SEER SFL-CPD15-T User Manual
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SEER SFL-CPD15-T User Manual

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SFL-CPD15-T
User Guide
Shanghai Seer Intelligent Technology Corporation.
www.seer-group.com
AMR.AI

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Summary of Contents for SEER SFL-CPD15-T

  • Page 1 SFL-CPD15-T User Guide Shanghai Seer Intelligent Technology Corporation. www.seer-group.com AMR.AI...
  • Page 2 Deleted relevant content of Moxa V1.2 2021.05 Revised the environmental safety Replacement of rear obstacle avoidance laser, selection & V1.3 2021.09 replacement of PERCIPIO camera, and replacement of nameplates For More Information Please visit https://www.seer-group.com/ SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...
  • Page 3 If quoted, the source must be indicated, and this document shall not be quoted, abridged or modified contrary to the original intent. Shanghai Seer Intelligent Technology Corporation does not make any express or implied war- ranties for this document and its contents.

  • Page 4: Table Of Contents

    2.7.2 Scrap Disposition ....................7 3. Product Introduction ........................8 3.1 Overview ........................... 8 3.2 Product Dimensions ......................8 3.2.1 Dimensions of Robot .................... 8 3.2.2 Coordinate System of Gyroscope ................. 10 SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...
  • Page 5 4.3.4 How to drive a manually operated forklift ............31 4.4 Shutdown of Robot ......................32 5. Battery and Charging ........................33 5.1 Manual charging of the robot .................... 33 5.2 Automatic charging of the robot ..................36 SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...
  • Page 6 7.1 Connection of Robot ......................54 7.2 Map Building and Editing ....................55 7.3 Path Navigation and Obstacle Verification ................. 58 7.4 Setup and configuration of fork action AP workstation ............ 59 SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...
  • Page 7 9.4.4 Inspect the brake fluid level.................. 78 9.4.5 Preparation before usage after maintenance: ............78 9.5 Cleaning ..........................78 9.5.1 Floor Cleaning....................... 78 9.5.2 Robot Cleaning ..................... 79 9.5.2.1 Clean the forklift surface..................79 SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...
  • Page 8 9.6.1.3 Carry out test run again..................81 9.6.2 Charger Storage..................... 81 10. Specification of Effective Loads ....................82 11. Software Update .......................... 83 Appendix I Schematic Diagram of SFL-CPD15-T Hydraulic System ..........86 SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...

  • Page 9: Foreword

    1. Foreword 1. Foreword 1.1 Reading Tips CPD, robot and forklift that appear separately in this document are abbreviations of SFL-CPD15-T. Before using the robot, always read the User Guide carefully. Do not disassemble or assemble the CPD without authorization.

  • Page 10: Safety

    The robot can’t observe the descending stairs and potholes on the floor.  Please mark the stairs and potholes as prohibited areas on the map.  Please update the map in time. SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...

  • Page 11: Safety Instructions

    Whether the power system is normal.  Whether the emergency stop function is normal.  Whether the load handling device is damaged (such as bent, cracked or worn).  Whether the warning device is normal. SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...

  • Page 12: Running On Ramp

    Try not to drive on smooth or slippery ground.  Pay attention to the lateral driving stability of the forklift when it is unloaded.  Do not chase each other when driving. SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...

  • Page 13: Load Safety

    Do not park in open pits, underground passages, elevator shafts or other similar areas.  Do not park in the fire paths, stair openings and areas obstructing the passage of firefighting equipment. SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...

  • Page 14: Safe Avoidance Range

    Places where the air cleanliness is low. 2.5 Risk Assessment The risk assessment is an important step for the Integrator to realize safe installation. The on-site commissioning personnel are usually responsible for the risk assessment. SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...

  • Page 15: Residual Risk

    Disposal requirements: CPD shall be disposed of by the user and the final scrap processor in accord- ance with the Law of the People's Republic of China on the Prevention and Control of Solid Waste Pollution. SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...

  • Page 16: Product Introduction

    3. Product Introduction 3.1 Overview SFL-CPD15-T (Seer Forklift) is a laser SLAM Counter balanced stacking automatic forklift. It is internally equipped with SRC core controller to provide the core map building, localization and nav- igation functions, and I/O, CAN, RS485 and other interfaces are reserved for helping users to quickly realize various applications of the automatic forklift.
  • Page 17 4208 Overhead height (including naviga- 2326 tion laser) Axle center to fork face (fork raised/lowered) Minimum turning radius 1510+200 Aisle width, 1000x1000mm pallet 2740+200 crosswise Min right angle aisle width 1870+200 SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...

