asking for a value
3. Adept Lynx Courier User s Guide Rev A Page 75 of 80 Chapter 9 Options i Setup ZKAccess5 2 Security System ZKAccess5 2 IP access control management software Completing Setup Wizard 2 Yes restart the computer now No will restart the computer later Figure 9 6 Finish Restart Screen Starting ZKAccess Software 1 Start up the server services on your computer a Choose Start gt All Programs Open the ZKAccess5 2 Security System folder b Right click on ZKAccess5 2 Services Controller c Choose Run as Administrator This will initiate the required services in the background d To run ZKAccess choose the ZKAccess5 2 desktop icon or ZKAccess5 2 Security System in your computer s Start Menu This will open a login screen Use the username admin and the password admin to log in you can change the password later Adept Lynx Courier User s Guide Rev A Page 76 of 80 Chapter 9 Options dl ZKAccess Security System ZKTechnology Inc 201 Circle Drive North Suite 116 Piscataway NJ 08854 U Copyright 2014 ZKTechnology Inc All Rights Reserved Figure 9 7 User Login Screen This will start up the software communication system Programming RFID Cards These steps are performed from the ZKAccess software Setting Access Levels for Cards 1 Click the Access Control tab in the top menu 2 Swipe the card over the reader It should pop up the Real Time Monito
4. Remove the sensor from the sensor hole it is in NOTE Do not disconnect the drawer sensor from its plug on the PCB under the dome Remove the hole plug from the sensor hole at the new drawer height Save the hole plug for re use in this procedure Insert the sensor in the sensor hole at the new drawer height Secure the sensor in the hole with the jam nut previously removed The sensor may need adjustment after the drawer is installed in the sliders in order to obtain a spacing of between 1 and 2 mm from the sensor to the sensor post Insert the hole plug previously removed into the hole the sensor was in Adept Lynx Courier User s Guide Rev A Page 62 of 80 Chapter 7 Maintenance 4 For the closed variant move the drawer LED a Unplug the LED cable from the power breakout cable b Remove the jam nut from the drawer side of the AIV wall Save the nut for reinstallation c Remove the LED from the hole it was in d Remove the hole plug from the LED hole at the new drawer height Save the hole plug for re use in this procedure e Insert the LED in an LED hole for the new drawer height f Secure the LED in the hole with the jam nut previously removed g Connect the LED cable to the power breakout cable h Insert the hole plug previously removed into the old LED hole 5 Attach the drawer sliders to the walls of the AIV at the new drawer height using the two screws previously removed from each 6 Reinst
5. 5 1 Lynx Platform The sensors user interface and connectivity of the Adept Lynx platform are covered in detail in the Adept Lynx Platform User s Guide Adept Lynx Courier User s Guide Rev A Page 45 of 80 Chapter 5 Courier Components Laser Scanners The two vertically mounted laser scanners attached to the sides of Courier AIV dome are used for detecting obstacles that could hit the Courier AIV on its sides They can be configured to detect potential problems with the floor in front of the AIV such as missing floor tiles A range finding scanning laser is mounted horizontally on the front of the Lynx platform This is used for navigation and obstacle avoidance Ultrasonic Sensors Sonar The Lynx platform has two pairs two transmitters two receivers of ultrasonic sensors facing rearward used when backing up to detect obstacles that might be in its way These are gen erally only used when going onto its docking station Bumper The Adept Lynx platform has one bumper at the lower front to stop the AIV if it should ever bump into anything The bumper has two pairs two transmitters two receivers of ultrasonic sensors facing fore ward used to detect very low obstacles that might be in AIV s way 5 2 Payload Section The payload section of the Courier AIV carries whatever payload you want to move Drawers Both variants of Courier AIV by default have three drawers The drawer heights are adjustable to any of
6. b Enter the alias you found in step 1 ShelfLights 7 Click Save 8 Click on MobilePlanner gt Config gt Robot Interface gt Instant Macro Button Settings There will be two options RightDoor and RightDoor_off 9 Set the Value of RightDoor to LightOn 10 Set the Value of RightDoor_off to LightOff The interior lights will now come on when the right door is open and go off when it is closed 4 4 Configuring the Touchscreen You configure the touchscreen s appearance and behavior with the MobilePlanner software The options include what mode is used setting up goals for relocalization and specifiying a custom screen logo and the language to be used for the display Operating Modes You can specify what mode the touchscreen will be in either Choose Dropoff or Patrol Route Choose Dropoff mode allows the Operator to input the next dropoff goals e Patrol Route mode simply drives around a specific route The AIV may have goals that it stops at but the Operator will not be able to alter the order of those goals The Operator is able to pause Stay the AIV if more time is needed to load or unload it For Choose Dropoff you specify how many dropoff buttons there will be and how each button is labeled as well as the goal on the AIV s map that gets associated with each button For Patrol Route you specify the name of the route and whether to start the patrol on bootup These parameters are accessed from MobilePlanner Con
7. 43 438 9 17 28 Inside Units are mm in Figure 8 1 Dimensions Open Variant Shown Adept Lynx Courier User s Guide Rev A Page 67 of 80 Chapter 8 Technical Specifications 8 2 Adept Lynx Courier AIV Specifications Power Consumption 2 5 6 5 W in full activity lt 50 mW in sleep C Operational temperature 0 to 60 7 2 x 5 5 x 2 in Obstacle detection backing up Toe detection moving forward a Obstacle detection sides Detect physical contact with obstacles unlocked open or there is a latch error WsHXD 1 Each pair of sonar consists of one emitter and one receiver The two units are identical but they are used differently Adept Lynx Courier User s Guide Rev A Page 68 of 80 Chapter 8 Technical Specifications 8 3 User Payload Specifications Drawer Heights Available drawer heights height from floor e 424 94 mm 16 73 in default for drawer 1 3 94 e 525 02 mm 20 67 in 3 93 e 624 84 mm 24 60 in default for drawer 2 3 94 e 724 92 mm 28 54 in 3 94 e 824 99 mm 32 48 in default for drawer 3 3 93 e 92481 mm 36 41 in Payload Limits Dimensions Width 417 3 mm 16 43 in Depth 371 9 mm 14 64 in Total usable drawer area 171 935 1 mm 266 5 in per drawer Maximum size of single object in any one drawer 155 161 0 mm 240 5 in Height depends on drawer configuration Default 200 mm 7 87 in NOTE The default is 3 drawer
8. AIV cover Refer to the following figure Figure 7 1 LED Heights Sensor holes are not plugged in this photo Adept Lynx Courier User s Guide Rev A Page 61 of 80 Chapter 7 Maintenance Before Removing or Installing a Drawer 1 Power off the ATV 2 Remove the front and back payload section covers Each of these is held in place with four latches Pull firmly on the top sides and then the bottom sides of each cover to remove it from these latches LED Heights For the closed variant Courier AIV there is one LED per drawer in the inner left wall of the payload section If three drawers are installed in the default positions there will be two pos sible heights for each of the LEDs You can choose whichever LED height best suits your application Unless a drawer is installed in the uppermost height or there is another drawer installed immediately above it you will have a choice of LED heights See Figure 7 1 Moving a Drawer to a Different Height Save all parts removed for re installation 1 Remove the drawer from its sliders The drawers are held in with a plastic clip latch on each side 2 Remove two screws from each wall to remove the drawer sliders from the ATV 3 Move the drawer sensor Each drawer has a sensor mounted in the wall of the AIV towards the front of the AIV This lines up with a plastic post on the side of the drawer a b Remove the jam nut from the drawer side of the AIV wall
9. Dome Right Side of Dome e ON button e OFF button e Keyswitch In the locked position this disables the OFF button preventing power from being turned off to the AIV e BRAKE button Pressing and holding this in releases the AIV drive motor brakes NOTE An E Stop must have been pressed or the AIV must be powered off for the brake release button to function Left Side of Dome e Touchscreen The configuration for the touchscreen is covered in the Adept Lynx Peripherals User s Guide Use of the touchscreen is covered in Touchscreen on page 51 Adept Lynx Courier User s Guide Rev A Page 48 of 80 Chapter 5 Courier Components Front of Dome EMO E Stop button There are two emergency stop buttons on the Courier AIV dome one in front and one in back Either of these will stop the AIV when pressed An EMO is a red mushroom button To undo a pressed EMO twist the red knob slightly and it will pop back to its original position The AIV does not require a full restart and boot up after an EMO has been pressed Rear of Dome EMO E Stop button This functions identically to the front EMO button Two STAY buttons Either of the STAY buttons can be pressed to add one minute the amount of time before the Courier AIV leaves for its next goal Repetitive presses continue to add one minute for each button press If a STAY button is pressed when the Courier AIV is in motion it will stop and wait for one minute The phy
10. Storing the Battery For battery storage instructions refer to the Adept Lynx Platform User s Guide Removing the Front Panel Ramp 1 Release the latches that hold the front panel to the crate There are four spring loaded latches Adept Lynx Courier User s Guide Rev A Page 16 of 80 Chapter 3 Installation Figure 3 2 Spring loaded Latch Figure 3 3 Front Panel Ramp 2 Remove the front panel and set it aside This will be used as a ramp to roll the Courier AIV off of the crate base Removing the Upper Body of the Crate 1 Remove the two lag bolts and washers from the back of the crate at the bottom See the following figure Adept Lynx Courier User s Guide Rev A Page 17 of 80 Chapter 3 Installation Figure 3 4 Crate Bottom rear Lag Bolts 2 Remove two clips at each side holding the upper body of the crate to the base 3 Slide the upper body of the crate off of the base Take care as you slide it over the Courier AIV watching the clearance of the dome com ponents Removing the Lower Braces The Lynx platform will still be held securely by the base of the crate Adept Lynx Courier User s Guide Rev A Page 18 of 80 Chapter 3 Installation Hanger Bolt w 3 8 in Wing Nuts x 2 Hanger Bolts to support Ramp x 2 Figure 3 5 Base of the Courier AIV Crate Front Brace Removed For the following steps refer to the preceding figure 1 Unscrew the two eye bolts that run vertic
