MuL Technologies 4 Series User manual

User’s Guide
Mobile Autonomous Robotic Cart
4 Series Model 4470 and Model 4475
MARC® 4470
MARC® 4475

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Congratulations – and thank you!
MARC® is made by the highly experienced team at MūL Technologies® –
manufacturers who want to bring autonomous mobile robots (AMR) that make
practical sense to warehousing, manufacturing and logistics companies.
MūL Technologies’ approach to AMR is different: We take commercial off-the-
shelf (COTS) components and add minimum custom hardware to create
intelligence/movement. MARC is the most cost-effective autonomous material
handling solution on the market.
Finally, “the rest of us” have an affordable way to get all the benefits of AMR.
Thanks again – and know we are here for you!
Sincerely,
The MūL Technologies team.
PLEASE READ THIS ENTIRE MANUAL BEFORE USING MARC. IT CONTAINS
CRITICAL INFORMATION ON USING MARC SAFELY AND BEST PRACTICES FOR A
SUCCESSFUL IMPLEMENTATION.
MūL Technologies Products are proudly designed and manufactured in the United States.

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Table of Contents
Packing list............................................................................................................................................................................... 6
Where to find additional resources ........................................................................................................................................ 7
Understanding the safety information in this document ....................................................................................................... 9
Important safety information ............................................................................................................................................... 10
Intended use of MARC carts ................................................................................................................................................. 12
MARC 4 Series features overview......................................................................................................................................... 13
System and sensor overview ................................................................................................................................................ 14
Unpacking and getting started.............................................................................................................................................. 15
Programming your first destinations .................................................................................................................................... 17
EZ-Go Navigation system overview ...................................................................................................................................... 18
Operating modes: Active Map and Fixed Map modes.......................................................................................................... 20
Using MARC in Active Map Mode ..................................................................................................................................... 21
Using MARC in Fixed Map Mode ...................................................................................................................................... 21
Operating modes: Looping Mode......................................................................................................................................... 22
Using the Home Button ........................................................................................................................................................ 23
What to expect during normal operation............................................................................................................................. 24
Best practices and general tips for smooth operation ......................................................................................................... 25
Powered manual movement mode ...................................................................................................................................... 26
Adjusting the volume ............................................................................................................................................................ 27
Using MARC battery packs.................................................................................................................................................... 28
Charging the batteries....................................................................................................................................................... 29
Locking and unlocking battery packs ................................................................................................................................ 30
Inserting the battery pack into MARC............................................................................................................................... 31
Loading MARC safely............................................................................................................................................................. 32
Table of LED visual cues........................................................................................................................................................ 33
Table of audio indicator cues................................................................................................................................................ 34
Cleaning MARC...................................................................................................................................................................... 35
MARC system dimensions..................................................................................................................................................... 36
Troubleshooting.................................................................................................................................................................... 37
Check Engine light codes....................................................................................................................................................... 39
Updating MARC’s software................................................................................................................................................... 41
Software update error codes ................................................................................................................................................ 43

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Packing list
- MARC cart
- 20Ah Battery (packaged separately)
- Battery keys (in battery packaging)
- Battery charger
- User’s Guide (this document)
- Quick Start Guide
System overview

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Where to find additional resources
Additional resources for MūL Technologies MARC systems can be found in a variety of places.
Item
Location / description
QR code
(if applicable)
Product documentation
(including User’s Guide)
www.multechnologies.com/documentation
Contact the MūL
Technologies support team
Visit our web site:
multechnologies.com
Reach out to the team:
[e-mail] or
by phone at 262-242-8830
Mailing address:
MūL Technologies
10202 North Enterprise Drive
Mequon, WI 53092
MARC system FAQs
www.multechnologies.com/faq
MARC online assistance
www.multechnologies.com/support

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Understanding the safety information in this document
MARC has been developed to be simple and safe to use. Please make sure anyone who will be in the area where MARC
robots are in operation has read and understands all the safety information before working with or around the
autonomous carts.
Symbol
Meaning
Indicates a potentially hazardous situation that could result in death or severe personal injury if proper
precautions are not taken.
Indicates a situation that could result in personal injury or damage to the equipment if proper precautions
are not taken.
Indicates a situation that could result in property damage if proper precautions are not taken.
Indicates generally useful information, tips and best practices to assist user with the setup, operation and
maintenance of the equipment, including MARC systems and battery packs.
Indicates danger of electrical shock. Please use extreme caution when working with lithium-ion batteries.
Always disconnect power before contacting any electrical components.
Indicates components with potential for damage from electro-static charges. Always use caution when
handling ESD sensitive parts.