  • Page 18: Coordinate System Of Gyroscope

    Refers to the z component of the quaternion (reserved, no need to be filled in) Refers to the w component of the quaternion (reserved, no need to be filled in) faceUP Refers to the orientation of the controller SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...

  • Page 19: Main Labels

    Before repairing, disconnect the battery. 8. Do not allow any non-professionals to remove the AGV. The battery should not be under voltage. Refer to the instructions or a professional for treat- ment. SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...

  • Page 20: Nameplate

    3. Product Introduction 3.3.2 Nameplate SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...

  • Page 21: Body Configuration

    HMI display screen Emergency stop button Manual control handle Obstacle avoidance laser Display list 3D pallet recognition Key switch Draw wire encoder Main power switch In-place switch Hydraulic oil filler Obstacle avoidance laser SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...

  • Page 22: Operation Panel

    Automatic (Auto): When the SRC is not externally controlled, it is deemed to be in automatic mode. a. Automatic Navigation: Any case where navigation instructions are sent through the API (in- cluding Roboshop, dispatching API, or other upper computer). SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...

  • Page 23: Hmi Display Screen

    HMI display screen is divided into four parts: general information, basic information, control and alarm frame. 3.6.1 Main interface After the display screen is turned on and connected to communication, the main interface can be displayed. SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...

  • Page 24: General Information Display

    3. Product Introduction If the communication is not connected, the PLC communication does not respond. 3.6.2 General Information Display General message function description SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...
  • Page 25 Display the current charging/dis- charging information of the ro- Battery current bot (positive in case of charg- ing and negative in case of dis- charging) Logo Display the company logo SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...

  • Page 26: Basic Information Page

    3.6.3 Basic information page Basic information Function description Type Icon Definition Indicate that the robot is not exe- cuting any task Navigation modes Indicate that the robot is navi- gating to the coordinate point SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...
  • Page 27 Indicate that the robot is currently in the "Ready" navigation sta- Navigation status Indicate that the robot is currently in the "Suspended" navigation status Indicate that the robot is currently in the "Arrived" navigation status SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...
  • Page 28 Target site icon to input the site for navi- gation Indicate that the robot is currently Current site in the site 1 Confidence coeffi- Confidence coefficient ∈ [0.00, cient 1.00] SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...

  • Page 29: Control Interface

    If there is an Fatal, the correspond- ing warning code will be dis- played on the right (subject to the actual warning code) 3.6.4 Control Interface Introduction to control interface functions SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...
  • Page 30 Robot status When the status is triggered, the correspond- ing icon will change to the style as shown in the figure below and will keep flashing. Not triggered Triggered SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...

  • Page 31: Alarm Box Interface

    Indicate that the robot has been blocked when this message pops up Robot status Indicate that the robot is charging (during which it will not pop up) SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...

  • Page 32: Sound And Light System

    The right turn light will be lit if the forklift makes a right turn when executing a task. 3.7.3 Searchlight SFL-CPD15-T is equipped with a searchlight. When the forklift is in the automatic mode, the search- light will be normally on. 3.8 Technical Parameters...
  • Page 33 Dropping velocity With/without load: 120/85mm/s Maximum climbing ability Localization accuracy ± 10mm，± 0.5° ≤ 400000m² Map area (single frame) Functions Basic functions √ Wifi roaming √ Automatic charging 〇 Pallet recognition 〇 SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...

  • Page 34: Software Functions

    3. The basic functions include map editing, model editing, localization module, navigation module, basic motion model (differential), and API interface etc. 4. Need to be used with a dedicated automatic charging pile of SEER. 5. A 3D camera must be installed in the peripheral extension to enable this function.

  • Page 35: Network Requirements And Configuration

    3D obstacle avoidance  Pallet recognition 3.10 Network Requirements and Configuration Network Requirements Wireless network protocol: IEEE 802.11 a/b/g/n Broadband speed: ≥100Mbits Signal intensity: ≥-60dBm Network delay: Average delay time ≤100ms SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...

