Sonar Controller - Omron LD User Manual

1. Remove the inner and outer rear covers from the platform. Refer to Removing and
Installing LD Cart Transporter Covers on page 154.
2. Unscrew the connection between the sonar cable and the sonar unit's lead.
Ensure that both the connectors and leads are labeled, and match. If not, label them.
3. Compress the two flat springs holding the sonar unit, and remove it from the cover.
Press the new sonar unit through the hole in the rear outer cover, from the outside.
4. Connect the sonar cable to the new sonar unit's lead.
5. Insert the new sonar unit through the hole in the rear outer cover.
6. Reinstall the rear covers.

Sonar Controller

The sonar controller is located in the payload bay.
1. Refer to Accessing the Payload Bay on page 152 to access the payload bay.
2. Locate the sonar controller.
The controller is plugged into the Sonar 1 connector on the robot core. This con-
l
nector is not accessible from the payload bay, but does not need to be unplugged
for this procedure.
The controller will be at the very front of the payload bay, screwed into the pay-
l
load bay deck with two screws.
a. Unscrew the controller from the payload bay deck by removing two screws.
Retain the screws for mounting the replacement controller.
b. Unplug the larger cable from the sonar controller.
Be careful not to let the cable end slip into the chassis.
c. Unplug the sonar unit cables from the controller.
These are the smaller cables that go to the individual sonar units.
Make sure these are labeled and tied up, so they can't slip into the chassis.
d. Remove the controller from the payload bay, and replace it with the new one.
e. Connect the sonar unit cables to the new controller.
Ensure that the cable labels match the controller labels.
f. Plug the larger cable into the new controller.
g. Screw the new controller to the payload bay deck, using the two screws removed
from the old controller.
3. Reinstall the platform top plate and Latching Mechanism cover. Refer to Accessing the
Payload Bay on page 152.
4. Dispose of the old controller according to local and national regulations concerning elec-
tronic components.
LD Cart Transporter User's Guide, 14766-000 Rev B
Chapter 10: Maintenance
Page 167 of 190