122 LD Platform OEM User's Guide 11970-000 Rev H1
8.6 î ±Replacing Non-Periodic Parts
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:
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If you replace the core, you redo the E-Stop Commissioning and the Safety Laser Com-
missioning procedures.
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If the hardware detects a failure, the AIV may automatically decommission itself, and
the AIV will have to be re-commissioned to recover. If this happens, ARAM will dis-
play a fault popup in MobilePlanner.
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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
regular basis as part of their preventive maintenance process.
NOTE:î ±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 pressing the E-Stop button triggers the E-Stop circuitry. This is veri-
fied by ensuring that you hear the brakes activate after pressing the E-Stop button.
1.
Ensure that the E-Stop button is NOT depressed before starting.
2.
In MobilePlanner software, select:
Main Menu > Robot > Safety Commissioning
3.
Follow the on-screen instructions to complete the test. You can print a certificate after
successfully completing the commissioning.
Safety Laser Commissioning
This procedure verifies that the navigation laser reports speed zone information correctly, and
the E-Stop circuitry trips when an obstacle that the laser should detect is placed in front of the
AIV. The speed zones are listed in the table that follows. For the LD-60, each speed zone rep-
resents 300 mm/s, so if the maximum speed is 1500, five zones should be reported. (When you
press the Drive button in the wizard, the wizard will display the maximum AIV speed.)
Maximum Speed (mm/s)
Zone LD-60
LD-90
LD-105CT
LD-130CT
0 300 225 150
1 600 450 300
2 900 675 450
3 1200 900 600
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