Adept Lynx Platform User Manual

Adept Lynx Platform

User's Guide

Adept Lynx Platform

User's Guide

11970-000 Rev B

March, 2014

5960 Inglewood Drive • Pleasanton, CA 94588 • USA • Phone 925.245.3400 • Fax 925.960.0452

Revierstraße 5 44379 Dortmund Germany • Phone +49.231.75.89.40 • Fax +49.231.75.89.450

Block 5000 Ang Mo Kio Avenue 5 • #05-12 Techplace II • Singapore 569870 • Phone +65.6755 2258 • Fax +65.6755 0598

The information contained herein is the property of Adept Technology, Inc., and shall not be reproduced in whole or in part without prior written approval of Adept Technology, Inc. The information herein is subject to change without notice and should not be construed as a commitment by Adept Technology, Inc. The documentation is periodically reviewed and revised.

Adept Technology, Inc., assumes no responsibility for any errors or omissions in the documentation. Critical evaluation of the documentation by the user is welcomed. Your comments assist us in preparation of future documentation. Please submit your comments to: tech-

pubs@adept.com.

Adept, the Adept logo, the Adept Technology logo, AdeptVision, AIM, Hexsight, Motivity,

LaserPlans, Seekur, PatrolBot, and SILMA are registered trademarks of Adept Technology, Inc.

Brain on Board is a registered trademark of Adept Technology, Inc. in Germany.

Adept Enterprise Manager, Adept Enterprise Manager Lite, Adept Lynx, Adept SmartFleet EX,

ARAM, MARC, MARCOS, MobileEyes, MobilePlanner, and SetNetGo are trademarks of Adept

Technology, Inc.

Any trademarks from other companies used in this publication are the property of those respective companies.

MPEG Layer-3 audio coding technology licensed from Fraunhofer IIS and Thomson.

Created in the United States of America

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Table of Contents

Chapter 1: Introduction 9

Definitions 9

1.1 Product Description

Body and Drive 10 What's Included - Basic Components 10 Optional Components and Attachments (partial list) 11 User-Supplied Components / System Requirements 11 Software Overview 11

1.2 Installation and Setup Overview

1.3 Dangers, Warnings, Cautions, and Notes

1.4 Safety Precautions

1.5 What to Do in an Emergency

1.6 Additional Safety Information

Manufacturer's Declaration of Conformity (MDOC) 14 Adept Robot Safety Guide 14

1.7 Manufacturer's Declaration

1.8 How Can I Get Help?

Related Manuals 16 Adept Document Library 16 Support 16 Including a Debuginfo File 17

Chapter 2: Setup 19

2.1 Transport and Storage

Platform 19 Battery Storage 19

2.2 Before Unpacking the Platform

2.3 Unpacking

Lifting the Platform 21

2.4 Repacking for Relocation

2.5 Operating Environment

2.6 Installing a Lynx System

Installing the Battery 24 Attaching the Payload and Options 26 Setting Up Wireless Ethernet 27 Installing the Docking Station 29

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Table of Contents

Chapter 3: Getting Started 35

3.1 Startup

Joystick 35 Follow Mode 36

3.2 Settings and Configuration

Maintenance Ethernet Connection 37 SetNetGo Configuration 37 Mapping 37

Chapter 4: Payloads 39

4.1 Considerations

Weight 39 Power Consumption 39 Payload Bay Access 40 Dimensions 41 Center of Gravity 41

4.2 Connections Between Platform and Payload

Chapter 5: Connectivity 47

5.1 Required Connections

5.2 Payload Bay Connections

Lynx Core Front, Upper 48 Lynx Core Rear, Upper 54

5.3 Internal Lynx Core Connections

Lynx Internal Data Pinouts 62 Lynx Internal Power Pinouts 64

Chapter 6: Operation 67

6.1 Operating Environment

6.2 Typical Operation

6.3 Power and Charging

Battery Indicators and Controls 68 Automated Docking Station 69 Manually Charging the Battery 71

6.4 Operator Panel

Screen 71 E-Stop 73 ON Button 73 OFF Button 73 Brake-release Button 74 Keyswitch 74