11. docking station with three M4 x 12 flat head stainless steel screws The floor plate comes with three screws so you will have two spares The docking station and floor plate do not need to be attached to the floor as the weight of the Courier AIV on the floor plate will keep the docking station from moving Figure 3 15 Underside of Docking Station Foot Showing Screw Locations NOTE These are the three locations for the M4 x 12 flat head screws Two are already in place and need to be removed before attaching the plate Adept Lynx Courier User s Guide Rev A Page 30 of 80 Chapter 3 Installation k t i t l t i 4 t t i t i t Figure 3 16 Docking Station Mounted on Floor Plate 495 19 5 Units are mm in Figure 3 17 Docking Station Floor Plate Dimensions Adept Lynx Courier User s Guide Rev A Page 31 of 80 Chapter 3 Installation All mounting methods Install the power cord and turn the power switch to ON The power switch is next to the power plug The blue power LED indicator should light Docking Station Contact Adjustment The contacts on the docking station have five height settings The station is shipped with the height in the middle setting which should be correct in most cases The height can be changed by tilting the station enough to see the bottom of the base making the adjustment accessible NOTE Squeeze and keep the plat
12. ee ei dg SH Lc ee 53 6 2 Marital Intervention orita iia 57 POWerMe UP sor tai im 59 Manually Charging the Battery 22 222222 ccce cece eee eee eee e eee ss n nee s eeeeeeeeeeees 59 Moving an AIV Manually ocio ii ss noe eens eee ee A A eae 59 Localizing a Lost AIV _ 22222222 c cece eee eee ence eee cece eect ee cee eeeee esse eeeeeeeeeeeeeeseees 59 Adept Lynx Courier User s Guide Rev A Page 6 of 80 Table of Contents Chapter 7 Maintenance coco ccoo co anaoa aoa aa ao anaona aan 61 7 1 General Maintenance AA se een dae LLLI LU EU LI 61 USD VIC I ECEEE TEE 61 Before Removing or Installing a Drawer 22 22 222 22222 e eee eee eee eee eee ee eee s sss nnns 62 LED Heights cui E 62 Moving a Drawer to a Different Height 222222220222 22222 e cece cece cece eee eect eeeeeeeeeeeee 62 Removing a Drawer cocine ironia 63 Installing a Dtawet 1 2 5 0 xin dy idee eee ie need 64 Chapter 8 Technical Specifications sss 67 8 1 Dimension Drawings suuuuuuuuuusuulssllllllllllllllllll lll III eect eeeeeeeeeeeeees 67 8 2 Adept Lynx Courier ALY Specifications 3 68 8 3 User Payload Specilicatl ONE a A A A a a os 69 Drawer Heights MEE 69 Payload Limits P 69 Chapter 9 Options ccoo coco conc coco occ oaao aa aoaaa aana a11 71 91 Extra Drawers NP 71 QUIC uni A e a e E E EE H 71 QM REID Locking A EE ete T E ET ee 71 lisi
13. least one localization goal You can configure more if you want See Creating Localization Goals on page 41 To Localize a Lost Robot The touchscreen gives you a way to relocalize the AIV if it becomes lost If the AIV becomes lost the touchscreen will automatically select the Home tab from the right pane and display a message indicating that the AIV is lost It will also offer an option to Recover 1 Press Recover 2 Follow the on screen instructions You will be instructed to manually move the AIV to a localization goal and then tell the software which goal you moved the AIV to Adept Lynx Courier User s Guide Rev A Page 60 of 80 Chapter 7 Maintenance 7 1 General Maintenance Maintenance of the Adept Lynx platform which is the base of the Courier AIV is covered in the document Adept Lynx Platform User s Guide This chapter describes the maintenance of the Courier AIV that is not covered in that doc ument 7 2 Drawers The Courier AIV can have from one to six drawers mounted at any of six different heights within the payload section The default configuration is three drawers each at a default height See Dimension Drawings on page 67 All of the drawer sensors and drawer LEDs for the closed variant are mounted through the vertical wall towards the front of the AIV For the closed variant this is the left wall when you are looking inside the AIV Cables for those parts run between that wall and the front
14. provides the power needed for the Courier AIV to recharge its battery when low without user intervention The AIV automatically goes to the docking station when its battery needs to be recharged Joystick This is used for manually controlling the Courier AIV mostly when making a scan to be used for generating a map that the AIV will use for navigation Enterprise Manager System This consists of software running on the Adept Enterprise Manager appliance It manages a fleet of Courier AIVs to prevent conflicts and ensure that all of the tasks get performed The appliance also provides the connectivity to the WiFi and if used your WMS or MES You can have a secondary appliance which facilitates quickly switching appliances should the primary appliance fail When using Call Door boxes the Enterprise Manager serves as their contact It then com municates with the individual AIVs Call Door Boxes options A call box button is used to summon an AIV to a remote location A door box is used to open a door equipped with an automatic opener so the AIV can pass through it These both use the same hardware and can communicate using either WiFi Ethernet or RF Mesh Adept Lynx Courier User s Guide Rev A Page 50 of 80 Chapter 6 Operation The touchscreen interface is customizable by the customer Because of this the following should be considered examples of a typical setup Your installation may or may not have any o
15. rest of the Adept Lynx Courier AIV The following manuals are available from the Adept Document Library which is described in the next section Table 1 1 Table 1 2 Related Manuals Adept Lynx Platform User s Guide Describes the setup use and maintenance of the Lynx platform Adept Motivity User s Guide Describes the use of the MobilePlanner and MobileEyes software and the SetNetGo OS Adept Robot Safety Guide Describes safety aspect for Adept robots How to Get Help Resource Guide Information on contacting Adept and on line resources Adept Lynx Peripherals User s Describes the peripherals available for the Lynx platform Guide Adept Document Library The Adept Document Library ADL contains documentation for Adept products You can access the ADL through either of the following methods e Select Support gt Document Library from the menu bar on the Adept website Type the following URL into your web browser http www adept com Main KE DATA adept_search htm Adept Lynx Courier User s Guide Rev A Page 11 of 80 Chapter 1 Introduction To locate information on a specific topic use the Document Library search engine on the ADL main page To view a list of available product documentation use the menu links located above the search field Adept Lynx Courier User s Guide Rev A Page 12 of 80 Chapter 2 Safety 2 1 Dangers Warnings Cautions and Notes There are five levels of special alert notation use
16. six heights The open variant has no back and no doors so the drawers can slide out either way Each drawer has a sensor to detect if the drawer isn t fully closed The Courier AIV should be configured in the MobilePlanner software so it will not drive if all drawers aren t fully shut The alert generated by these sensors can be used to sound a user supplied beeper or to gen erate an audio warning or display a message on the touchscreen See Configuration on page 33 The drawers of the closed variant are lit with LEDs Doors The closed variant has a fixed back with two doors on the ATV left side The doors can be locked Each door has a sensor to detect if the door isn t fully closed The door sensors can be used to signal the Operator the same way that the drawer sensors do See the following figure Adept Lynx Courier User s Guide Rev A Page 46 of 80 Chapter 5 Courier Components Figure 5 2 Closed Courier AIV with Doors Open Options Drawers number can be from one to six RF locking is available instead of a mechanical lock for the doors Adept Lynx Courier User s Guide Rev A Page 47 of 80 Chapter 5 Courier Components 5 3 Dome Right Vertical Laser Button Panel 7x BRAKE ON OFF Keyswitch Beacon STAY Button RF Antenna option Rear EMO E Stop Front EMO E Stop WiFi Antennas Acuity Camera SOpHOm STAY Button Left Vertical Laser 7 Touchscreen Figure 5 3 Courier AIV
17. the cover down so its top tab clears the rear outer cover Figure 3 7 Lowering the Rear Lynx Cover Installing the Battery Refer to Removing and Installing Covers in the Lynx User s Guide for cover removal and installation 1 Remove the inner rear platform cover a Pull the bottom of the cover away from the platform chassis This is easiest if you grip it with two hands toward the center b Lower the cover down so its top tab clears the rear outer cover 2 Unlatch and open the battery compartment door at the rear of the platform The battery compartment door is capable of being locked You may need to unlock it Adept Lynx Courier User s Guide Rev A Page 21 of 80 Chapter 3 Installation ADEPT TECHNOLOGY INC A Wit in Sf B RoHS Figure 3 8 Battery Compartment Connectors 3 Lift and slide the new battery into the platform body The battery weighs 20 kg 44 lbs There are recesses at the front and the back of the battery to aid in lifting it Adept Lynx Courier User s Guide Rev A Page 22 of 80 Chapter 3 Installation Figure 3 9 Battery Recesses for Gripping The battery is designed to be lifted and replaced by one person using one hand in each of the grips as shown in the following figure Figure 3 10 Lifting the Battery The connectors for power and data go toward the rear of the platform 4 Attach the battery power and data cables to the connectors at the rear of the b
18. the docking station near an AC outlet with 1 2 meters 3 25 6 5 ft of clear space in front to ease the Courier AIV s maneuvers especially automated ones onto the docking station The top of the docking station foot is spring loaded and lifts off of the bottom of the foot slightly to accommodate variations in the floor surface The weight of the Courier AIV will push the top of the foot down Requirements e 100 to 240 VAC 50 to 60 Hz 8A The station s power converter automatically detects the source voltage e Ambient operating temperature 5 to 40 C 41 to 104 F e 5 to 95 humidity non condensing Wall Bracket Mount 1 Attach the docking station mounting bracket to a wall with the bottom edge of the bracket 98 20 mm 3 8 0 8 in above the floor using user supplied anchors and screws There is leeway so you can adjust the height a little bit Refer to the following figure Adept Lynx Courier User s Guide Rev A Page 27 of 80 Chapter 3 Installation Wall Mount and Floor Mount 356 14 0 121 4 8 Wall Mount Bracket m 8x 25 1 0 123 4 9 _ 247 8 7 18x 6 0 25 d uf NT 114 4 5 3x 06 0 25 k 267 10 5 Units are mm in 98220 369 14 5 eee od 384 15 1 Figure 3 13 Docking Station Wall Moun
