Adept Lynx Platform - Manual (Page 73)

Adept Lynx Platform User's Guide, Rev B
Page 73 of 116
Chapter 6: Operation
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Up to six messages will be displayed in the main screen, in order of importance.
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Only one fault at a time will be displayed.
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Any event or condition that causes an ARAM restart or AIV shut down will be dis-
played, giving the cause of the restart or shut down.
E-Stop
When pressed, the red, latching push-button removes power from the platform’s motors and
from the E-Stop power port after a 1 second delay, giving the software time to stop the plat-
form gently. To reset the E-Stop, twist the button slightly, so it pops up.
The motors must also be explicitly enabled, either with the dialog box that will pop up or with
the ON button. (This is not the case if the AIV is docked or experienced a critical driving fault.)
This can be done either with the MobilePlanner (with Map > Show Robot on) or MobileEyes
software, or with an ARCL command. See the following figure:
Figure 6-5. Motor Enable Pop-up Dialog
There is, in fact, a second pop-up that will say the E-Stop has been cleared, and you need to
click Enable to re-enable the motors.
ON Button
The ON button is used for restoring power after the OFF button has been pressed, and the soft-
ware has finished shutting down the AIV.
It can also be used to restore power after an E-Stop has been pressed.
OFF Button
The red OFF button removes power from all systems except the charging hardware circuits.
The platform's software systems prevent loss of data on shutdown, and save the platform’s
last known location so it automatically localizes when it is next powered on.
NOTE: The OFF button can be disabled by the keyswitch, which can be locked.