adept technology Lynx Platform User manual

Adept Lynx Platform
User's Guide

Adept Lynx Platform
User's Guide
11970-000 Rev D
January, 2015
5960 Inglewood Drive • Pleasanton, CA 94588 • USA • Phone [phone] • Fax [phone]
Revierstraße 5 44379 Dortmund Germany • Phone [phone] • Fax [phone]
Block 5000 Ang Mo Kio Avenue 5 • #05-12 Techplace II • Singapore 569870 • Phone [phone] • Fax [phone]

Adept Lynx Platform User's Guide, Rev D
Page 4 of 126
Copyright Notice
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 com-
mitment by Adept Technology, Inc. The documentation is periodically reviewed and revised.
Adept Technology, Inc., assumes no responsibility for any errors or omissions in the doc-
umentation. 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-
[e-mail].
Copyright 2013-2015 by Adept Technology, Inc. All rights reserved.
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 Lynx, Adept SmartFleet EX, ARAM, ARAMCentral,
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.
Copyright 2012 CEPSTRAL LLC http://www.cepstral.com This product may contain copyright
material licensed from CEPSTRAL LLC, all right reserved.
Created in the United States of America

Adept Lynx Platform User's Guide, Rev D
Page 5 of 126
Table of Contents
Chapter 1: Introduction 9
Definitions 9
1.1 Product Description 9
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
Mobile Software Suite 11
SetNetGo 13
1.2 Installation and Setup Overview 13
1.3 Dangers, Warnings, Cautions, and Notes 14
1.4 Safety Precautions 14
1.5 What to Do in an Emergency 15
1.6 Additional Safety Information 15
Manufacturer's Declaration of Conformity (MDOC) 15
Adept Robot Safety Guide 15
1.7 Manufacturer's Declaration 15
1.8 How Can I Get Help? 16
Related Manuals 16
Adept Document Library 18
Support 18
Including a Debuginfo File 18
Chapter 2: Setup 21
2.1 Transport and Storage 21
Lynx Platform 21
Battery 21
2.2 Before Unpacking the Platform 21
2.3 Unpacking 22
Battery 22
Lynx Platform 23
2.4 Repacking for Relocation 25
2.5 Operating Environment 25
2.6 Installing a Lynx System 25
Installing the Battery 25
Attaching the Payload Structure and Options 29

Adept Lynx Platform User's Guide, Rev D
Page 6 of 126
Table of Contents
Setting Up Wireless Ethernet 29
Installing the Docking Station 31
Chapter 3: Getting Started 39
3.1 Startup 39
Joystick 39
Follow Mode 40
3.2 Settings and Configuration 40
Maintenance Ethernet Connection 41
SetNetGo Configuration 41
Mapping 41
Chapter 4: Payload Structures 43
4.1 Considerations 43
Weight 43
Power Consumption 43
Payload Bay Access 44
Dimensions 45
Center of Gravity 45
4.2 Connections Between Platform and Payload Structure 48
Operator Panel 48
Option Connections 49
Chapter 5: Connectivity 51
5.1 Required Connections 51
5.2 Payload Bay Connections 51
Lynx Core Front, Upper 52
Lynx Core Rear, Upper 58
5.3 Internal Lynx Core Connections 66
Lynx Internal Data Pinouts 67
Lynx Internal Power Pinouts 69
Chapter 6: Operation 71
6.1 Operating Environment 71
6.2 Typical Operation 71
6.3 Power and Charging 72
Battery Indicators and Controls 72
Docking Station 73
Manually Charging the Battery 75
Balancing the Battery 75
6.4 Operator Panel 76
Screen 77