19. this pop up will go away You can also click Enable on the box to enable power to the motors See the following figure The emergency stop on robot 10 0 152 51 has been pressed To restart the robot release the emergency stop and press the On button on the robot Afterwards click the Enable button to re enable the robot s motors Figure 6 3 E Stop Reset Pop up If you are enabling power from the MobilePlanner software there is a second pop up that will say the E Stop has been cleared and you need to click Enable to re enable the motors The Courier AIV is now ready to receive operator input Adept Lynx Courier User s Guide Rev A Page 58 of 80 Chapter 6 Operation Powering up Press and hold the ON button on the robot dome for at least one second NOTE The AIV will take one or two minutes to boot and make its connections with the Enterprise Manager system NOTE When booting the light discs will display two blue arcs travelling from the 6 o clock to the 12 o clock position and back in opposite directions Manually Charging the Battery Inside the Platform To manually charge a battery inside the platform push the AIV backwards with an EMO engaged so that the rear of the platform slides over the contacts of the docking station NOTE You will need to press and hold the brake release BRAKE button Outside the Platform The battery can be charged outside of the platform by using the connector on the
20. well on left column of the Lynx Touchscreen peripheral Peripheral Power Digital Outputs Robot joystick goal button p Speech Synthesis Touchscreen P 9 2 9 LongDesaription Middle shelf is open Courier wil not dri The long description of the fault this should describe the fault in enough detail for the user to fix the problem ShelfUpper An input that wil block driving Upper shelf open The short description of the fault this should be as short as makes sense so that i Rt well on left column of the Lynx Touchscreen peripheral Upper shelf is open Courier will not dri The long description of the fault this should describe the fault in enough detail for the user to fix the problem Figure 4 2 Block Driving Message Set up the messages that correspond to the blocking inputs Add good descriptions here These messages are posted to the UI and will help Operators know what the fault is 3 Click Save to save your changes 4 2 Reacting to Multiple Inputs 1 Set up a multiple inputs message This describes the message that will be displayed when multiple inputs are on more than one drawer open for example Configuration gt Robot Interface gt Core Digital Inputs qos amp Bvo ER prenne TV TADA Robot Interface Rebot Operation Robot Physical Enterprise Debug Parameters Parameter e Q e Neve Open shelves Mame for tes naming This odi be the name uf Se flout Fm therDecorpten Shelves we Coen The s
21. 5 O trece eet ce tL Ue M ATL ee eg eee eet 15 Basie Task8 522 5e o da 15 Unpacking the Battery d colocara ltd dada 16 Removing the Front Panel Ramp cssssslllllllllllllll cece eee nnnnnmmnnnnnonos 16 Removing the Upper Body of the Crate 2 222222 e cece cece cece eee ence eee eens 17 Removing the Lower Braces utopia 18 Installing the Battery nus do 226 lec A a Dt eee 20 Rolling the Courier AIV Down the Ramp 222 222002 eee cece ceee cece eee s n eeeeeeeeeeeeeeees 24 3 3 Installing the Docking Stations 000 ici 26 Chapter 4 Configuration conocio ceccecceccecceceeeees 33 Configuration Task Overview ooooccccccccccnnnnncccccc cnn eee AiE ee E Ra a EE ER 33 4 1 Prohibiting Vehicle Motion with an Input 0 0 20 00 0 cc cece cece cece e cece ee eee ee ee es 34 4 2 Reacting to Multiple Inpu S conil iia 35 43 Creating a Map Macro to Turn on Interior Lights ooooooocococococcccccocococococcccocono 37 4 4 Configuring the Touchscreen 00 A A ae ee ee 39 Operating Modes i esce rede iyu ele ii a A 39 Choose Dropott Mode 4 55 occae eode it irradia 39 Adept Lynx Courier User s Guide Rev A Page 5 of 80 Table of Contents Patrol Route Mode 2 5452550220856 a2ee 252508 ida id iii 41 Creating Localization Goals 22222 2222222 cece cece ence eee nnnnnnnnnnnnnnnnnes 41 Sreem LOJO T Leki ii ib dios 42 Setting Display Language Wii A Ad 43 Chapte
22. ARCL commands Outgoing ARCL connection setup Peripheral Power Digital Outputs Robot joystick goal button Speech Synthesis Touchscreen Parameter Description n Count Number of responses when Input 1 4 switches off DO Input 2 1 A digital input Al Alas ShelfLower Meaningful name to use in place of the raw name Input_2 1 Inverted v True enabled if logical ON is electrically low or ground for Input 2 1 False if logical ON is electrically high OnList List of responses when Input 2 1 switches on suffix Suffix appended to the alias when the input switches on If an alias is not specified then the suffix is appended to the raw name 3 Number of responses when Input_2 1 switches on blockDriving Aresponse when the input switches on multipleInputsOnWarning A response when the input switches on 9 9 9 9 9 9 9 9 9 custom A response when the input switches on Figure 4 1 Using Inputs to Block Driving and Issue Warning For each parameter Input 2 1 etc a Set OnList Count 3 b Typel configure as blockDriving this will prevent the AIV from driving when enabled The choices are displayed by clicking the drop down arrow c Type2 configure as multipleInputsOnWarning this is used to warn Operators when more than one drawer is open d Type3 configure as Custom e Click Save to save your changes This will add the sections e BlockDriving Messages and e MultipelnputsOnWarning Messages to
23. Adept Lynx Courier AIV User s Guide Adept Lynx Courier AIV User s Guide JA p AE 14244 000 Rev A October 2014 f 5960 Inglewood Drive Pleasanton CA 94588 USA Phone 925 245 3400 Fax 925 960 0452 a ep RevierstraRe 5 44379 Dortmund Germany Phone 49 0 231 75 89 4 0 Fax 49 231 75 89 4 50 e Block5000 Ang Mo Kio Avenue 5 4405 12 Techplace Il Singapore 569870 Phone 465 6755 2258 Fax 465 6755 0598 Copyright Notice The information contained herein is the property of Adept Technology Inc and shall not be reproduced in whole or in part without prior written approval of Adept Technology Inc The information herein is subject to change without notice and should not be construed as a commitment by Adept Technology Inc The documentation is periodically reviewed and revised Adept Technology Inc assumes no responsibility for any errors or omissions in the documentation Crit ical evaluation of the documentation by the user is welcomed Your comments assist us in preparation of future documentation Please submit your comments to techpubs adept com Copyright O 2014 2015 by Adept Technology Inc All rights reserved Adept the Adept logo the Adept Technology logo AdeptVision AIM Hexsight Motivity LaserPlans Seekur PatrolBot and SILMA are registered trademarks of Adept Technology Inc Brain on Board is a registered trademark of Adept Technology Inc in Germany Adept Enterprise Ma
24. Destination Drawing Feedback LocalizationButtonCount Total number of localization buttons to create Parameter Description Max 4 Localization Drawings Outgoing ARCL commands Outgoing ARCL connection setup Robot joystick goal button Map goal that serves as a localization point Touchscreen LocalizationButton1 A localization button Text label that is displayed on the localization button If empty the GoalName is displayed eem Mep goal that serves as a localization point lon label that is displayed on the localization button If empty the GoalName is displayed A localization button Map goal that serves as a localization point Text label that is displayed on the localization button If empty the Goalliame is displayed A localization button TestStation iss pun uva xo Rc po Test Station Text label that is displayed on the localization button Y empty the GoalName is displayed Defines the style and appearence of the Touchscreen Figure 4 5 Localization Goal Parameters Screen Logo In MobilePlanner select Config Robot Interface Touchscreen From there use Style Appearance A logo is displayed in the upper left corner of the screen The default logo is Adept as shown in the following figure Adept Lynx Courier User s Guide Rev A Page 42 of 80 Chapter 4 Configuration adept Choose Destinations and Press Go Back Conf Front Entrance Room Desk Lab Shipping 8 Lobby Mail Room Production A
25. Input Input Input Planner 2 1 2 2 2 3 2 4 3 1 3 2 Parameter 4 For the closed variant remove the drawer LED a Unplug the LED cable from the power breakout cable b Remove the jam nut from the drawer side of the AIV wall Save the nut c Remove the LED from the LED hole Screw the jam nut on the LED in case you want to use it later d Insert a hole plug into the LED hole 5 Modify the removed sensor s configuration in the MobilePlanner software so the sensor won t show up as an open drawer These two steps apply to the input you found in the preceding table a In Configuration Robot Interface Core Digital Inputs set OnList Count 1 b Set Typel to Custom or blank so the removed sensor won t trigger either a block Driving or multipleInputsOnWarning event Installing a Drawer This requires that you have a new drawer two drawer sliders screws 4 for the sliders a drawer sensor and for the closed variant a drawer LED You will be left with an extra hole plug two different sizes for the closed variant 1 Determine the height where you want to mount the drawer There are six possible heights listed in User Payload Specifications on page 69 2 Attach the drawer sliders to the walls of the Courier AIV using two screws on each wall 3 Remove the hole plug from the sensor hole at the new drawer s height 4 Attach the drawer sensor in the hole in the wall towards the front end of the AIV that co