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Important safety information
Table of important safety information
General hazards
• Always maintain a safe distance from MARC when in motion. You risk being hit, run over, or trapped if you do not
maintain a safe perimeter during operation.
• Human traffic must yield right-of-way to MARC autonomous products.
• Ensure proper mounting of loads during use. See Loading MARC safely on page 32.
• Danger of personal injury from overturning robot or falling load.
• All accessories and loads mounted on top of the robot should be fastened correctly and meet specifications.
• Do not drive vehicle irresponsibly.
o There is danger of personal injury and/or damage to the robot.
o The robot should not be driven over edges or in other ways operated irresponsibly.
• Always maintain a minimum 3-foot distance from MARC when robot is in motion.
• Do not use the robot to transport people
o There is risk of personal injury and/or damage to the robot.
o This will revoke compliance with the standard EN 1525 Safety for Unmanned Trucks.
• Indoor use only
o The robot is made for indoor use only and should never be used outdoor.
• Avoid small objects on the floor in the robot's area.
o There is risk of property damage and/or damage to the robot.
o The robot cannot detect some obstacles at a height of .75” (20 mm) or lower and may run over small
objects. It is designed to detect and avoid obstacles taller than 1.5”.
o For obstacles in between .75” and 1.5”, it may depend upon the material, size, and color of the obstacle
if the robot will identify it or not.
• The robot should not be moved to a different floor of your facility. If you are using MARC on the first floor and
transport it to another floor, it will not be able to navigate properly. Always reset the destinations and create a
new map when using on a different level.
• The robot will go around objects that are not part of the map, but this may influence the efficiency of the planned
route.
• The ambient temperature in the robot's environment must be between 5°C / 41°F and 50° C / 122°F for operation
of the robot or charging the battery pack.
• Avoid exposure of the robot to excessively humid or extremely dry environments.
o The ambient humidity in the robot's environment must be within 085% RH (without condensation).
• This equipment is not intended for use by persons (including children) with reduced physical, sensory, or mental
capabilities, or lack of experience and knowledge, unless they have been given supervision or instruction
concerning use of the appliance by a person responsible for their safety. Children should be supervised to ensure
that they do not play with MARC. Failure to do so may cause an accident or injury.
• Certain reflective objects can confuse the laser system and can cause the product to think there is an object in its
way when there is not. These objects can include items with a chrome finish, mirrored surfaces, and other similar
objects with a highly reflective finish.
• Only operate on even, clean and dry surfaces.
o Avoid gradients (ramps etc.) on the route.
o There is risk of personal injury and/or damage to the robot.
o Wet and uneven surfaces may cause the robot to skid.
• Do not overload the robot.
o There is risk of personal injury and/or damage to the robot.
o The maximum payload for MARC:
 In autonomous operation: 110 kg or approximately 250 lbs combined across both shelves.
 In manual push mode: 225 kg or approximately 500 lbs.
o Individual shelves must never be loaded over 55 kg or approximately 125 lbs.