Adept Lynx Platform User's Guide, Rev D
Page 7 of 126
Table of Contents
E-Stop 78
ON Button 79
OFF Button 79
Brake-release Button 79
Keyswitch 79
6.5 Other Controls and Indicators 79
Light Discs and Beacon 79
Joystick 83
Maintenance Ethernet 85
Lynx Core Indicators 85
6.6 Sensors 85
Safety Scanning Laser 85
Sonar 86
Other Sensors 86
6.7 Startup 86
Chapter 7: Options 89
Chapter 8: Maintenance 91
8.1 Safety Aspects While Performing Maintenance 92
8.2 Periodic Maintenance Schedule 92
Cleaning 92
Tires 93
Axles 93
Lasers 93
Docking Station Contacts 93
8.3 Accessing the Payload Bay 93
8.4 Removing and Installing Covers 93
Cover Removal 94
Cover Installation 97
8.5 Battery Replacement 99
8.6 Replacing Non-Periodic Parts 103
Docking Station Roller and Bearing 103
Docking Station ACPower Fuse 104
Docking Station Internal Fuse 105
Rear Sonar Units 106
Front Sonar Units 107
Sonar Controllers 107
Light Discs 108
Operator Panel 109
Wheels and Tires 109
Drive Assemblies 111
Front or Rear Casters 113
Safety Scanning Laser 114

Adept Lynx Platform User's Guide, Rev D
Page 8 of 126
Table of Contents
Lynx Core 116
E-Stop and Safety Laser Commissioning 118
8.7 Spare Parts List 119
Chapter 9: Technical Specifications 121
9.1 Dimension Drawings 121
9.2 Platform Specifications 122
9.3 Docking Station Specifications 124

Adept Lynx Platform User's Guide, Rev D
Page 9 of 126
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, sus-
pension, 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 pay-
load structure, and the platform covers.
Payload Structure: 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 Intelligent Vehicle):The Lynx platform with a payload structure 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 plat-
form.
When talking about controlling or monitoring the full mobile robot, with a payload structure
attached, we will refer to the AIV.
1.1 Product Description
The Adept Lynx platform is a general-purpose, 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-char-
ging, 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 structure. The platform comes com-
plete with the ability to know where it is within a 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 two front- and two rear-facing
sonar pairs, 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. This is covered in detail in the Adept Lynx Platform Peri-
pherals 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 fea-
tures.

Adept Lynx Platform User's Guide, Rev D
Page 10 of 126
Chapter 1: Introduction
For most applications, you will want to customize the Lynx platform with a payload structure,
attached to the top of the platform, to hold, carry, or handle your parts, samples, or documents.
Refer to Payload Structures on page 43 for guidelines on designing a payload structure.
The Adept Lynx platform provides a variety of interfaces and power connections to support
your application-specific sensors and accessories, mounted on your payload structure. Refer to
Connectivity on page 51, 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 has an IPrating
of IP-40.
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
lOne fully-assembled Lynx platform
The platform includes a safety scanning laser, front bumper with two sonar pairs, and
two rear-facing sonar pairs. Each pair is one transmitter and one receiver.
lOne fully-charged battery
This is shipped separately from the platform, due to air shipping regulations.
lLynx core, which includes an integrated computer, running Advanced Robotics Auto-
mation 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.
lOperator 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 structure.
An optional touchscreen is available. See Options on page 89.
lAutomated docking station
Allows the platform to charge itself, without user intervention. This includes a wall-
mount bracket and a floor plate, for a choice of installation methods. See Installing the
Docking Station on page 31.
A manual charging cord is included, so you can charge the battery or a spare battery
outside of the platform.
lJoystick
Used for manually controlling the platform, mostly when making a scan to be used for
generating a map.
lUser documentation