  • Page 36: Start To Operation

    4.1 Accompanied Articles  CPD robot body  Manual charger/ automatic charging pile (Single piece or two pieces optional) 4.2 Startup of Robot 1. Pull up the red main switch of power supply. SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...
  • Page 37 3. Press the SRC switch until the green power indicator is normally on, and then release the power- on switch to finish the power-on process. In this process, the tri-color light, searchlight and laser are on. SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...

  • Page 38: Manual Driving (From The Operation And Maintenance Instructions For Rebot Battery- Powered Counter Balanced Forklift)

    The forks of CPD15-T forklift are controlled to lift or rise respectively with the rising toggle button on the right and the dropping toggle button on the left of the control handle. SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...

  • Page 39: Safety Features Of Forklift

    ON), the forklift will activate the safety protection function to prevent the forklift from traveling after powering on.  Hold the operating handle with both hands.  It is prohibited to operate the forklift with a single hand. SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...

  • Page 40: Shutdown Of Robot

    3. Turn it off by turning the driver switch to the left. 4. Press the main power switch to complete the shutdown. Note: If it is shut down due to transportation, maintenance or repair, the robot battery switch must be turned off. SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...

  • Page 41: Battery And Charging

    The CPD battery supplied along with the robot can be used for 4-5h, after which it needs to be charged. Please use the original charger. The specific charging steps are as follows: 1. Remove the switch baffle from the side of the seat. 2. Pull up the red handle. SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...
  • Page 42 4. Insert the manual charger into the charging hole. 5. Power on the manual charger, turn on the charger switch, and the charging information lights up. Note: The socket should be of national standard 16A and be grounded. SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...
  • Page 43 5. Battery and Charging 6. Observe the HMI display screen; when the charging icon is displayed, it indicates that the robot is charging. SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...

  • Page 44: Automatic Charging Of The Robot

    5.3 Battery Product Performance Curve 5.3.1 Discharging curves of different ratios LF90 Ratio Discharging Curve 0.33C Discharging 0.5C Discharging 1.0C Discharging 1.C Discharging 2.0C Discharging 3.0C Discharging Capacity/mAh SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...

  • Page 45: Discharging Curve Of Different Temperatures

    Discharging curve of different temperatures LF90 Discharging Curve at Different Temperatures RT Discharging 55℃ Discharging -20℃ Discharging Capacity/mAh 5.3.3 Cycle Performance (1.0C/1.0C Charging/Discharging) Curve LF90 cell cycle: 3,500 cycles Cycle index SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...

  • Page 46: Battery System Parameters

    Recommended state of charge (SOC) 10%-95% Charging temperature range 0 ~+55 Natural cooling, temperature ≤ Discharge temperature range -20 ~+55 2,500 times or 5 years Cycle life Standard cycle (whichever comes first) SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...

  • Page 47: Battery Management System Parameters

    SOC estimation accuracy Refer to QC/T 897-2011 Safety management of bat- Two-level warning, one- Two-level warning strat- tery pack level shutoff Thermal management of Supported battery pack Contactor control With Charge control With SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...

  • Page 48: Battery Safety Performance

    SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...

  • Page 49: Navigation And Control System

    This information can be used for arrival judgment, obstacle judgment, and deceleration judgment etc.  Actuators The actuators include motors, audio, DO, and the robot’s own state, etc., and finally realize the robot’s response to task instructions. SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...

  • Page 50: User Input Information

    6.3 Global Path Planning The global path planning means that the robot generates a path to the destination point. The global SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...

  • Page 51: Local Path Planning

    Error reported when robot is blocked When it detects a virtual obstacle on the path, the robot will navigate the local path to avoid obstacles and stop. SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...

  • Page 52: Task Planning And Action Planning

    The obstacle detection function of the robot is realized by the following three sensors:  Laser  Obstacle avoidance laser  3D laser (optional) The following figure shows how the robot sees the environment and how it behaves in the robot system. Human Vision SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...

  • Page 53: Navigation Laser

    6. Navigation and Control System Laser Vision 3D laser vision 6.6.1 Navigation Laser SFL-CPD15-T is equipped with a SICK nanoScan3 Core; the main functions are as follows:  Map scanning  Localization and navigation  Obstacle recognition SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...

  • Page 54: Detection Range

    Due to the characteristics of the navigation laser sensor, the objects lower or higher than its detection height can’t be detected. 6.6.1.3 Actions after Detecting the Obstacles When CPD is delivered, the default deceleration (ObsDecDist) and stop (ObsStopDist) districts have been set. SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...

