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7.3 Power and Charging
An AMR initially generates its planned path based on known information in the map. As it
moves, its path is updated dynamically in response to changes detected in its environment,
such as temporary obstacles.
Paths are updated many times per second to maintain a smooth trajectory and to avoid
obstacles detected by the on-board sensors. Path planning parameters, together with con-
straints specified in the AMR's workspace map, define the path that the AMR will plan and
follow through its environment. You use the MobilePlanner software to modify the AMR's
path planning parameters as required for your environment. The Fleet Operations Workspace
Core User's Guide describes how to change these parameters and how to edit a map. Cus-
tomizable AMR features include:
Speed and acceleration.
l
Minimum battery level allowed before docking for recharging.
l
Which map to use.
l
The MobilePlanner software typically communicates with the LD-250 securely over your wire-
less network. You can also connect an Ethernet cable directly from your Windows PC to the
AMR's Maintenance Ethernet port.
7.3 Power and Charging
The LD-250 battery is a sealed unit with manual status indicators. The Operator screen and
the MobilePlanner software show the percentage (%) state-of-charge (SOC) remaining.
Typically, the LD-250 recharges its battery autonomously when necessary all on-board systems
function continuously while the battery recharges. Recharge time is approximately 4 hours.
Run-time (with no payload) is approximately 10 hours. This varies significantly depending on
use and accessory power consumption.
NOTE: The LD-250 ships separately from its battery. You must fully charge the
battery before use, as described in Manually Charging the Battery on page 121.
Battery Indicators and Controls
The battery has (from left to right) one red and green bi-color and three green LEDs, and one
push-button (labeled SHOW LEVEL). The firmware blinks LEDs 1 through 4, back and forth,
one at a time. From left to right, the LEDs indicate:
LED
1
Red
Green
2
Green
3
Green
4
Green
a
If the red light blinks after pressing the SHOW LEVEL button, the battery is depleted and needs a
recharge.
If the red light blinks constantly, the battery needs service. Connecting the battery to a LD-250 will write
118
Color
LD-250 Platform User's Guide
Meaning
a
Error condition
b
25% state of charge
50% state of charge
75% state of charge
c
100% state of charge
20472-000 Rev B
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