6.5 Other Controls and Indicators

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Table of Contents

Light Discs, Light Tower 74 Joystick 76 Maintenance Ethernet 77 Lynx Core Indicators 77

6.6 Sensors

Safety Scanning Laser 78 Sonar 78 Other Sensors 78

6.7 Startup

Chapter 7: Options 81

Chapter 8: Maintenance 83

8.1 Safety Aspects While Performing Maintenance

8.2 Periodic Maintenance Schedule

Cleaning 84 Tires 85 Axles 85 Lasers 85 Docking Station Contacts 85

8.3 Accessing the Payload Bay

8.4 Removing and Installing Covers

Cover Removal 86 Cover Installation 89

8.5 Replacing Periodic Parts

Battery 91

8.6 Replacing Non-Periodic Parts

Docking Station Roller and Bearing 94 Docking Station ACPower Fuse 95 Docking Station Internal Fuse 96 Rear Sonar Units 97 Front Sonar Units 97 Sonar Controllers 97 Light Discs 99 Operator Panel 99 Drive Assemblies 99 Front or Rear Casters 101 Safety Scanning Laser 103 Lynx Core 105 E-Stop and Safety Laser Commissioning 107

8.7 Spare Parts List

108

Chapter 9: Technical Specifications 111

9.1 Dimension Drawings

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111

Table of Contents

9.2 Platform Specifications

9.3 Docking Station Specifications

112

114

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Chapter 1: Introduction

This manual covers the setup, operation, and user maintenance of the Adept Lynx™ platform.

Other than the basics, this manual does not cover configuration performed using the software that comes with the platform. That is covered in the Adept Motivity®User's Guide.

Definitions

Platform: The most basic part of the robot. It includes the chassis, drive assemblies, suspension, wheels, battery, safety scanning laser, sonar, an on-board Lynx core with a built-in gyroscope, software needed to navigate, connectors for interfacing with and powering the payload, and the robot covers.

Payload: Anything you attach to the Lynx platform. This could be as simple as a box for holding parts or documents that you want transported, or as complicated as a robotic arm that will be used to pick up parts to transport.

AIV (Autonomous Indoor Vehicle):The Lynx platform with a payload attached to it. This is your complete mobile robot, which will transport your products, parts, or data.

When referring to the initial setup, configuration, and connections, we will refer to the platform.

When talking about controlling or monitoring the full mobile robot, with a payload attached, we will refer to the AIV.

1.1 Product Description

The Adept Lynx platform is a general-purpose, indoor mobile robot platform, designed and sized to carry loads up to 60 kg (132 lb)while working around people. It is self-guided and self-charging, with an automated docking station. The platform's size and drive assembly are designed to work in any wheelchair-accessible environment.

The platform combines hardware and mobile-robotics software to provide an intelligent, mobile platform to support and transport your payload. The platform comes complete with the ability to know where it is within an indoor workspace, and to navigate safely and autonomously to any accessible destination within that workspace, continuously and without human intervention.

Its primary guidance uses a safety scanning laser to navigate, comparing the laser readings to a digital map stored on the platform. The laser is backed up by four front- and four rear-facing sonar units, a front sensing bumper, a gyroscope mounted on the internal Lynx core, and encoders and Hall sensors on each drive wheel.

For situations which are so dynamic that laser localization becomes difficult, Adept offers the Acuity Localization option, which localizes the platform using an upward-facing camera to recognize overhead lighting patterns. Refer to the Adept Lynx Platform Peripherals Guide. This would apply to areas where objects, such as pallets or carts, are moved so frequently that they can’t be mapped, or where they block the laser’s view of the mapped features.

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Chapter 1: Introduction

For most applications, you will want to customize the Lynx platform with a payload, attached to the top of the platform, to hold, carry, or handle your parts, samples, or documents. Refer to Payloads on page 39 for general information on designing a payload.

The Adept Lynx platform provides a variety of interfaces and power connections to support your application-specific sensors and accessories, mounted on your payload. Refer to Connectivity on page 47, for information on the available connectors on the Lynx platform.

