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Disable Sensors
The number of sensors that need to be deactivated
(CollisionLeft, CollisionRight).
To test the Back Sensors
1)
Check that CollisionLeft and CollisionRight are
listed below Activate sensors.
2)
If these are listed under Disable Sensors, remove
any constrictions activating them.
3)
Push the body of the robot backwards on one
side so that it moves relative to the chassis.
4)
If the backward sensor on this side is functioning
correctly it will be removed from the list.
5)
Repeat this on the other side.
6)
If an item remains in the list, the backward
sensor is not functioning correctly. Visually
inspect it to see if there is a constriction that is
impeding its function. If not, replace it if neces-
sary.
Signal Sensors
This test checks the functionality of the coil that is used
to detect a signal on a peripheral wire.
The following information is shown.
X/Y COIL0_CENTER
X represents the current test in the current sequence.
Y represents the total number of tests to be performed
in the current sequence.
COIL0_CENTER is the name of the current test.
Detecting wire < {value}
{value} is the value of the "track value". If the result of
the test is less than this value, the test is successful.
CH{A}:{result value}
If the test result is greater than the defined "track
value", it will be listed here.
Move the robot closer to the signal wire detected.
When the value is less than the "track value", the item
should be removed from the list.
If the robot is close to the wire and the displayed values
are high (900 or more) it is an indication that the coil
connections are not good.
Drive Motor
This checks the function of the drive motor. It checks
that:
•
the motor drives the wheel forward at 0.2 mph
(0.1m/s)
•
a current of 2.5 A is delivered to the motor
To test the Drive Motor
1)
Press
to start the test.
2)
Close the lid when requested.
3)
The robot will move forward a short distance
then stop and beep.
4)
Open the lid.
5)
If the robot moved forward, answer Yes to the
question by clicking
6)
If the robot moved backwards answer No to the
question by clicking
reverse the connections on the drive motor
cable.
If the robot did not move, or only one wheel moved,
the test will fail, and the report will indicate the
problem.
1)
Visually inspect the drive motors to see if there is
a blockage.
2)
Check the fuse and the cabling for the drive
motors.
Sonars System
This performs a test to verify that the sonar sensors are
operating correctly.
If any of the sonar sensors are found to be defective,
they need to be replaced. An indication of which sensor
needs to be replaced is given.
Lid
In order for the robot to be able to execute its missions
the lid needs to be shut, and to form a closed circuit
between magnets on the lid and relays on the body.
This circuit needs to be open when the lid is open and
when the lid is pressed down and acts as the stop
button. This requires that all magnets and relays are
functioning correctly and there is some precision in
their positioning.
Linear Actuator
The linear actuator controls the position of the roller,
moving it between the lowest position (for picking) to
an intermediate position (used when following the
wire) and the highest position (for unloading). This is
the same as the roller calibration test. It moves the
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. If this is the case,
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