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o If exceeded, it may cause overturning, falling load and damage to the robot.
o See also Loading MARC safely on page 32.
• Turn off the main power and remove battery before attempting any troubleshooting or repair.
• While mapping do not push the cart at speeds greater than 1.3M/second (3 MPH) to allow for accurate data.
• Do not use the cart to tow or push any other item.
o For example, do not attach a trailer, broom, or plow to the cart.
• Do not try to manually push or move the cart in any way while it is moving on its own.
Lithium-ion battery use, storage and safety
Lithium batteries are power sources with high energy content and are designed to represent the
highest possible degree of safety.
Potential hazards
Lithium-ion battery packs may get hot, explode, or ignite and cause serious injury if they are abused electrically or
mechanically.
Observe the following precautions when handling using and storing lithium-ion batteries:
• Never leave power on to battery when not in use.
• Never short-circuit or connect loads other than the intended system to the battery.
• Do not connect with false polarity.
• Do not expose to temperature beyond the specified temperature range or incinerate the battery.
• Do not crush, puncture, or disassemble the battery. The battery contains safety and protection devices, which, if damaged, may
cause the battery to generate heat, explode or ignite.
• Do not allow the battery to get wet.
• In the event the battery leaks and the fluid gets into a person’s eyes, do not rub the eye. Rinse well with water and immediately
seek medical care. If left untreated, the battery fluid could cause damage to the eye.
• Use only the original charger, and always follow the instructions from the battery manufacturer.
• Disposal: The U.S. Environmental Protection Agency (EPA) does not regulate the disposal of batteries in small quantities. While
there are no federal regulations for disposal of lithium-ion batteries, many individual states or localities have established their own
guidelines for battery disposal and should be contacted for any disposal guidelines that they may have.
Lithium-ion batteries are presently the most commonly used energy storage devices on motorized equipment. Learning
how to maintain lithium-ion batteries can not only prolong battery lifetime but also protect your device from potential
damage.
• Charge new batteries
It is not necessary to charge over 12 hours when first used. When a device powered by batteries is purchased, sellers will usually
tell us the batteries must first be charged 12 hours before using. This is unnecessary. Unlike common Ni-CD or Ni-MH batteries,
most lithium-ion batteries are activated before leaving the factory. Due to their low self-discharge, it is unnecessary to charge
lithium-ion batteries for such a long cycle when new. Lithium-ion batteries are ready for use when the charger indicates so, and
they will reach their best capacity after 3 or 5 charge/discharge cycles.
• Use appropriate chargers
When choosing a charger, original MūL Technologies chargers are the best choice. A low quality or inappropriately rated battery
charger can lead to shorter run times, premature battery failure, or even fire or explosion.
• Avoid overcharging
Over charging may let the battery's interior rise to a high temperature which is bad for both the battery and the charger. Simply
charging to ‘full’ is good enough and will increase the life of the battery and charger.
• Avoid touching metal contacts
All contacts on batteries need to be kept clean for best performance. When carrying batteries around, do not let the contacts
touch metal objects such as keys; this could cause a short circuit, damaging the battery or potentially resulting in a fire or
explosion.
• Avoid using often in high or low temperature environments
Lithium-ion batteries have optimal working and storage temperatures. If they're continually used in extreme temperature
environments, this will negatively affect battery use time and useful life.

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Intended use of MARC carts
The MūL Technologies MARC autonomous cart products are tools that help you optimize efficiency. MARC eliminates
the steps taken that add no value while working alongside employees. They are not intended to be used in any manner
outside the scope of this manual. The below list provides general example use applications. It is limited and should not
be considered comprehensive.
All MARC systems are intended to be used in indoor industrial environments where access for the public is restricted.
The MūL Technologies MARC system is designed;
• for indoor use only.
• for use only on solid, stable, non-moving areas. It is not designed for ships, moving vehicles or similar modes of
transportation.
• for climate-controlled areas between 41°F and 122°F (5°C and 50°C).
• for use in dry conditions only.
• for use in areas where the floor is free of objects smaller than 1.5” (40mm) from ground level.
• for use on flat, level, surfaces with no ramps, inclines or transitions.
• to carry only non-liquid materials.
• to carry only non-hazardous materials.
• to operate in areas with at least 24” clearance on both sides for a total width of approximately 6 feet. Aisles or
paths with a width less than 6 feet may prevent proper path planning and cause MARC to abandon its route.
One of the most important steps in achieving a safe installation of any autonomous robot is to complete a thorough risk
assessment. Since every facility presents unique issues and risks, it is critical that the individual or organization that is
implementing MūL Technologies MARC automated products complete this assessment based on their own facility.
Considerations for this assessment include in part;
• foot traffic and moving equipment must maintain a minimum 3-foot distance from autonomous
MARC products when robot is in motion.
• human traffic must yield right-of-way to MARC autonomous products.
• low hanging objects or obstructions that are above the sight line of MARC.
• small items on the floor that may be missed by MARC’s sensors.
• high value items that are transported by, or in the area of, MARC products.
• dangerous materials transported by, or in the area of, MARC products.
• placement of ladders, scaffolds, metals carts or similar equipment in the robot's work environment.
• consideration of the general environment for safety issues prior to deploying MARC products.
We recommend that guidelines in ISO 12100, EN 1525, ANSI B56.5 or other relevant standards be used to complete the
risk assessment. EN 1525, clause 4 contains a list of significant hazards, hazardous situations and events which can be
used as further reference for consideration.
MARC products must not be modified in any way. MūL Technologies will not be responsible for damage caused by
products that have been altered or modified in any way.
MūL Technologies cannot be held responsible for any damages caused to MARC products or accessories,
or any other equipment due to programming errors or malfunctioning of MARC robots.