Body and Drive

The Adept Lynx platform is relatively small, lightweight, and highly maneuverable. It has a strong aluminum chassis and solid construction that makes it very durable. It is insulated against water splashes and dust, with an IPrating of IP-44.

The platform is a two-wheel, differential-drive vehicle, with spring-loaded passive casters front and rear, and independent drive-wheel spring-suspension for balance. Its solid, foam-filled wheels are at the mid-line of the platform, so that the platform can turn in place.

What's Included - Basic Components

One fully-assembled Lynx platform

The platform includes a safety scanning laser, front bumper with four sonar discs, and four rear-facing sonar discs.

One fully-charged battery

This is shipped separately from the platform, due to air shipping regulations.

Lynx core, which includes an integrated computer, running Advanced Robotics Automation Management (ARAM™) and a microcontroller with MARCOS™ firmware. The core is housed inside the Lynx platform. It also runs the SetNetGo™ OS.

ARAM and MARCOS firmware and the SetNetGo OS are pre-loaded on the platform.

A gyroscope is mounted on the Lynx core, and each drive wheel has an encoder and a Hall sensor to complement the safety scanning laser.

Operator Panel

This includes a screen, an E-Stop button, ON and OFF buttons, a brake-release button, and a keyswitch, which can be locked, and key removed, in either position. This will usually be mounted on the user-designed and -built payload.

Automated docking station

Allows the platform to charge itself, without user intervention. This includes a wallmount bracket and a floor plate, for a choice of installation methods. See Installing the Docking Station on page 29.

A manual charging cord is included, so you can charge the battery or a spare battery outside of the platform.

Joystick

Used for manually controlling the platform, mostly when making a scan to be used for generating a map.

User documentation

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Chapter 1: Introduction

Optional Components and Attachments (partial list)

Adept Enterprise Manager™

This is the combination of the ARAMCentral software running on an Adept SmartFleet EX™appliance, used for multi-AIV (fleet)coordination

The software requires either the Adept Enterprise Manager™ or Adept Enterprise Manager Lite™ license.

Spare batteries

Vertical-mount Object Detection Lasers

Option for payload development.

Payload Sonar Kit

Includes eight sonar emitters/receivers and one sonar controller, which handles the eight sonar units.

Cleanroom version

The platform is available in a cleanroom-suitable version.

Call buttons

Either RF Mesh, WiFi, or wired Ethernet.

User-Supplied Components / System Requirements

PC with Microsoft Windows

Ethernet (wireless preferred)

100 megabytes of available hard-disk storage

Software Overview

A fair amount of software is involved in setting up and running an Adept Lynx platform.

The platform comes with the following software (listed from lowest- to highest-level):

MARCOS

At the lowest level, a microcontroller running MARCOS firmware handles the details of mobility, including maintaining the platform’s drive speed and heading, as well as acquiring sensor readings, such as from the encoders and gyroscope, and managing the platform’s emergency stop systems, bumper, and joystick. The MARCOS firmware computes and reports the platform’s odometry (X, Y, and heading) and a variety of other low-level operating conditions to ARAM.

SetNetGo

The SetNetGo OS runs on the Lynx core. It is usually accessed through the SetNetGo interface in the MobilePlanner™software. It can also be accessed through the maintenance Ethernet port or, when enabled, wirelessly over the network. It is used for the original wireless Ethernet configuration of the platform, and to perform systems diagnostics, such as retrieving log files. It is also used to update ARAM.

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Chapter 1: Introduction

NOTE:It is also possible to connect directly to the SetNetGo OSon a platform through a web browser. The main intent of this is to allow your IT support to set up the network for you, without using MobilePlanner, which requires a license.

ARAM

The Advanced Robotics Automation Management software (ARAM™) runs on the Lynx core. It operates ranging sensors like the safety scanning laser and sonar, and performs all the highlevel, autonomous robotics functions, including obstacle avoidance, path planning, localization, navigation, and so on, culminating in motion commands to the MARCOS firmware. ARAM also controls the battery and light discs, and manages digital and analog I/O, which, along with platform power, provide for integration of application-specific sensors and effectors (user-supplied).

ARAMCentral

ARAMCentral is the software that runs on the Adept SmartFleet EXappliance. This software and the appliance combined are referred to as the Enterprise Manager.