  • Page 55: Characteristics And Operation Restrictions Of Navigation Laser

    Therefore, usually when the reflectivity of the background object is relatively high and the foreground object is close to the background object, laser noise is likely to be generated at the edge of the fore- ground object as shown in the figure below: SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...
  • Page 56 For this reason, the robot will be unable to draw an accurate environmental map if there are too many objects with specular reflection in the environment, so that it can’t navigate stably and accurately. SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...
  • Page 57 Therefore, the indoor light will not influence the laser, but it is necessary to avoid direct sunlight as much as possible. For outdoor applications, please use an outdoor dedicated laser, such as Sick LMS series. SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...

  • Page 58: Obstacle Avoidance Laser

    Note: OLE laser should not be used for localization, and thus the useForLocalization in the robot model file shall be checked off. SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...

  • Page 59: Detection Range

    270° Scanning angle 150° Detection height 136mm 6.6.2.2 Non-detection Zone Due to the characteristics of the navigation laser sensor, the objects lower or higher than its detection height can’t be detected. SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...

  • Page 60: Actions After Detecting The Obstacles

    Since the laser input data is only compared the robot’s estimated position based on the IMU and encoder data, it is necessary to confirm the initial location. SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...

  • Page 61: Driver And Motor

    The robot constantly adjusts the output of the motor on the basis of the information collected by the sensor. So the robot can correct its speed when climbing hills or carrying weights. SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...

  • Page 62: Debugging

    3. Open Roboshop and click the [Refresh] button on the [Homepage] or manually [Enter the IP] address as [192.168.192.5] to add the robot. 4. Find the robot with the IP address [192.168.192.5] in the robot list on the [Homepage] and click the button [Start Connecting]. SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...

  • Page 63: Map Building And Editing

    Open Roboshop Pro, and double-click the robot to enter the [Map and Control] interface after successfully connecting the robot. Click [Map Building] in the module toolbar, and all methods for [Map Building] will pop up. SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...
  • Page 64 [Finish Map Scanning] button in the upper right corner when you finish scanning the map. d. Wait for the completion of the map building, and then click the [Save] button in the upper right corner. SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...
  • Page 65 After it is saved successfully, a dialog box will pop up to ask whether to open it. Select [Push the Map and Open it] to open the map just built and synchronize the map, which can be used directly. At this point, the map building part has been completed. SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...

  • Page 66: Path Navigation And Obstacle Verification

    (point LM2), and the robot will reach the site; the direction of the robot to the point is consistent with the direction of the site, as shown in the figure below. SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...

  • Page 67: Setup And Configuration Of Fork Action Ap Workstation

    Use the robot to build a map in the area where the robot needs to work. b. Establish the AP point on the shelf and place it in the daily work position. c. Configuration of workstation SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...

  • Page 68: Workstation (Ap)

    SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...

  • Page 69: Work Route

    When the forklift is in the working mode without recognition but with rich site space, it can drive in and out of the warehouse location in an arc route. As shown in the figure below: SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...

  • Page 70: Small Site Space (With Or Without Recognition)

    AP points precisely.  Precondition: Confirm that the localization status of the robot is normal, and the path between the destination point and the current location of the robot is unobstructed. SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...
  • Page 71 [Execute Action AP35] in the popup dialog box, and check the option [Recgnize] in the dialog box;the robot will reach the start point of AP35 automatically for recognition and then rise the fork to the shelf height for lifting; SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...

  • Page 72: Upper Computer Controls The Rising/Dropping Of Forklift

    [p001] in [pallet] on the left to change parameters or right click “Copy and add” to create a new pallet, change the pallet parameters and click [push all] to push the changed pallet recognition file to the robot. SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...
  • Page 73 AP3 to change the [Execution object] into “fork”, change [recognize model file] into “p001.pallet” (the specific file should be selected according to the actual situa- tion), save it and push to the map. SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...
  • Page 74 3. Click [path navigation], move to AP3, click it with left button, select to execute the action AP3, check [Recognize] in the operation box and click [Load] to send the instruction. SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...

  • Page 75: Material Cage Recognition

    AP3 to change the [Execution object] into "fork", change [recognize model file] into "p001.pallet" (the specific file should be selected according to the actual situa- tion), save it and push to the map. SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...
  • Page 76 7. Debugging Click [path navigation], move to AP3, click it with left button, select to execute the action AP3, check [Recognize] in the operation box and click [Load] to send the instruction. SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...