Adept Lynx Platform User's Guide, Rev D
Page 11 of 126
Chapter 1: Introduction
Optional Components and Attachments (partial list)
lAdept Enterprise Manager™ 1100 system
This is a system that manages a fleet of AIVs, for multi-AIV coordination and job man-
agement. It includes the Enterprise Manager appliance running the Mobile Robot soft-
ware.
lSpare batteries
lVertical-mount object-detection lasers
Option for payload structure development.
lPayload structure sonar kit
Includes four sonar emitter/receiver pairs and one sonar controller, which handles the
eight sonar units.
lCleanroom version
The platform is available in a cleanroom-suitable version.
lCall Buttons/Door boxes
Allow an AIV to be requested from a remote location, or allow the Adept system to con-
trol an automated door, so the AIV can pass through it.
Refer to the Adept Lynx Platform Peripherals Guide for details on these.
User-Supplied Components / System Requirements
PC with Microsoft Windows®
lEthernet (wireless preferred)
l100 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:
Mobile Software Suite
The Mobile Software suite includes all of the software used for the Lynx platform, with the
exception of the SetNetGo OS.
ARAM
The Advanced Robotics Automation Management software (ARAM™) runs on the Lynx plat-
form core. It operates ranging sensors like the safety scanning laser and sonar, and performs
all the high-level, autonomous robotics functions, including obstacle avoidance, path plan-
ning, 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 Lynx platform power, provide for integration of application-specific
sensors and effectors (user-supplied).

Adept Lynx Platform User's Guide, Rev D
Page 12 of 126
Chapter 1: Introduction
ARAM manages wired and wireless Ethernet communications with offboard software, for
external monitoring, development, and systems coordination, including coordination of a fleet
of AIVs through the optional Adept Lynx Enterprise Manager 1100™ system. It also manages
integration with other systems, as well as external monitoring, setup, and control with the
MobileEyes™ and MobilePlanner™ applications.
ARAMCentral
ARAMCentral is the software that powers the Adept Lynx Enterprise Manager 1100 appliance.
For a fleet, the ARAMCentral software manages:
lthe map that all AIVs use
lthe configuration that all AIVs use
ltraffic control of the AIVs
This includes multi-robot avoidance, destination, standby, and dock control.
lqueuing of jobs for the AIVs
lremote 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. In particular,
refer to:
Working With Map Files > Editing a Map File > Using the Drawing Tools >
Adding Goals and Docks
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 AIV's activities and have them per-
form mobile tasks in the mapped space. Refer to the separate Adept Motivity®User's Guide for
details.
MARCOS
At the lowest level, a microcontroller running MARCOS firmware handles the details of mobil-
ity, 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 plat-
form’s odometry (X, Y, and heading) and a variety of other low-level operating conditions to
ARAM.

Adept Lynx Platform User's Guide, Rev D
Page 13 of 126
Chapter 1: Introduction
Lynx Touchscreen Support
Whenever the Mobile Software suite is downloaded, it includes support software for the Lynx
touchscreen.
Call/Door Box Support
Call/Door boxes use a variety of scripts, which are loaded onto the boxes. These include Host,
Bridge, WiFi, and RF scripts.
ARCL Protocol
ARCL isn’t included as part of the Mobile Software suite, but it’s used often enough that it war-
rants a definition.
The Advanced Robotics Command Language, or ARCL, is a simple text-based command and
response server for integrating a Lynx platform (or fleet of Lynx platforms) with an external
automation system.
ARCL allows you to operate and monitor the Lynx platform, its accessories, and its payload
devices over the network, with or without MobileEyes.
SetNetGo
The SetNetGo OS runs on the Lynx platform core. It is usually accessed through the SetNetGo
interface in the MobilePlanner software. It can also be accessed through the maintenance Eth-
ernet port or, when enabled, wirelesly over the network. It is used for the original wireless Eth-
ernet configuration of the platform, and to perform systems diagnostics, such as retrieving log
files. It is also used to update ARAM.
NOTE:It is possible to connect directly to the SetNetGo OSon a Lynx 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.
1.2 Installation and Setup Overview
Most of the steps in setting up a Lynx platform are straightforward. The design and con-
struction of the payload structure needs to be tailored to your application.
lInstall the docking station. See Installing the Docking Station on page 31.
lInstall the battery in the platform. See Installing the Battery on page 25.
lSet up the wireless Ethernet for the platform. See Settings and Configuration on page 40.
lDesign, build, and install a payload structure, to suit your application. See Payload
Structures on page 43.
This is the most involved task in getting your AIV working the way you want.
lConfigure 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 con-
figuration is covered in the Adept Motivity®User's Guide.