For a fleet, the ARAMCentral software manages:

the map that all AIVs use

the configuration that all AIVs use

traffic control of the AIVs

This includes multi-robot avoidance, destination, standby, and dock control.

queuing of jobs for the AIVs

remote I/O, if you are using it

MobilePlanner (licensed)

In order to have your AIV perform autonomous mobile activities, you need to make a map of its operating space, and configure its operating parameters. The MobilePlanner software is used to make this map and perform this configuration.

Refer to the separate Adept Motivity®User's Guide for details on how to map a working space and prepare the virtual elements, goals, routes, and tasks for your application.

The MobilePlanner software requires a license to run. You will need at least one license for MobilePlanner for each fleet of AIVs. Once you generate a map for an area, it can be shared between multiple AIVs in one fleet.

MobileEyes

The MobileEyes software is used to monitor one or more AIVs’ activities and have them perform mobile tasks in the mapped space. Refer to the Adept Motivity®User's Guide for details.

1.2 Installation and Setup Overview

Most of the steps in setting up a Lynx platform are straightforward. The design and construction of the payload needs to be tailored to your application.

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Chapter 1: Introduction

Install the docking station. See Installing the Docking Station on page 29.

Install the battery in the platform. See Installing the Battery on page 24.

Set up the wireless Ethernet for the platform. See Settings and Configuration on page 36.

Design, build, and install a payload for your application. See Payloads on page 39.

This is the most involved task in getting your AIV working the way you want.

Configure the AIV for your environment, so it can perform useful tasks.

This includes generating the map that the AIV will use for its navigation. The configuration is covered in the Adept Motivity®User's Guide.

1.3 Dangers, Warnings, Cautions, and Notes

There are five levels of special alert notation used in Adept manuals. In descending order of importance, they are:

DANGER: This indicates an imminently hazardous electrical situation which, if not avoided, will result in death or serious injury.

DANGER: This indicates an imminently hazardous situation which, if not avoided, will result in death or serious injury.

WARNING: This indicates a potentially hazardous electrical situation which, if not avoided, could result in serious injury or major damage to the equipment.

WARNING: This indicates a potentially hazardous situation which, if not avoided, could result in serious injury or major damage to the equipment.

CAUTION: This indicates a situation which, if not avoided, could result in minor injury or damage to the equipment.

NOTE: Notes provide supplementary information, emphasize a point or procedure, or give a tip for easier operation.

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1.4 Safety Precautions

Read the installation and operation instructions, as well as the Adept Robot Safety Guide, before using the equipment.

Do not ride on the Lynx platform.

Do not exceed the maximum weight limit.

Limit operation to a 1:12 slope.

Do not drop the platform, run it off a ledge, or otherwise operate it in an irresponsible manner.

Do not get the platform wet. Do not expose the platform to rain or moisture.

Do not use power extension cords with the docking station unless properly rated.

Do not continue to run the platform after hair, yarn, string, or any other items have become wound around the platform’s axles or wheels.

Never access the interior of the platform with the charger attached. Immediately disconnect the battery after opening the battery compartment door.

Do not use parts not authorized by Adept.

Chapter 1: Introduction

Do not use any charger not supplied by Adept.

1.5 What to Do in an Emergency

Press the E-Stop button (a red push-button on a yellow background/field) and then follow the internal procedures of your company or organization for an emergency situation. If a fire occurs, use a type D extinguisher: foam, dry chemical, or CO2.

1.6 Additional Safety Information

Adept provides other sources for more safety information:

Manufacturer's Declaration of Conformity (MDOC)

This lists all standards with which the Lynx platform complies. See Manufacturer's Declaration on page 15.

Adept Robot Safety Guide

The Adept Robot Safety Guide provides detailed information on safety for Adept robots. It also gives resources for more information on relevant standards.

It ships with each robot, and is also available from the Adept Document Library. Refer to Adept Document Library on page 16.