  • Page 77: Error Code

    7. Debugging 7.8 Error Code When an error is reported in the robot, the corresponding causes can be ascertained in the document according to the error code in the Roboshop. https://seer-group.yuque.com/ui8dn8/xwnsrg/append-b_gapm1u SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...

  • Page 78: Application

    QR code area HOKUYO Left and right ob- UST-05LN Obstacle avoid- stacle avoidance la- To detect the obstacles for ob- ance laser sers on front part of stacle avoidance Hinson forklift CNS-LS05I SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...

  • Page 79: Product Maintenance

     If those parts become abnormal before the replacement interval expires, they shall be replaced immediately. SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...

  • Page 80: List Of Forklift Oils

    Inspect all load-bearing parts for dam- ● Body and working de- Inspect all bolt connections for loose- ● vices ness Inspect the transmission system for ● Drive Part noise and leakage SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...
  • Page 81 Inspect whether each cylinder is nor- ● ＃ Performance Inspection ● Inspect whether all wire connections ● Electrical sys- are safe and reliable, and where there is any damage Inspect whether the fuse amperage is appropriate SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...
  • Page 82 Inspect the tightness of the nuts on the wheels approximately after first 100h of operation; tighten them if necessary.  Inspect hydraulic system connections for leakage approximately after first 100h of operation; SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...

  • Page 83: List Of Wearing Parts And Major Components

    Replace them. f．The pipeline is blocked or leaks oil. Clean the oil pipeline or replace the SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...
  • Page 84 The driving control microswitch is loose. Tighten the screw. drive forward or c． The DC contactor fails. Repair or replace. backward. d． The electric control panel is damaged. Repair or replace it. SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...

  • Page 85: Preparation Before Repair

    Lift the pedal pad hole and the filler cover plate hole on the front floor.  Inspect the hydraulic oil level in the tank.  When inspecting the hydraulic oil level, the forks and fork CARR must be lowered to the lowest position. SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...

  • Page 86: Inspect The Brake Fluid Level

    Both the drive wheel and the universal wheel of the robot are made of polyurethane (PU), which will inevitably leave marks on the ground after long-term running. Epoxy Floor - Serious Traces SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...

  • Page 87: Robot Cleaning

    9.5.2.4 After cleaning  Thoroughly dry the water stains on the forklift (e.g. using compressed air).  Start the forklift according to the procedure. SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...

  • Page 88: Laser Cleaning

    Recharge the battery.  Disconnect and clean the battery and apply electrode grease to the electrodes of the battery. In addition, some special requirements in the battery’s instruction manual must also be observed. SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...

  • Page 89: Measures To Be Taken During Storage

    The charger can be stored for two years under this storage condition, and it must be tested again after two years.  The charger must be powered on every three months, and the power-on time shall not less than 0.5h. SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...

  • Page 90: Specification Of Effective Loads

    The following diagram illustrates the center-of-mass specifications for safe operation under full load (1,500KG). (c refers to the load center which is 500mm) Load Curve Nameplate Lifting weight Lifting height ≤3.0m Load center(mm) SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...

  • Page 91: Software Update

    IP address (the wired connection is 192.168.192.5, please determine the corresponding IP address for wireless connection) to access the robot upgrade interface. 4. Select system upgrade and read the system upgrade steps carefully. 5. Click upload. Find and select the obtained software package. SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...
  • Page 92 7. The entire upgrade process may take several minutes. Please wait patiently. Do not perform any operations on the robot during the upgrade. The following prompts indicate that the upgrade is complete: SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...
  • Page 93 9. Click version information to view the software version of the robot, as shown in the following figure: Note: If the upgrade fails, please try to upload it again or contact our after-sales service. SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...

  • Page 94: Appendix I Schematic Diagram Of Sfl-Cpd15-T Hydraulic System

    Appendix I Schematic Diagram of SFL-CPD15-T Hydraulic System Appendix I Schematic Diagram of SFL-CPD15-T Hydraulic System SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation...
  • Page 95 AMR.AI content to any third party without the permission of Shanghai Seer Intelligent Technology Corporation. Copyright© Shanghai Address: 1st Floor, Building 1, No. 151 Daxiu Road, Seer Intelligent Technology Corporation. All rights reserved. Tang Town, Pudong New District, Shanghai NO.SFL(CPD15-T)02V04-2109-EN...

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