CLEARPATH HUSKY A200 User Manual page 11

The lockout provides a secondary e-stop for periods during which Husky will be left unattended. When
in lockout mode, the robot will still power on, but the motors will not drive.
Husky's motors are rated to draw 4A continuous, but they will spike to several times this, particularly
when traversing rough terrain, and when turning on the spot. When you are ready to beginning running
Husky for continuous periods of longer than ten minutes, it is recommended that you monitor current.
In your software, use CCP message 0x4004 to request general system status. The three current fields
represent total draw, left motor current, and right motor current, respectively. Monitoring these fields
over longer periods of operation will allow you to ensure that you are not putting excessive wear on the
motors.
To reduce current draw, consider commanding wider-radius turns from your control software.
Husky is powered by a single 24V sealed lead-acid battery, similar to the type found in electric
wheelchairs, golf carts, and other devices. Husky's battery is capable of delivering 1800W—similar to
wall mains. This gives Husky's motors their great performance, but it is also enough power to cause
severe bodily harm. Please observe the following precautions:

Do not tamper with the plug attached to the battery.

Do not tamper with the fuse panel, except to check and change the fuses, and to connect and
disconnect the battery plug.

Do not operate Husky without the battery door in place. The battery is insufficiently restrained
without the door, and will come loose, damaging the fuse panel.

Charge the battery only with the charger provided by Clearpath Robotics.

Return the battery to Clearpath Robotics for proper disposal.
For the safety of users and to maximize the lifetime of Husky, please observe the following when
manually transporting the robot:

Husky should be lifted by two persons, firmly gripping the front and rear bumper-bars.

Ensure that Husky is e-stopped when transporting short distances and powered off when
transporting longer distances.
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