E-Stop And Safety Laser Commissioning - Omron LD-60 User Manual

The Left Motor and Right Motor connectors use the same type of plug, and can be inad-
vertently reversed. Ensure that you can identify the left from the right.
See Internal LD Platform Core Connections on page 74.
10. Remove the old core.
11. Connect all of the cables that were attached to the internal core connector panel to the
new core internal connector panel. See Figure 6-8.
Wait until after the next step to reconnect the Sonar 1 cable.
12. Put the core into the chassis.
13. Connect the Sonar 1 cable to the core.
14. Install the core mounting brackets around the new core.
Using the screws and washers you removed from the old core, put four screws into the
sides of the core, with four more going down into the platform chassis.
15. Reconnect all of the cables to the top portion of the core.
Refer to Payload Bay Connections on page 59.
16. Reconnect the battery power and data cables to the battery.
17. Close and latch the battery compartment door.
18. Reinstall the inner rear cover.
19. Reinstall the payload structure.
20. Dispose of the old core according to local and national regulations concerning electronic
components.

E-Stop and Safety Laser Commissioning

Under normal circumstances, the AIV is commissioned at the factory, and will not need to be
re-commissioned. However:
If the core gets replaced, it will be necessary to redo the E-Stop Commissioning and the
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Safety Laser Commissioning procedures.
If the hardware detects a failure, the AIV may automatically decommission itself, and
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the AIV will have to be re-commissioned to recover. In this event, ARAM will display a
fault popup in MobilePlanner.
If you are using a user-supplied E-Stop.
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Some customers have expressed a desire to perform the commissioning procedures on a
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regular basis as part of their preventive maintenance process.
NOTE: After performing either of these tests, you can access the other test by click-
ing Next Test on the final screen.
E-Stop Commissioning
This procedure verifies that the E-Stop circuitry is triggered when the E-Stop button is pressed.
This is verified by ensuring that you hear the brakes activate after pressing the E-Stop button.
Chapter 8: Maintenance
LD Platform User's Guide, 11970-000 Rev E
Page 125 of 142