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Chapter 1: Introduction

1.7 Manufacturer's Declaration

The Manufacturer’s Declaration of Incorporation and Conformity (MDOC) for Adept robot systems can be found on the Adept website, in the Download Center of the Support section.

http://www.adept.com/support/downloads/file-search

The Download Center requires that you be logged in for access. If you are not logged in, you will be redirected to the Adept website Login page, and then automatically returned to the Download Center when you have completed the login process.

From the Download Types drop-down list, select Manufacturer Declarations.

From the Product drop-down list, select Adept Mobile Robots.

Click Begin Search. The list of available documents is shown in the Search Results area, which opens at the bottom of the page. You may need to scroll down to see it.

Use the Description column to locate the document for your Adept robot, and then click the corresponding Download ID number to access the Download Details page.

On the Download Details page, click Download to open or save the file.

1.8 How Can I Get Help?

Refer to the How to Get Help Resource Guide (Adept P/N 00961-00700) for details on getting assistance with your Adept software and hardware. Additionally, you can access information sources on Adept’s corporate website:

http://www.adept.com

For details on getting assistance with your Adept software or hardware, you can access the following information sources on the Adept corporate website:

For contact information:

http://www.adept.com/contact/americas

For product support information:

http://www.adept.com/support/service-and-support/main

For user discussions, support, and programming examples:

http://www.adept.com/forum/

For further information about Adept Technology, Inc.:

http://www.adept.com

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Chapter 1: Introduction

Related Manuals

This manual covers the installation, setup, operation, and maintenance of a Lynx platform. There are additional manuals that cover configuring the platform. See the following table. These manuals are available on the software media delivered with your system, and on the online Adept Document Library.

Table 1-1. Related Manuals

Manual Title Description

Adept Robot Safety Guide

Adept Motivity®User's Guide

Adept SmartFleet EX Appliance User's Guide

Adept Lynx Platform Peripherals Guide

How to Get Help Resource Guide

Contains general safety information for all Adept robots.

Covers MobileEyes and MobilePlanner software, the SetNetGo OS, and most of the configuration of a Lynx platform.

Covers the Adept SmartFleet EX Appliance and the Adept Enterprise Manager, for managing a fleet of Lynx AIVs.

Covers the Lynx Touchscreen, Call/Door boxes, and Acuity Localization for the Lynx.

Covers general information for getting information on Adept products. Gives WEEE information.

Adept Document Library

The Adept Document Library (ADL) contains documentation for Adept products. You can access the ADL from the Adept website. Select Support >Document Library from the Adept home page. To go directly to the Adept Document Library, use the following URL:

http://www.adept.com/Main/KE/DATA/adept_search.htm

To locate information on a specific topic, use the Document Library search engine on the ADL main page. To view a list of available product documentation, use the menu links located above the search field.

Support

If, after reading this manual, you are having problems with your Adept Lynx platform, contact us at:

support@adept.com

In the body of your e-mail message, provide your platform’s serial number and describe the problem you are having in as much detail as possible.

Attach your debuginfo file to the email. Refer to the next section for details on retrieving your debuginfo file.

Tell us when and how we can best contact you. We will assume e-mail is the best format, unless otherwise notified. We will try to resolve the problem through communication. If the platform must be returned to the factory for repair, obtain a Repair Authorization Code and shipping details from us first.

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Chapter 1: Introduction

Including a Debuginfo File

If the Lynx platform has been set up on a wireless network, skip to SetNetGo Access on page

18.

Network Setup

If the Lynx platform has not been set up on a wireless network, a local area network will have to be set up on a separate PC, and configured to talk to the Lynx platform over a TCP/IP port. The IP address should be set to: 1.2.3.5. The Subnet Mask should be 255.255.255.0.

(XP) Start > Control Panel > Network Connections

Right-click on the LAN Connection. Select Properties.

(Windows 7) Start >Control Panel >(Network and Internet >)Network and Sharing Center

>Change adapter settings

Right-click on the LAN Connection, and click on Properties.

For both XP and Windows 7, from the Properties dialog, scroll to and double-click the Internet Protocol (TCP/IP or TCP/IPv4) option. In Internet Protocol Properties, click both ‘Use the following…’ radio buttons to enable them, and then type in the IP and netmask values.

Connect the network port of your computer to the platform's maintenance port. See the figure Location of Parts on the Platform on page 83.

