LD Cart Transporter User's Guide, 14766-000 Rev B
Page 138 of 190
Chapter 8: Operation
The joystick plugs into the left side of the platform, under the small access panel at the upper
right corner of the platform. (The Maintenance Ethernet port is also there.) The access panel is
held in place with a push-push latch, and retained by a lanyard.
CAUTION: The platform safety scanning laser is not tied into the E-Stop
chain when driven using the joystick. The platform will still avoid obstacles
detected by the safety scanning laser. The sonar, on the other hand, are dis-
abled entirely when driving with the joystick.
Joystick Use
Use the joystick to drive the platform manually. Squeeze the trigger to enable the drive button.
Push the drive button forward or back to make the platform move in that direction. Push the
drive button to the side to make the platform rotate in that direction. Diagonal positions of the
drive button move the platform in an arc.
The platform slows to a stop when you release the trigger. To stop more quickly, continue to
squeeze the trigger and pull or push the drive button to its limit in the opposite direction of the
platform’s travel.
8.5 Working with Carts
Goals
The parking goals and the transporters need to be set up in the MobilePlanner software. Refer
to Configuration on page 61 for details on MobilePlanner configuration, and see the Mobile
Robot Software Suite User's Guide.
Operation
The transporter locates the cart, couples with it, transports it to the dropoff goal, and
uncouples from the cart, leaving the cart at the dropoff goal while it proceeds to its next
assigned job.
Cart-Locating
If a cart is at a parking goal, the transporter can navigate close enough to the cart for the Latch-
ing Mechanism to take over.
The Latching Mechanism pulls the transporter and cart together, which enables a sensor to
detect that they are fully-coupled. Once the coupling sensor is triggered, the transporter will be
able to move the cart.
CAUTION: Pinch hazard. The latch on the transporter can pinch you if you
are not careful. Keep your hands clear of the Latching Mechanism when it is in
action.
CAUTION: Pinch hazard. The coupling action of transporter and cart can
pinch you if you are not careful. Keep your hands clear of the space between
the HMI post and cart when the platform and cart are coupling.
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