26. al signal all ok Orange Same as Green Alt Drive with warning 1 2 3 Yellow doesn t prevent driving e g low battery Orange Orange Moving Green Alt Turn with warning front Circle Yellow Blinking signal Blue Moving Green Blink Driving slowly lt 300 Orange circle blink mm sec Orange Pulse Green Green Green Alt Stopped with warning Yellow Yellow Blink Yellow Blink Object detected in safety zone Orange Left Right Yellow Blink Lost Half circles Sans Partial circle Green normally Red Blink Charging moving small arc if E Stopped Red Blink O Red Blink Blink E Stop stops E Stop stopsdriving X mL LM Right EN Booting Half circles 6 2 Manual Intervention In case of emergency press either EMO button located on the top of the Courier AIV dome Adept Lynx Courier User s Guide Rev A Page 57 of 80 Chapter 6 Operation Figure 6 2 One of Two EMO Buttons on Dome When pressed the red latching push button removes power from the drive motors and from the E Stop power port The Courier AIV takes about a second to stop to allow the software to safely stop the AIV To reset the E Stop twist the button slightly so it pops up Press the green GO button to restore power to the motors If you have the MobilePlanner software open you will see a dialog box that will pop up This is not the case if the Courier AIV is docked or experienced a critical driving fault If you pressed GO on the AIV
27. all the drawer into the sliders Ensure that the plastic latches on each side engage to hold the drawer 7 Check the gap between the sensor and the sensor post If this is not between 1 and 2 mm adjust the sensor so it is Removing a Drawer This requires that you have a hole plug two for the closed variant You will be left with an extra drawer two drawer sliders screws for the sliders a drawer sensor and for the closed variant a drawer LED The LED hole plugs are larger than the sensor hole plugs 1 Remove the drawer from its sliders The drawers are held in with a plastic clip latch on each side 2 Remove two screws from each wall to remove the drawer sliders from the ATV 3 Remove the drawer sensor Each drawer has a sensor mounted in the wall of the ATV towards the front of the ATV This lines up with a plastic post on the side of the drawer a Remove the jam nut from the drawer side of the AIV wall Save the nut b Remove the sensor from the hole it was in Screw the jam nut on the sensor in case you want to use it later c Insert a hole plug in the sensor hole d Note which PCB connector the sensor cable is plugged into under the dome then unplug the sensor cable from the PCB Adept Lynx Courier User s Guide Rev A Page 63 of 80 Chapter 7 Maintenance e Find the corresponding Input in the following table PCB J111 3 J10 1 3 J131 3 J121 3 J3 1 3 J2 1 3 Connector Mobile Input Input Input
28. ally down through the front and rear braces to lower and ultimately free the chassis support board The support board runs between the two Courier AIV drive wheels and is used to sup port the Courier AIV during transit 2 Remove the front brace wing nuts 3 Remove the rear brace wing nuts This will expose the rear Lynx platform battery cover which you will need to remove to install the battery 4 Remove the plastic bag that covers the whole AIV This is to protect the exterior paint and the dome components Adept Lynx Courier User s Guide Rev A Page 19 of 80 Chapter 3 Installation Installing the Battery Removing the Battery Cover Accessing the battery compartment requires removing the Adept Lynx platform s rear cover This is held in place with just magnets CAUTION Pinch hazard The magnets holding the cover in place are strong enough to pinch you if you are not careful No tools are needed for either the removal or installation of the battery cover NOTE After removing the cover place it inner side down so the outer surface doesn t get scratched The rear inner cover provides access to the battery compartment door 1 Pull the bottom of the cover away from the platform chassis This is easiest if you grip it with two hands toward the center Figure 3 6 Pulling the Bottom of the Rear Lynx Cover Out Adept Lynx Courier User s Guide Rev A Page 20 of 80 Chapter 3 Installation 2 Lower
29. ap goal to be serviced when this dropoff button is pressed NOTE A goal can have a wait time associated with it to give an Operator time to load or unload the AIV This is configured in the map using the MobilePlanner software You can eliminate a button from the screen by making GoalName blank The other buttons will fill in so there will be no blank spaces in the screen ButtonLabel This is the text label displayed on the dropoff button If empty the GoalName is displayed Adept Lynx Courier User s Guide Rev A Page 40 of 80 Chapter 4 Configuration Patrol Route Mode The following parameters only apply to the Patrol Route mode In this mode you need to specify the name of the Patrol Route that the AIV will patrol The route needs to have already been set up using the MobilePlanner software You also need to specify if the AIV will start its patrol automatically or if it requires an Operator to press Go Select Pages gt PatrolRoutePage e In RouteName enter the route to be patrolled e Check AutoStartRoute for the AIV to start its patrol as soon as the Patrol Route screen is displayed the touchscreen has finished booting Creating Localization Goals You need to configure at least one localization goal You can configure more if you want A loc alization goal is needed to relocalize a lost robot using the touchscreen Each localization goal should have e a heading The AIV will need to be aligned with the headi
30. are available from Southco p n EA C2 021 See http www southco com en us ea a01 ea c2 021 For detailed usage of that controller including programming new REID cards viewing and downloading logs of users who have opened the cabinet remotely opening the cabinet etc see the ZKAccess User Manual This manual is available at http www zkaccess com productbrochures aspx The RFID card reader and door latch controller are configured in the Courier AIV to be able to be accessed through the Courier AIV s WiFi connection In order for this to be enabled the user needs to install software on the user supplied PC being used for this communication The con troller card in the Courier AIV must also be configured with the IP Address that the Courier AIV is configured for on the local network The Courier AIV should have been previously con Adept Lynx Courier User s Guide Rev A Page 73 of 80 Chapter 9 Options figured for WiFi Information for accomplishing this is located in the Adept Lynx Platform User s Guide Installing ZKAccess Software The ZKAccess software is located on the disk provided with the Courier AIV shipment To install the software 1 Insert the disk and run the setup exe program from the disk This will initiate the installation process Use of the default settings will work fine One installation screen will require you to provide a backup file path 2 Choose an appropriate file location on your PC for this fil
31. attery 5 Close the battery compartment door to secure the battery in place Adept Lynx Courier User s Guide Rev A Page 23 of 80 Chapter 3 Installation The battery compartment is designed to hold the battery tightly so that it will not move within the compartment once the door is closed 6 Reinstall the inner rear platform cover Reinstalling the Battery Rear Platform Cover 1 Slide the cover up so its top tab fits under the rear outer cover See Figure 3 7 CAUTION Pinch hazard This cover can pinch you if you are not careful particularly at its bottom edge Hold the cover at the bot tom in the center with two hands 2 Holding the cover near the center with both hands tilt the bottom of the cover down towards the platform chassis See Figure 3 6 Rolling the Courier AIV Down the Ramp Refer to the following figure Adept Lynx Courier User s Guide Rev A Page 24 of 80 Chapter 3 Installation Front Front Brace Chassis Support Board Hanger Bolts to Hold Ramp Figure 3 11 Body Base and Ramp of Courier AIV Crate Adept Lynx Courier User s Guide Rev A Page 25 of 80 Chapter 3 Installation 1 Place the high end of the crate front cover with ramp supports down on top of the edge of the crate bottom One end of the front cover has two holes that go over two ramp pins at the bottom front of the crate See Figure 3 11 The ramp should now be solid on the floor and held to the
32. bility for the AIV Details of the Lynx platform are covered in the Adept Lynx Platform User s Guide which comes with the Courier AIV It houses a horizontally mounted range finding laser ultra sound sensors for detecting low lying obstacles and for use when backing up and a physical contact bumper to stop the Courier AIV if it should bump into something Payload Section The payload section of the Courier AIV is mounted on top of the Adept Lynx platform It con tains drawers to hold whatever you want to transport and supports the dome From one to six drawers can be installed Three drawers is the default There are six possible heights at which the drawers can be mounted Configurable in software The Operator will be warned if more than one drawer is not fully parked The Courier AIV will not drive if any drawer is open Open Variant The drawers can slide out from either side of the Courier AIV Closed Variant The closed variant has a fixed back and two doors that close and can be locked The drawers can slide out when the doors are open Each drawer is lit with one LED Configurable in software e The Courier AIV will not drive if either door is open The interior lights come on when a door is open Dome The dome is the top section of the Courier AIV It includes the Operator interface two ver tically mounted lasers and two or three antennas for WiFi and RF communication 1 2 Manual Scope T
33. crate base by the two hanger bolts 2 Press an E Stop then press and hold the brake release button on the Operator panel BRAKE This releases the wheel brakes on the AIV See the following figure adept a BRAKE ON OFF Figure 3 12 Button Panel on Courier AIV Dome 3 Roll the AIV off of the base of the crate and down the ramp 3 3 Installing the Docking Station For AC power the docking station needs to be plugged into a wall socket that is protected by a circuit breaker rated to UL489 with minimum 10 kA IC interrupt capacity rating 90 250 VAC 50 60 Hz 10 20 Amps The automated docking station can be used for either manual or automated charging of your Courier AIV s battery There are three ways the docking station can be mounted The docking station sits on the floor It can be attached to a wall with the wall bracket attached directly to the floor with screws through its base or can sit stand alone on the floor with the floor plate all of which will keep the docking station from moving when the AIV docks Both the wall bracket and floor plate are included with each docking station CAUTION It is very important that the docking station be mounted with one of these methods or the Courier AIV will simply move the docking station when it tries to dock rather than docking successfully Adept Lynx Courier User s Guide Rev A Page 26 of 80 Chapter 3 Installation For all mounting methods Locate