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Chapter 1: Introduction

SetNetGo Access

If the MobilePlanner software is available, use the SetNetGo interface within that software to access SetNetGo. Otherwise, open a web browser and enter the URL: https://1.2.3.4:

You will be requested to confirm security certificates.

Regardless of how you accessed SetNetGo, you should now have a window similar to the following:

From the SetNetGo screen, select:

System >Debug Info

This will display the “Download debug info” button.

Click Download debug info.

Save the downloaded file, and attach it to your support request.

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In general, setup is the physical and logical preparation of the platform, configuration of the wireless network, and the installation of the docking station. The physical preparation of the platform includes attaching your payload to the platform.

Setup includes generation of the map that the platform will use for navigation. This manual only provides an overview of that process, which is covered in detail in the

Adept Motivity®User's Guide.

2.1 Transport and Storage

Platform

The Adept Lynx platform must be shipped and stored in a temperature-controlled environment, from 5° to 70° C (41° to 158° F). The recommended humidity range is 5 to 95%, noncondensing. It should be shipped and stored in the Adept-supplied shipping container, which is designed to prevent damage from normal shock and vibration. You should protect the container from excessive shock and vibration.

Use a forklift, pallet jack, or similar device to transport and store the shipping crate.

The platform must always be stored and shipped in an upright position in a clean, dry area that is free from condensation. Do not lay the crate on its side or any other non-upright position. This could damage the platform.

Chapter 2: Setup

The crate with pallet for the platform measures 1219 x 711 x 762 mm (48 x 28 x 30 in.), and weighs 95 kg (210 lb).

Battery Storage

NOTE:If you purchased spare batteries, this section applies to them, also.

The battery is shipped in a separate container, not inside the Lynx platform. Its crate with pallet measures 457 x 279 x 406 mm (18 x 11 x 16 in.), and weighs 27 kg (60 lb).

If the battery needs to be stored, the manufacturer recommends 5° to 70° C (41° to 158° F).

The battery should start storage fully-charged. If the battery will be stored for an extended period, it should be recharged periodically to avoid total discharge, which will damage the battery. Recharging a battery every six months is sufficient to keep it charged enough to avoid damage.

2.2 Before Unpacking the Platform

Carefully inspect all shipping containers for evidence of damage during transit. If any damage is indicated, request that the carrier’s agent be present at the time the container is unpacked.

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2.3 Unpacking

Before signing the carrier’s delivery sheet, compare the actual items received (not just the packing slip) with your equipment purchase order. Verify that all items are present and that the shipment is correct and free of visible damage.

If the items received do not match the packing slip, or are damaged, do not sign the receipt.

If the items received do not match your order, please contact Adept immediately.

Retain the crates and packaging materials. These items may be necessary to settle claims or, at a later date, to relocate the equipment.

The Adept Lynx platform comes packed in a wooden crate, lined with foam. It is mounted on a pallet, with a wooden cover. See the following two figures.

The docking station, joystick, and platform are shipped in the same crate. The joystick is in the smaller compartment on the near side in the previous figure.

The battery is shipped in a separate crate.

Remove the lag screws that attach the crate cover to the pallet.

Lift off the crate cover to reveal the crate, pallet, and contents.

Chapter 2: Setup

Remove the two wing nuts and washers holding the back panel of the crate to the crate.

Retain the two wing nuts and washers for reassembly.

Remove the back panel.

Retain the back panel.

Remove the docking station.

Remove the tie-downs (not shown here) that hold the platform in place.

Figure 2-1. Side View of Docking Station and Platform in Crate

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Chapter 2: Setup

Figure 2-2. Adept Lynx Platform in Shipping Crate, on Pallet, with Crate Cover

Lifting the Platform

CAUTION: You can damage the platform if you lift it incorrectly.

Use two people to lift the platform out of its crate.

Lift ONLY at the points shown.

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Chapter 2: Setup

Front Lifting Points

Lift on each side of the laser, under the upper side of the laser slot.

Do not lift at the center, where the laser is located. There is no frame support there.