Adept Lynx Platform User's Guide, Rev D
Page 14 of 126
Chapter 1: Introduction
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 equip-
ment.
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.
1.4 Safety Precautions
Read the installation and operation instructions, as well as the Adept Robot Safety Guide, before
using the equipment.
lDo not ride on the Lynx platform.
lDo not exceed the maximum weight limit.
lLimit operation to a 1:12 slope.

Adept Lynx Platform User's Guide, Rev D
Page 15 of 126
Chapter 1: Introduction
lDo not drop the platform, run it off a ledge, or otherwise operate it in an irresponsible
manner.
lDo not allow the platform to drive through an opening that has an automatic gate/door
unless the door and platform are configured correctly with the Lynx Door Box option.
Refer to the Adept Lynx Platform Peripherals Guide for details on the Adept Lynx Door
Box.
lDo not get the platform wet. Do not expose the platform to rain or moisture.
lDo not use power extension cords with the docking station unless properly rated.
lDo not continue to run the platform after hair, yarn, string, or any other items have
become wound around the platform’s axles or wheels.
lNever access the interior of the platform with the charger attached.
Immediately disconnect the battery after opening the battery compartment door.
lDo not use parts not authorized by Adept.
lDo 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 Declar-
ation 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 18.
1.7 Manufacturer's Declaration
The Manufacturer’s Declaration of Incorporation and Conformity (MDOC) for Adept robot sys-
tems 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.

Adept Lynx Platform User's Guide, Rev D
Page 16 of 126
Chapter 1: Introduction
1. From the Download Types drop-down list, select Manufacturer Declarations.
2. From the Product drop-down list, select Adept Mobile Robots.
3. 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.
4. 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.
5. 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 fol-
lowing information sources on the Adept corporate website:
lFor contact information:
http://www.adept.com/contact/americas
lFor product support information:
http://www.adept.com/support/service-and-support/main
lFor user discussions, support, and programming examples:
http://www.adept.com/forum/
lFor further information about Adept Technology, Inc.:
http://www.adept.com
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
Contains general safety information for all Adept robots.
Adept Motivity®User's
Guide
Covers MobileEyes and MobilePlanner software, the SetNetGo
OS, and most of the configuration of a Lynx platform.
Adept Lynx Enterprise
Manager 1100 User's
Guide
Covers the Adept Lynx Enterprise Manager 1100 system, which
is hardware and software used for managing a fleet of Lynx AIVs.
Adept SmartFleet EX Covers the legacy Adept Enterprise Manager system, which ran

Adept Lynx Platform User's Guide, Rev D
Page 17 of 126
Chapter 1: Introduction
Manual Title Description
Appliance User's Guide on an Adept SmartFleet EX Appliance, for managing a fleet of
Lynx AIVs.
Adept Lynx Platform
Peripherals Guide
Covers Lynx peripherals, such as the Lynx Touchscreen,
Call/Door boxes, and Acuity Localization options.
How to Get Help
Resource Guide
Covers general information for getting information on Adept
products. Gives WEEE information.

Adept Lynx Platform User's Guide, Rev D
Page 18 of 126
Chapter 1: Introduction
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:
[e-mail]
lIn 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.
lAttach 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.
Including a Debuginfo File
If the Lynx platform has been set up on a wireless network, skip to SetNetGo Access on page
19.
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 fol-
lowing…’ radio buttons to enable them, and then type in the IP and netmask values.

Adept Lynx Platform User's Guide, Rev D
Page 19 of 126
Chapter 1: Introduction
Connect the network port of your computer to the platform's maintenance port. See the figure
Location of Parts on the Platform on page 91.
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 fol-
lowing:

Adept Lynx Platform User's Guide, Rev D
Page 20 of 126
Chapter 1: Introduction
1. From the SetNetGo screen, select:
System >Debug Info
This will display the “Download debug info” button.
2. Click Download debug info.
3. Save the downloaded file, and attach it to your support request.