34. d in Adept manuals In descending order of importance they are DANGER This indicates an imminently hazardous electrical situation which if not avoided will result in death or serious injury DANGER This indicates an imminently hazardous situation which if not avoided will result in death or serious injury WARNING This indicates a potentially hazardous electrical situation which if not avoided could result in serious injury or major damage to the equipment WARNING This indicates a potentially hazardous situation which if not avoided could result in serious injury or major damage to the equip ment CAUTION This indicates a situation which if not avoided could result in minor injury or damage to the equipment NOTE Notes provide supplementary information emphasize a point or procedure or give a tip for easier operation Adept Lynx Courier User s Guide Rev A Page 13 of 80 Chapter 2 Safety 2 2 Emergency Stop In case of emergency use either of the Emergency Stop buttons located on the top of the AIV at the front and rear These are labeled EMO If the AIV needs to be moved to a safer location press an E Stop then press and hold the brake release button BRAKE and manually roll the AIV CAUTION Do not move the AIV very far under these circumstances or it will not be able to find its position on its map when restarted To restart the operation of the AIV e Release the Emergency Stop button Tw
35. e V Setup ZKAccess5 2 Security System E ZKAccess5 2 IP access control management software Path for storing backup file lt Back Note that the database backup path and the present system installed path not be under the same disk Don t set the path to the root of a disk and the path must not contains blank Figure 9 3 Provide a Backup Path 3 Click the install button on the final screen to proceed This will take several minutes During the installation screens for installing the Fingerprint Reader will pop up 4 Since there is no Fingerprint Reader installed on this system choose Cancel to this installation request Adept Lynx Courier User s Guide Rev A Page 74 of 80 Chapter 9 Options Welcome to the Fingerprint Reader Driver Setup Wizard This will install Fingerprint Reader Driver 2 3 3 5 on your computer It is recommended that you dose all other applications before continuing Click Next to continue or Cancel to exit Setup Figure 9 4 Fingerprint Wizard 5 Choose Yes to the next Exit Setup screen that pops up oOo i Setup is nct complete f you exit row the procram will not bz installed You may run Setup again at another time to comp e ethe insza lation Exit Setup Figure 9 5 Exit Fingerprint Setup 6 Choose Finish to the final Setup Wizard Screen This will restart your computer unless you check the No I will restart later button before clicking Finish
36. en arc will indicate the current state of charge SOC showing steady green from the top of the disc to the current SOC A small white arc travels back and forth between the two ends of the green arc Beacon blinks green red if E Stopped 0 to 270 cw 0 to 90 ccw full circle full circle NOTE The state of charge displayed is continuous not limited to 25 increments E Stop The light discs will blink red in an E Stop condition Beacon blinks red Booting When booting the light discs will display two blue arcs traveling from the 6 o clock to the 12 o clock position and back in opposite directions Beacon alternates green yellow then red In the following table e Blink indicates that a disc or light is on for a period then off for a period e Pulse indicates a 0 25 Hz fade on and off Adept Lynx Courier User s Guide Rev A Page 56 of 80 Chapter 6 Operation e Circle indicates that the lights appear to be going in a circle e Half circles indicates two arcs moving opposite each other between the top and bottom e Solid indicates that a light is on with no off interrupting it e Alt indicates that the beacon switches between different lights with no pause Two lights with Alt means one light is always on but not two at once Table 6 1 Indicator Meanings Se UN eee Blue Moving NEM Blink Driving Straight Circle all ok Moving Green Blink Turning 30 degrees in Circle direction of orange turn Blinking sign
37. f these specific features involving the touchscreen or other programmable features and may well have some items not covered here See Configuring the Touchscreen on page 39 and the Adept Lynx Peripherals User s Guide for details on configuring the touchscreen 6 1 Automated Operation If the Courier AIV has a map of its workspace and knows where it is within that environment localized it is ready to perform on startup and will operate autonomously without human intervention The Courier AIV is designed to deliver whatever materials you need moved The places where it stops to be loaded or unloaded are called goals Choose Dropoff Mode A Courier AIV can receive instructions from an Adept Enterprise Manager system or from the AIV touchscreen If a call button is used it sends a request for an AIV to the Enterprise Man ager system which then communicates with the AIV telling it what goal to go to In a single Courier installation without an Enterprise Manager system call buttons communicate directly with the Courier AIV Pickup Dropoff These only apply to Choose Dropoff Mode A pickup is when the AIV is sent to a goal so an Operator can load some payload on the AIV Pickups are scheduled by the Enterprise Manager system possibly initiated by a call button being pressed A dropoff is when the AIV is sent to a goal so that payload can be unloaded Dropoffs are scheduled by the Enterprise Manager system or initiated by a goal be
38. fig Robot Interface Touchscreen Select either Choose Dropoff or Patrol Route with the Pages MainPage parameter which has a dropdown selection box Choose Dropoff Mode The following parameters only apply to the Choose Dropoff mode Adept Lynx Courier User s Guide Rev A Page 39 of 80 Chapter 4 Configuration Dropoff Priority This is accessed under Pages gt ChooseDropoffPage You can enable high priority dropoffs which will be serviced before normal priority dropoffs AllowHighPriorityDropoffs This allows some dropoffs to be specified as high priority This is enabled by default and you can disable or re enable it in the MobilePlanner software HighDropoffPriority This is the priority assigned to any dropoff that is specified as high priority Higher priority jobs will be serviced before lower priority jobs by the queuing manager This has no effect if AllowHighPriorityDropoffs is disabled Dropoff Buttons This is accessed under Pages gt ChooseDropoffPage DropoffButtonCount This is used to specify the total number of buttons that will be available on the touchscreen page You can scroll the page to see other buttons if all of the buttons cannot be displayed at once DropoffButtonx There will be a DropoffButton1 through DropoffButtonx where x DropoffButtonCount Each contains the two following parameters GoalName This is a combo box that lists all of the goals that have been created on the map Select the m
39. form foot against the bottom of the foot to make this adjustment easier Adjust the height of the contacts by using the pull knob on the bottom of the dock The height changes by 4 mm 0 15 in for each notch See the following figure The height of the contacts should be set so that the roller is high enough to stay in contact with the Courier AIV as it is docking but low enough so that the bi level of the roller guides the paddle under the Courier AIV Figure 3 18 Docking Station Contact Adjusting Pull Knob Adept Lynx Courier User s Guide Rev A Page 32 of 80 Chapter 4 Configuration Most of the tasks involved in the configuration of a Courier AIV require access to the Adept Motivity User s Guide You should have that available during this procedure Creating and modifying a map for your Courier AIV to use is covered in the Adept Motivity User s Guide This needs to be done before your AIV will perform useful work The configuration for the touchscreen is covered in the Adept Lynx Peripherals User s Guide Configuration Task Overview The following tasks are Courier AIV specific and are not covered in the Adept Motivity User s Guide e Prevent the AIV from moving with doors or drawers open e Notify the Operator if more than one drawer is open Create a map macro for turning on the Courier AIV interior lights when the doors are open This only applies to the closed variant Courier AIV The following table l
40. ge is 5 to 95 non condensing It should be shipped and stored in the Adept supplied shipping crate which is designed to pre vent damage from normal shock and vibration You should protect the crate from excessive shock and vibration Use a forklift pallet jack or similar device to transport and store the packaged equipment The Courier AIV must always be stored and shipped in an upright position in a clean dry area that is free from condensation Do not lay the crate on its side or any other non upright position This could damage the Courier AIV 3 2 Uncrating The Courier AIV can only be rolled out of its crate after the battery is installed The reason for this is that the wheel motors have brakes that require power to be released and then the AIV can be rolled manually Basic Tasks e Remove the battery from its crate Remove the front panel ramp e Remove the body of the crate e Remove the lower braces e Install the battery in the Courier AIV e Setup the crate front cover as a ramp e Roll the Courier AIV down the ramp Adept Lynx Courier User s Guide Rev A Page 15 of 80 Chapter 3 Installation Unpacking the Battery The battery is shipped separately from the Courier AIV Locate the crate that contains the bat tery before continuing Refer to the following figure Figure 3 1 Battery Shipping Crate 1 Remove the screws from the top of the battery crate Lift off the crate top 2 Remove the battery
41. h J13 Note which PCB connector the sensor cable is plugged into Find that connector in the following table and note the corresponding Input PCB J11 1 3 J10 1 3 J13 1 3 J12 1 3 J3 1 3 J2 1 3 Connector Mobile Input 2 1 Input 2 2 Input 2 3 Input 2 4 Input 3 1 Input 3 2 Planner Parameter Modify the added sensor s configuration in the MobilePlanner software so the system will know when the drawer is open The following steps apply to the Input you found in the preceding table a In Configuration Robot Interface Core Digital Inputs set OnList Count 3 b Set Typel to blockDriving so the sensor will prevent the AIV from driving when the drawer is not fully closed C Set Type2 to multipleInputsOnWarning so the Operator will be notified if mul tiple drawers are open d Set Type3 to Custom e Click Save to save the configuration Adept Lynx Courier User s Guide Rev A Page 65 of 80 Chapter 8 Technical Specifications 8 1 Dimension Drawings 578 1 22 76 656 8 25 86 Drawer 3 824 9 32 48 Drawer 2 624 7 24 60 Drawer 1 424 8 16 73 380 4 14 98 LA IZS i WOU C PUUL 499 19 65 NOTE All drawer heights are adjustable Default Maximum Size drawer heights are shown 371 9 of Single Object o 14 64 155 161 0 mm Inside 171 935 1 mm 240 5 in Drawer Detail 266 5 in2 Total usable drawer area Excluding Handle Areas 417 3 16