Do not lift anywhere else! Refer to the following figure:

Figure 2-3. Upper Side of Laser Slot, at Sides, NOT at Center

Rear Lifting Points

Lift near the center of the platform, where the cover has a raised section.

Do not lift anywhere else.

Refer to the following figure:

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Chapter 2: Setup

Figure 2-4. Bottom of Inner Rear Cover. Lift from the Frame, not the Cover.

The following split photo shows a platform being lifted out of its crate:

Lift the platform out of the crate.

Re-install the back panel, using the two wing nuts and washers.

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2.4 Repacking for Relocation

If the platform or other equipment needs to be relocated, reverse the steps in the installation procedures in this chapter. Reuse the original packing crate and materials and follow all safety notes used for installation. Improper packaging for shipment will void your warranty.

The platform must always be shipped in an upright orientation.

2.5 Operating Environment

The Adept Lynx platform is designed to operate in an environment that is wheelchair accessible. Care must be taken to avoid:

l glass doors and walls

l pits without railings or low bumpers

l floors with access panels removed

l loose cables, hoses, etc.

l large, highly-reflective objects

Chapter 2: Setup

Floors must provide good traction, typical of good walking conditions.

l Slope

l Step traversal

l Gap traversal

l Temperature

l Humidity

up to 1:12

up to 15 mm (0.6 in.)

5° to 40° C (41° to 104° F)

5 to 95%, non-condensing

The Adept Lynx platform is not intended for use in hazardous environments (explosive gas, water, dust, oil mist). It has an IP rating of IP-44.

2.6 Installing a Lynx System

Installing the Battery

Your Adept Lynx platform comes fully-assembled, battery fully-charged.

NOTE:Air shipping regulations require that the platform be shipped without the battery installed.

Refer to Removing and Installing Covers in the Maintenance section for cover removal and installation.

Remove the inner rear platform cover.

Unlatch and open the battery compartment door, at the back of the platform.

The battery compartment door is capable of being locked. You may need to unlock it.

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Chapter 2: Setup

Figure 2-5. Battery Compartment Door (keys are zip-tied for shipping)

Lift and slide the new battery into the platform body.

The battery weighs 20 kg (44 lbs).

There are recesses at the front and the back of the battery, to aid in lifting it.

Figure 2-6. Battery Recesses, for Gripping

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Chapter 2: Setup

The battery is designed to be lifted and replaced by one person, using one hand in each of the grips, as shown in the following figure.

Figure 2-7. Lifting the Battery

The connectors for power and data go toward the rear of the platform.

Attach the battery power and data cables to the connectors at the rear of the battery.

Close the battery compartment door to secure the battery in place.

The battery compartment is designed to hold the battery tightly, so that it will not move within the compartment, once the door is closed.

Reinstall the inner rear platform cover.

Attaching the Payload and Options

You may need to attach any accessories that were shipped separately or detached for safety. You will also have to attach your payload. See Payloads on page 39.

NOTE:An E-Stop jumper or a user-supplied E-Stop button needs to be attached to the E-STOP port (User Interface)for the platform to function. The jumper is provided as part number 12730-000L. An E-Stop button would be user-supplied.

See the following figure.

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Chapter 2: Setup

Figure 2-8. E-Stop Jumper on Lynx Core

Setting Up Wireless Ethernet

NOTE:The Adept Lynx AIV is capable of working without wireless Ethernet. If there are no other AIVs that it needs to know about (and to avoid), you can have an installation in which the AIV simply uses its map, knows its patrol route, and performs without human intervention.

For example, you could set up a AIV to make stops, and wait for a specified period of time, and then continue on its patrol.

NOTE:For all of the following settings, work with your IT group to verify the correct IP, radio, and security settings.

The following applies to the wireless Ethernet supported by the Adept Lynx platform.

Access the SetNetGo OS through the MobilePlanner software:

MobilePlanner >SetNetGo >Networking

NOTE:It is also possible to connect directly to the SetNetGo OSon a platform

through a web browser. The main intent of this is to allow your IT support to set up the network for you, without using MobilePlanner, which requires a license dongle.

IP Address, Netmask, Gateway, DNS1

Choose Static (DHCP is not recommended), and fill in the IP address, netmask, gateway, and DNS1, as supplied by your network administrator.

