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5.
Connect the eight sonar unit cables to the new controller.
Ensure that the cable labels match the controller labels.
6.
Plug the larger cable into the new controller.
7.
Screw the new controller to the payload bay deck, using the two screws removed from the old
controller.
Light Discs
The two light disc assemblies and their controllers are single units, so replacing a controller also replaces
all of the lights on that side of the platform.
1.
Remove the side cover, on the side that needs the light disc assembly replaced.
Refer to Removing and Installing Covers on page 93.
2.
Unscrew the four screws holding the light disc PCA to the side cover.
Retain the screws and round cover for installing the new assembly.
3.
Remove the light disc PCA.
4.
Screw the new assembly and retained round cover to the side cover, using the screws retained
from the old assembly. The PCA is keyed so that it can only be installed in one orientation.
5.
Reinstall the side cover, connecting the cable to the new light disc PCA.
6.
Dispose of the old light disc PCA according to local and national regulations concerning electronic
components.
Operator Control Panel
The Operator control panel is normally located on the top plate, at the rear of the robot. You may move it
if neccesary. It plugs into the "HMI Panel" connector on the Core. See Payloads on page 57 for more
information on relocating the Operator control panel
Wheels and Tires
The wheels and tires can be replaced if the tires have significant
wear (see image on right for example of wear.)
The wheel and tire assembly is Adept P/N 11210-000. Contact
support@mobilerobots.com for information on ordering.
Drive Assemblies
The platform drive assemblies have been designed to be field-replaceable. This will replace the drive
motor, gearbox, encoder, and wheel/tire assembly.
Page 103 of 134
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