42. he AIV will of course The sta tion supplies ample power for all onboard systems while charging its battery so you can con tinue operating those systems while charging If the AIV is powered off it will turn on automatically when it is pushed onto the docking sta tion An AIV cannot be turned off while on the docking station Light Discs and Beacon Circular lights on the sides of the Lynx platform are used to indicate motion turns and sev eral other states A beacon on the AIV dome is used to indicate movement and to signal an Operator that the AIV is waiting for assistance Their states are described here and summarized in the following tables Driving Straight Blue arcs on each side of the platform will appear to rotate in the direction of the platform s travel to let nearby people know that it is moving or about to move Beacon blinks green 0000 gt gt gt gt Adept Lynx Courier User s Guide Rev A Page 53 of 80 Chapter 6 Operation Turn Signal for turns gt 30 degrees The blue drive indicators will include a blinking orange segment at the front of one light disc to indicate that the platform is about to turn in the direction of the signal Beacon blinks green 000000 gt gt gt gt gt gt Stopped no errors ready Entire light disc on each side pulses blue slowly 0 25 Hz Beacon is steady green ODOQQQQU Sowa gt gt gt gt Driving with Warning doesn t p
43. hert descrpten of the fait thes shaki be pe short a makat cere o Bart TT f vnd orn left column of the Lyris Touchscreen peripheral One or more of the shelves are open Courier cannot drive The long description of the faut the shoud descrbe the faut in enough detal for the user to fx the problem Figure 4 3 Multiple Input Warning The voice message is configured in the map as follows Map Build Editable Lists Special Custom Responses Drag over a sayInstant task into the MultipleInputsOnWarning special task This will happen every time more than one drawer is opened at once See the following figure Adept Lynx Courier User s Guide Rev A Page 35 of 80 Chapter 4 Configuration Iv Iv LI 172 21 19 89 v T8 G ku De Config Map SetNetGo Save Undo Redo Map Creation Start Scan Map Creation Stop Scan Motors EStop pressed Figure 4 4 sayInstant as a Custom Response 2 Click Save to save your configuration Adept Lynx Courier User s Guide Rev A Page 36 of 80 Chapter 4 Configuration 4 3 Creating a Map Macro to Turn on Interior Lights This covers creating a map macro to turn on the interior lights when a door is open This only applies to the closed variant Courier AIV 1 Find the alias of the output for the lights Output_13 The default is ShelfLights MobilePlanner gt Config gt Robot Interface gt Core Digital Outputs gt Ou
44. his manual describes the installation and use of the Adept Lynx Courier AIV for trans portation of user goods This manual does not cover the Lynx platform configuration which is performed using the software that is provided with the AIV and is covered in the Adept Lynx Platform User s Guide and the Adept Motivity User s Guide Adept Lynx Courier User s Guide Rev A Page 10 of 80 Chapter 1 Introduction 1 3 How Can I Get Help Refer to the How to Get Help Resource Guide for details on getting assistance with your Adept software and hardware Additionally you can access information sources on Adept s cor porate website http www adept com For details on getting assistance with your Adept software or hardware you can access the fol lowing information sources on the Adept corporate website For contact information http www adept com contact americas For product support information http www adept com support service and sup port main e For user discussions support and programming examples http www ad ept com forum e For further information about Adept Technology Inc http www adept com e WEEE RoHS Policy and WEEE Drop off Sites Refer to the How to Get Help Resource Guide for information on WEEE and RoHS Related Manuals This manual covers the installation startup and operation of the Adept Lynx Courier AIV There are additional manuals that cover the Adept Lynx platform which supports the
45. ing pressed on the AIV s touchscreen Touchscreen The touchscreen is the primary Operator s interface with the Courier AIV during automated operation It is also used to manually relocalize a lost Courier AIV Dropoff Goals These only apply to Choose Dropoff Mode During a pickup the Operator can use the touchscreen to tell the Courier AIV where to go for its next dropoff More than one dropoff goal can be selected Dropoffs will be done in the order the dropoff buttons are pressed unless the Operator changes the priority of a dropoff This is Adept Lynx Courier User s Guide Rev A Page 51 of 80 Chapter 6 Operation also done with the touchscreen High priority dropoffs are done before other scheduled dropoffs For more details on the touchscreen refer to the Adept Lynx Peripherals User s Guide Stop and Resume You can use the touchscreen to stop and resume the current job for example if the AIV starts to leave before you were done loading or unloading its contents You can also use either of the two physical STAY buttons on the rear of the dome which func tion identically to the Stay button on the touchscreen Stay adds one minute to the Courier AIV s timer for each button press The Courier AIV will continue with its tasks when the timer counts down to zero The Go button clears the STAY timer immediately and the Courier AIV continues its tasks See the following figure Choose Destinations and Press Go Fig
46. ist the button slightly and it will pop back to its original position e Press the green ON button on the AIV dome Itis also possible to re enable the motors from the MobilePlanner software This is not necessary if you press the green ON button The AIV is now ready to receive operator input 2 3 Precautions You must observe the following precautions while the AIV is in operation Do not press the red OFF button while the AIV is moving unless there is an emergency situation as this will shut down the entire system If the AIV shuts down move it to the docking station and restart the AIV e Do no stand in front of the AIV while it is undocking The range finding laser located on the front of the Lynx platform will detect obstacles and not allow the Courier AIV to undock Lasers Although all three lasers two vertical one horizontal mounted on the Courier AIV are Class 1 eye safe Adept recommends that you not look directly into the laser beam Adept Lynx Courier User s Guide Rev A Page 14 of 80 Chapter 3 Installation Installation Task Overview e Move the Courier AIV crate to the work area e Uncrate the Courier AIV e Uncrate and install the docking station 3 1 Transportation and Operating Environment The overall crate is 964 x 787 x 1778 mm 38 x 31 x 70 in The Courier AIV must be shipped and stored in a temperature controlled environment from 5 to 70 C 41 to 158 F The recommended humidity ran
47. ists the various inputs from the Courier AIV AA Planner Connector Imput_1 1 1 1 10 INPUT 1 EMOsafeoniy EMO EmOsafe only only EXA ETC manaa fromens CEET morsa omma Machen Ooty The PCB in the third column is mounted between the payload section and the dome Output_13 used later is for the interior LEDs Adept Lynx Courier User s Guide Rev A Page 33 of 80 Chapter 4 Configuration 4 1 Prohibiting Vehicle Motion with an Input This section describes how to prevent vehicle motion based on Lynx core input states For this example we have inputs wired into the robot that turn off when the vehicle drawers are open this prevents the vehicle from driving when the drawers aren t closed The minimum software versions for this are ARAM 4 5b 20 SetNetGo 4 4 5b 1 Map Core Digital Inputs In this example we are assuming Input 2 1 Input 22 and Input 2 3 are coming from three drawer switches In the MobilePlanner software Configuration Robot Interface Core Digital Inputs 172 21 19 89 Configuration 172 21 19 89 Gb July16 safe zones map 172 21 19 89 SetNetGo Z Robot Interface Robot Operation Robot Physical Enterprise Debug Sections Parameters AN Config ARCL server setup BlockDriving Messages Cal Button and 1 0 Devices Connection timeouts Core Digital Inputs Core Digital Outputs Destination Drawing Feedback Language Location MultipleInputsOnWarning Messages Outgoing
48. left side of the docking station viewed from the front with the provided charging cable This will most likely to be used for charging a spare battery while the other battery is still in the platform and the platform is in use There is about a 10 second delay between when you connect the battery cable and when the charging LED turns on NOTE The docking station cannot charge an AIV and a separate battery at the same time If an AIV is at the station the power to the manual charge connector is cut off Moving an AIV Manually If you ever need to manually move the robot 1 Press either EMO button 2 Press and hold the Brake Release button BRAKE on the dome This will release the brakes on the robot drive motors and you can physically roll it See Operation on page 51 Localizing a Lost AIV A robot declares itself lost when it cannot match a pre defined percentage of points that it sees with its laser or camera against the features on its map If this happens localization fails and the robot is lost A lost robot stops moving and sends a notification to the Enterprise Manager system Adept Lynx Courier User s Guide Rev A Page 59 of 80 Chapter 6 Operation NOTE When the robot is lost the light discs will each display two orange arcs traveling from the 6 o clock to the 12 o clock position and back in opposite dir ections Before you can use the touchscreen to relocalize a lost AIV you need to have configured at