NOTE:The following settings have to be provided by your IT department.

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Radio Settings

SSID (e.g. AGV)

Fill in the appropriate wireless SSID for your wireless network. The SSID is case sensitive.

Mode

Managed/STA, Ad-Hoc, or Master/AP

Radio Mode

Auto, 802.11a, 802.11b, 802.11g

Channel Set

Wireless Watchdog IP Address

Wireless Watchdog Max Count

0 disables this.

Security Settings

Chapter 2: Setup

Encryption:

Disabled

WEP 64-bit

WEP 128-bit

TKIP/RC4

CCMP/AES

TKIP/CCMP/AES

Authentication:

OPEN

WPA-PSK

WPA2-PSK

WEP

WEP Key Number (Key 1 - Key 4)

WEP Keys

WPA/WPA2-PSK

PSK

PSK-Type (Passphrase or Raw Hex)

Click Apply for your changes to take effect.

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Chapter 2: Setup

Wireless Coverage

The Adept Lynx AIV must have wireless coverage for multi-AIV installations, or in areas where you wish to send new commands to or receive status updates from the AIV.

Ensure that, in such cases, you have adequate wireless coverage. Because of the variation possible in different environments, Adept doesn't specify what components or techniques should be used to obtain this coverage.

Adept suggests that you conduct a comprehensive site survey to ensure adequate wireless coverage. You can test the coverage of your wireless setup by trying to ping it from various locations.

Bandwidth Considerations

The typical bandwidth in a fleet will average about 50 Kbps/AIV. This would increase if the AIV is connected to the Enterprise Manager, and is actively viewed by MobileEyes. This number can increase or decrease depending on the types of commands and debugging tools that are enabled in MobileEyes. In any case, the bandwidth is not likely to exceed 500 Kbps per AIV (0.5 Mbps).

0.5 Mbps per AIV would easily fit within the capabilities of access points (>=54 Mbps). If you have multiple access points, this number becomes even less of a concern.

Also, other factors will affect the bandwidth requirements, such as if the AIV supports a camera on top and streams the video through the AIV’s WiFiinterface. Based on such possibilities, the bandwidth usage will vary by application.

Installing the Docking Station

The automated docking station can be used for either manual or automated charging of your platform's battery.

The docking station sits on the floor. It can be attached to a wall with the wall bracket, attached directly to the floor with screws through its base, or can sit stand-alone on the floor with the floor plate, all of which will keep the docking station from moving when the platform docks. Both the wall bracket and floor plate are included with each docking station.

CAUTION: It is very important that the docking station be mounted with one of these methods, or the platform will simply move the docking station when it tries to dock, rather than docking successfully.

For all mounting methods:

Locate the docking station near an AC outlet with 1 - 2 meters (3.25 - 6.5 ft)of clear space in front to ease the platform’s maneuvers, especially automated ones, onto the docking station.

The top of the docking station foot is spring-loaded, and lifts off of the bottom of the foot slightly to accommodate variations in the floor surface. The weight of the Lynx platform will push the top of the foot down.

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Requirements

89 [3.5]

114 [4.5]

267 [10.5]

247 [9.7]

123 [4.9]

121 [4.8]

356 [14.0]

315 [12.4]

369 [14.5]

384 [15.1]

Wall Mount

and Floor Mount

Units are mm [in.]

Wall Mount Bracket

98 ± 20 [3.8 ± 0.8]

3x Ø6 [0.25]

8x 25 [1.0]

18x Ø6 [0.25]

100 to 240 VAC, 50 to 60 Hz, 8 A

The station's power converter automatically detects the source voltage.

Ambient operating temperature: 5° to 40° C (41° to 104° F)

5 to 95% humidity, non-condensing

Wall Bracket Mount

Attach the docking station mounting bracket to a wall, with the bottom edge of the bracket 98 ± 20 mm (3.8 ± 0.8 in.) above the floor, using user-supplied anchors and screws. There is leeway, so you can adjust the height a little bit.

Refer to the following figure:

Chapter 2: Setup

Figure 2-9. Docking Station, Wall Mount

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