49. n the space above the payload section below the dome Adept Lynx Courier User s Guide Rev A Page 71 of 80 Chapter 9 Options Figure 9 1 Courier Doors Showing RFID Latch Function The Courier AIV with RFID Locked Cabinet is preconfigured and the supplied RFID card will unlock the door latch upon presenting the card to the reader at the top of the latch See the following figure for these steps 1 Touch the RF card to the flat surface near the top of the latch handle The latch will be unlocked for 10 seconds The latch s blue LED will flash blue magenta during this time 2 During the 10 seconds lift the latch handle from the bottom 3 Turn the latch handle 90 clockwise This opens the latch Adept Lynx Courier User s Guide Rev A Page 72 of 80 Chapter 9 Options Figure 9 2 Opening the RFID Latch Shown with Key The door will remain open unlocked until the latch handle is rotated back counter clockwise and pushed back towards the door until it snaps into place An unlocked door can be locked at any time Latch LED states e Blue locked e Blue magenta unlocked not open e Blue flashing open e Blue red or blue red red not fully closed intermediate state e Magenta flashing or magenta red flashing error state Programming In order to program other HID format 125 MHz RFID cards communication must be set up to the locking system controller that is installed in the Courier AIV Cards
50. nager Adept Enterprise Manager Lite Adept Lynx Adept SmartFleet EX ARAM MARC MARCOS MobileEyes MobilePlanner and SetNetGo are trademarks of Adept Technology Inc Any trademarks from other companies used in this publication are the property of those respective com panies MPEG Layer 3 audio coding technology licensed from Fraunhofer IS and Thomson Copyright 2012 CEPSTRAL LLC http www cepstral com This product may contain copyright material licensed from CEPSTRAL LLC all right reserved Created in the United States of America Table of Contents Chapter 1 Introduction occ ccoo ccoo noc cccccc nociones 9 1 1 Adept Lynx Courier AIV Overview siii it acc gluse g Adept Lynx Platform ee 2 2 ce eeseisee se vedee ad see cde 10 Payload Section e P 10 Bou dm 10 12 MODUS ect EA Los uec LA en C eA LUE At EU 10 1 3 How Can Nit sio MA 11 Related Manuals 5 ti e a ias 11 Adept Document Library 22 22 4 2 0 Il p Done raid 11 Chapter 2 Safety occ ccoo ccc cece cece cece ccceceeccceceeceeeeeseees 13 2 1 Dangers Warnings Cautions and Notes oooooococcccococcococcococcococcncnccoccncnccncnccnnos 13 2 2 Emergency Stop Si E Enea ca iia 14 2 3 PEC il apli 14 Lasers 14 Chapter 3 Installation occ 15 Installation Task Overview ooo 15 3 1 Transportation and Operating Environment o ooocococcocococococococncconoconononncnonococonos 1
51. ng when relocalizing This applies to both laser and Acuity localization e mapped features that don t change much Things that get moved frequently such as pallets chairs or carts do not make good mapped features because the map will not match what the laser is seeing Create the goal in a relatively stable area e mapped features that don t get blocked If a mapped wall is often used for stacking boxes or storing carts the laser may have trouble seeing the wall behind those objects e multiple visible lights when using Acuity localization The more lights the AIV can see the better e a high localization score This represents the percent of readings that the AIV currently sees that match the fea tures on its map NOTE Localization goals do not have to be dedicated to localization they can also be used as normal goals for regular use In MobilePlanner select Configuration Robot Interface Touchscreen Use the ChooseLocalizationPage to set LocalizationButtonCount to the number of localization goals you want and then specify the GoalName and ButtonLabel for each Adept Lynx Courier User s Guide Rev A Page 41 of 80 Chapter 4 Configuration V Robot Interface Robot Operation Robot Physical Enterprise Debug Parameters Show Expert Parameters ARCL server setup Connection timeouts Core Digital Inputs Core Digital Outputs ChoosetocalizationPage Defines the appearance of the Choose Localization Page
52. r 5 Courier Components coco ecc eee 45 OVERVIEW AE 45 SUBE rdc e r0 NER ee RR RORIS 45 Laser Scanners desd nee ice e deine eA 46 Ultrasonic Sensors Sonar Luuuuuuuuluullllllllllllllllllllllllslsll Iss ms eee eee 46 hog o 46 5 2 Payload Section nisu eL LM MR Me LI e ML M MR LU M RACE ieaS 46 A eue tu Eee LIA eens n A A le nd EE LIEU de 46 Doors di ML 46 un T coros ii sae sia 47 99 DOME nM 48 Right Side of DOme cinc a bk Se ii 48 keft SIMCOE AAA see A A 48 Frontof DOMS AS 49 Reato DOme ts a aa Sie el Mere d 49 Topiof Dome picas alo a ii ad 49 Dome Options cuiuccccosss cseececgonsee e a a e eaa dans 49 Vertical Lasers pH 50 5 4 Supporting Components orar iicst ws eel oct ese doce eon o ein 50 Docking Hai cs 50 locuin e E HHPQOo MN 50 Enterprise Manager System cres 50 Call Door Boxes options 2 2 2 2 22222222222 eee 001001111 t5 t1 tE III rtnn rriren 50 Chapter 6 Operation 2 2 0 0 cece cece cece cece cece eceeccueceeseeseueenees 51 6 1 Automated Operation 0 2 ccc ccc cc ccc ccc cece ence nee c ne e e enc enc ens eeeeeaeeaeeneensenes 51 Choose Dropott Mode socias toi ias 51 Pickup Droport oia dy ees oh eee we peed edd eee ees ee ae ede eee eed 51 TOUCHSCCEM c eee 51 Patrol Route rM 52 Sura ON cacy ts O A tect SE 53 Light Discsarnd Beacon cuina ahar
53. re covered in detail in the Adept Lynx Peripherals User s Guide Call Door boxes can communicate with wired Ethernet WiFi or RF mesh A door box uses the same hardware as a call box but is used to open a door that has been equipped with an automatic opener which is linked to the door box Call buttons cannot be used with an AIV that is in Patrol Route mode RF Mesh Bridge In a system using RF mesh Call Door boxes an RF mesh bridge needs to be somewhere in the system to make the transition from RF to Ethernet If an Enterprise Manager is being used the RF mesh bridge will be connected to the hard wired Ethernet which in turn is connected to the Enterprise Manager appliance If a single robot is being used with RF mesh Call Door boxes that robot will also need to have an RF mesh bridge and an RF antenna This is the only case in which the bridge and that antenna are needed on a Courier AIV Adept Lynx Courier User s Guide Rev A Page 78 of 80 adept 5960 Inglewood Drive Pleasanton CA 94588 PN 14244 000 Rev A 925 245 3400
54. revent driving such as low battery The light discs will be orange instead of blue for Stopped Driving and Turn Signals Beacon alternates green then yellow 0000 gt gt gt gt Turn Signal with Warning doesn t prevent driving such as low battery Same as Turn Signals but both the blue rotating arc and blinking segment are orange The moving arc and the blinking segment have independent timing gt gt gt gt gt Y Adept Lynx Courier User s Guide Rev A Page 54 of 80 Chapter 6 Operation Driving Slowly Safety Inactive Under 300 mm sec the Lynx platform stops safety checking The pattern is essentially the same as driving except the background blinks orange The moving arc and the blinking seg ment have independent timing OOOO gt gt gt gt gt gt Stopped with Warning such as low battery The light discs will be orange instead of blue for Stopped with Warning Beacon alternates long green with short yellow Sowa 3 gt gt gt Obstacle Detected The light discs will blink yellow if the AIV is stopped for an object in its safety zone Beacon gt gt gt gt Lost When the AIV is lost the light discs will each display two orange arcs traveling from the 6 o clock to the 12 o clock position and back in opposite directions Beacon blinks yellow Adept Lynx Courier User s Guide Rev A Page 55 of 80 Chapter 6 Operation Charging When docked a gre
55. ring window 3 Record the card number You will need this when adding a new person 4 Click the Access Levels sub tab 5 Click the Add button on the right to configure a new access group 6 Name the group according to the access level desired ie User Admin etc 7 Check all the REID units that you want this group to access 8 Click OK at the bottom of the form Adding a User Card 1 Click Personnel at the top of the page 2 Click Add at the left of the page Adept Lynx Courier User s Guide Rev A Page 77 of 80 Chapter 9 Options 3 The minimum information you will need to add a person is e Personnel number e Card number internal from the Real Time Monitor you did earlier e Password e Department e Mobile Phone 4 Click OK 5 Click Back from the Access Control tab 6 Click the Personnel Access Levels sub tab You should see the access group you created earlier with Add Personnel in the related operation 7 Click Add Personnel 8 Check the box next to the user that you want to add then click Ok 9 Go back to the Real Time Monitoring sub tab and swipe the card If everything is correct it should open the lock and display some information about the card and the user associated with it in the window 9 4 Call Door Boxes A call box is used to summon an AIV to a remote location Each call box will have an asso ciated goal to which the AIV will go when the call button is pressed Call Door boxes a
56. rresponds to the selected drawer height Each drawer has a sensor mounted in the wall of the AIV towards the front of the AIV This lines up with a plastic post on the side of the drawer There are six sensor holes located at the horizontal centers of the drawers a Remove the hole plug from the sensor hole at the new drawer height Save the hole plug for possible future use Adept Lynx Courier User s Guide Rev A Page 64 of 80 5 10 Chapter 7 Maintenance b Insert the sensor in the sensor hole at the new drawer height c Secure the sensor in the hole with a jam nut This may need adjustment after the drawer is installed in the sliders in order to obtain a spacing of between 1 and 2 mm from the sensor to the sensor post For the closed variant a Remove the hole plug from an LED hole for the new drawer height Save the hole plug for possible future use b Plug the drawer LED into the LED hole in the wall c Secure the LED in the hole with a jam nut d Attach the LED power connector to the power breakout cable located in the space between the front of the AIV and the AIV wall Install the drawer into the sliders Ensure that the plastic latches on each side engage to hold the drawer Check the gap between the sensor and the sensor post If this is not between 1 and 2 mm adjust the sensor so it is Connect the drawer sensor to the PCB under the dome Drawer sensors connect to 1 3 on J2 J3 or J10 throug
57. rrived for Dropoff Receiving Storage Storage WHSE WHSE Area 1 Area 2 Back Front Departs in 13 sec CEA Figure 4 6 Sample Touchscreen with Adept Logo in Choose Dropoff Mode You can customize this with a logo of your choosing using the following steps 1 Upload a PNG image file to the AIV using the MobilePlanner software File Download Upload 2 Open the AIV Configuration window and choose Robot Interface Touchscreen 3 Edit the SmallLogo parameter a Click the file select button to open the file chooser b Select the newly uploaded file c Click Open 4 Click Save to save the configuration NOTE If the SmallLogo field is left blank the default Adept logo will be displayed NOTE If a different version of the same file name is uploaded to the AIV you will need to power cycle the AIV to see the change Setting Display Language You can select what language is used for the display from a dropdown box in the MobilePlan ner software Adept Lynx Courier User s Guide Rev A Page 43 of 80 Chapter 4 Configuration This selection is accessed from MobilePlanner Config gt Robot Interface gt Language Location Select RobotLanguage which has a dropdown selection box This parameter is not touchscreen specific so it may affect other displays that involve written language As of this writing only the touchscreen is affected This parameter does not affect synthesized speech NOTE Currently some message
58. s at the indicated heights Six drawers 98 3 mm 3 87 in Just drawer 1 579 mm 22 8 in Weight Maximum weight per drawer 10 kg 22 Ib Maximum total weight all drawers 30 kg 66 Ib Adept Lynx Courier User s Guide Rev A Page 69 of 80 Chapter 9 Options 9 1 Extra Drawers Either variant of the Courier AIV can be ordered with from one to six drawers The default is three drawers installed at default heights The user can move the available drawers to any combination of the six mounting heights Each drawer will come with a sensor and for the closed variant an LED All drawers ordered with the Courier AIV will be installed at the factory Removing and installing drawers is covered in Drawers on page 61 9 2 Acuity For environments that are very dynamic such as warehouses with pallets that change loc ations frequently Acuity may be the best choice for navigation For an Acuity installation the Acuity assembly will be installed in the Courier AIV dome top There is a plugged hole that will be used See Basic Courier AIV Components Open Variant on page 45 The Acuity option is covered in more detail in the Adept Lynx Peripherals User s Guide 9 3 RFID Locking The closed variant doors can be locked with a physical key which is the default or with an RFID controlled latch This section is an overview to help you start up and communicate with the RFID Locked Cabinet controller The controller is mounted i
59. s from the AIV will be in English regardless of the language set here Messages generated by the touchscreen software will appear in the selected language Examples are Robot is Lost and ESTOP Pressed e Messages set in the robot configuration can be localized Examples include the Block Driving Messages and the Payload Present Behavior and Messages e Messages that are driven by the map tasks or ARCL such as applicationFaultSet will be in the language used for the short and long descriptions in the command Using a different map could potentially change the language of these messages e Messages generated by the ARAM software will be in English Examples of these are the gyro fault or temperature too hot fault e Robot Status and Mode will be in English for the foreseeable future Adept Lynx Courier User s Guide Rev A Page 44 of 80 Chapter 5 Courier Components Overview There are three basic parts of the Adept Lynx Courier the Adept Lynx platform the payload section which holds whatever payload you want the Courier AIV to carry and the dome which tops the payload section Button Panel Right Side Laser BRAKE ON Antennas OFF Keyswitch Acuity Camera Location if used Touchscreen Alt Beacon Location Left Side Laser PAYLOAD SECTION NOTE All drawer heights are adjustable Default drawer setup is shown Figure 5 1 Basic Courier AIV Components Open Variant
60. sical STAY buttons function identically to the logical STAY button on the touch screen The GO button on the touchscreen clears the STAY timer and the Courier AIV will depart for its next goal immediately Top of Dome Two WiFi antennas are mounted towards the rear of the dome These two antennas are used for WiFi communication with an Enterprise Manager if you have a fleet of Courier AIVs They can also be used to communicate with the MobilePlanner software One RF antenna option may be mounted just in front of the beacon or Acuity assembly This is only present if you have RE mesh Call Door boxes and only one AIV Beacon The beacon is used to indicate movement and to signal an Operator that the Courier AIV needs assistance such as when it is lost Dome Options Third antenna for use with an RF bridge on the AIV Acuity localization This is installed where the beacon is usually located The beacon is then moved toward the center of the dome and installed in a hole that is normally plugged Adept Lynx Courier User s Guide Rev A Page 49 of 80 Chapter 5 Courier Components Vertical Lasers A laser is mounted on each side of the dome to detect potential obstacles that the range find ing laser does not detect The range finding laser scans at 200 mm 7 9 in off the floor The vertical lasers are intended to detect obstacles at other heights 5 4 Supporting Components Docking Station The docking station
61. t 2 Screw the two shoulder bolts each with a washer into the rear of the docking station The shoulder bolts are M5 x 4 stainless steel Their locations are shown in the fol lowing figure Tighten to 9 N m 80 in Ib Adept Lynx Courier User s Guide Rev A Page 28 of 80 Chapter 3 Installation Figure 3 14 Rear View of Docking Station with Wall Bracket 3 Lower the docking station down so the two bolts on the back of the docking station slide into the bracket to secure the docking station to the wall Floor mount without Floor Plate Screw the base of the docking station directly to the floor using three user supplied screws For dimensions of the available holes in the base refer to Figure 3 13 Adept recommends M5 self tapping or M4 sheet rock screws for this Floor mount with Floor Plate This mounting method uses the floor plate The floor plate is not shipped attached to the dock ing station so you must attach it for this type of mount It will be in the crate with the Courier AIV Attaching the Floor Plate Refer to the following figures Adept Lynx Courier User s Guide Rev A Page 29 of 80 Chapter 3 Installation 1 Tip the docking station onto its back so you can access the underside 2 Remove the two lowest screws M4 x 12 flat head if present In the following figure these screws are circled The location of the third screw hole is also circled 3 Attach the floor plate to the base of the
62. the Sections column which will let you configure their values Adept Lynx Courier User s Guide Rev A Page 34 of 80 Chapter 4 Configuration 2 Setup a Blocking Message Configuration gt Robot Interface gt BlockDriving Messages file Edit Robot Map View Jools Window Help e us CC M 9 a 3 Command Disconnect Config Map SetNetGo Save Undo Redo e 172 21 19 89 Configuration ove 172 21 19 89 Gb July16 safe zones map ro 172 21 19 89 SetNetGo Robot Interface Robot Operation Robot Physical Enterprise Debug Sections Parameters AN Config popa dE Parameter Value Description BlockDriving Messages Call Button and 1 0 Devices Connection timeouts Core Digital Inputs Core Digital Outputs Destination Drawing Feedback Language Location MultipleInputsOnWarning Messages E ShelfLower An input that will block driving D ShortDescription Lower shelf open The short description of the fault this should be as short as makes sense so that it fit well on left column of the Lynx Touchscreen peripheral LongDescription Lower shelfis open Courier will not dri The long description of the fault this should describe the fault in enough detail for the user to fix the problem 9 9 9 n Shel ttiddle An input that wil block driving Outgoing ARCL commands Outgoing ARCL connection setup ShortDescription Middle shelf open The short description of the fault this should be as short as makes sense so that it fit
63. tput_13 This alias will be used later in this procedure 2 Change the values of the right door input MobilePlanner gt Config gt Robot Interface gt Core Digital Inputs gt Input_3 4 e OnList Values a Count 3 b Typel blockDriving c Type2 instantMacro d Type3 custom e OffList Values a Count 1 b Typel instantMacro 10 0 152 185 Configuration Bgye 10 0 152 185 common dematic route 1 RobotInterface RobotOperation RobotPhysical Enterprise Debug Sections Parameters AN Config ARCL server setup BlockDriving Messages Connection timeouts Core Digital Inputs Core Digital Outputs Destination Drawing Feedback Instant Macro Button Settings Language Location MultipleInputsOnWarning Messages Outgoing ARCL commands Outgoing ARCL connection setup Payload Present Messages and Behavior Peripheral Power Digital Outputs Robot joystick goal button Speech Synthesis Touchscreen Parameter DO Input 3 4 1 Alias O Inverted OnList 9 9 9 9 9 9 9 9 9 9 9 25 9 Adept Lynx Courier User s Guide Rev A Page 37 of 80 Chapter 4 Configuration 3 In MobilePlanner gt Map gt Build open e Source Lists gt Robot Tasks and e Editable Lists gt Macros cn SOC Draw 9 Fitin Window Reduce Source Lists Robot Tasks E Courier A P customInput j customInput a SwitchToLaserOnly customInput H SwitchToLightOnly i customiInput
64. ure 6 1 Sample Touchscreen Display Patrol Route In this mode the AIV does not communicate with the queuing manager It simply drives the assigned route at stops at assigned goals It can be temporarily delayed if an Operator presses Stay but the Operator is not given a choice as to where the AIV will go once it leaves its cur rent location AIVs in patrol mode are not available to respond to a call button Adept Lynx Courier User s Guide Rev A Page 52 of 80 Chapter 6 Operation Charging NOTE If the battery charge is low the AIV will automatically drive to the docking station so that it can recharge its battery Automated Docking Station The automated docking station is both a manual and an automated means for recharging your Courier AIV battery During normal autonomous operation of the Courier AIV in the workspace the AIV manages charging automatically through the automated docking station The AIV will approach the docking station frontward and then turn around and back onto the docking station to charge There is about a 10 second delay between when an AIV docks and when the charging LED turns on Run time with no load is approximately 13 hours This will vary significantly depending on use and accessory power consumption Recharge time is approximately 3 5 hours Powering ON or OFF the AIV or connecting and disconnecting the AIV with network and onboard clients will not disturb the charging state Moving t

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