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MARC 4 Series features overview
MARC robots have been developed with simplicity in mind.
#
Feature
1
Power button (also serves as emergency power-off button)
2
15-button EZ-Go Navigation panel
3
Battery assembly (including ON/OFF key switch)
4
Proximity sensors (16 total, 4 each side)
5
LED status indicators (8 total, 2 each leg)
6
High resolution 3D depth camera (2 total – front and rear)
7
Free turning rear wheels
8
RCP (Robotic Cart Platform) module
9
Drive wheels
10
Emergency stop button (on front of cart – not shown in image)
❶
❷
❹
❹
❾
❽
❸
❺
❺
❻
❼
❿
❹
❹
❹

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System and sensor overview
Combination of 3D cameras, lasers and proximity sensors create a complete view
• Two high resolution 3D depth cameras allow
MARC to build accurate maps, see at extreme
angles, and operate safely.
• LIDAR scans the environment in real-time to
build a completely independent map that is
used to navigate through an ever-changing
facility.
• 16 proximity sensors create an anti-collision
system with 360° view of the area near the cart.
• Internal 3-axis digital gyroscope combined with
a 3-axis accelerometer for measuring tilt,
acceleration, and shock.
Sensor parameters
• • LIDAR scans 360° at 16000 samples per second
measuring at a distance of 25m with 1° angular
resolution and 2mm distance resolution.
• 16 proximity sensors with 1m range and 1mm
distance resolution.
• 3D camera with up to 1280 × 720 active stereo
depth resolution at up to 90 fps.
• Active IR stereo depth technology with a field of
view of 87°±3° × 58°±1° × 95°±3°.

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Unpacking and getting started
Remember to retain all the original packaging and shipping materials for MARC. These materials have been
custom made to ship MARC units and are the best option for any future shipping needs of the system to
avoid damages during shipment.
1. Place the unit on flat, solid surface with space to move around the package.
2. Cut the plastic straps holding the top corrugated cover and discard.
3. Using two people, lift the corrugated cover upward and remove.
4. Loosen and remove the 2 ratcheting straps holding MARC to the pallet.
5. Using two people, lift MARC upward and remove from pallet.
6. Unbox the battery (packaged separately), making sure to remove the
keys from the packaging.
o Battery may need to be charged before use, please see Charging the batteries on page 29.
o Insert key and verify the battery remains in the unlocked position (#1 below).
o Slide the battery onto the rails on the system battery holder (#2) and push till engaged.
o Turn the key to the “On” position (#3).
 This will lock the battery in place and offer power to MARC.
 To move from unlocked position to “Locked with power off” position, it is important to push the
key inward slightly and then release slowly while turning the key to the next position.
o For additional information, see Inserting the battery pack into MARC on page 31.
❶
❸
❷
❺
❹

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7. Verify the Emergency Stop button (#4 above left) is not engaged. This can be found at the front of the cart (the
end away from the handle). If engaged, turn the button in the direction of the arrows to reset – the button will
pop out when disengaged.
The emergency stop button is located on the end of the cart opposite the handle. This button is
used to shut MARC off immediately when activated.
Normal operation
Power disconnected
The emergency stop button is activated when pushed inward. The upper image on the left shows
the button from the side when in a normal state. The lower image shows the button in an
activated, or off state.
The cart will not operate with the emergency stop button activated.
8. Note that boot time can be as long as 2 minutes and is complete when the audio cue “Cart ready” is heard and
the indicator LEDs are pulsing green.
9. You are ready to use MARC! Please read and understand this manual before use – while operation is simple, it is
important to understand how MARC works. Continue next page to program your first locations.
MARC should not be moved while it is starting up. The cart is ready for use when the cart announces, “Cart
ready” and the LED indicators illuminate in a pulsing green pattern.
As a best practice, move the cart to the area you wish to use MARC before powering up. This will reduce
the amount of unnecessary mapping the system saves, since the mapping is constant while on.
For additional tips on using MARC, see section What to expect during normal operationWhat to expect
during normal operation on page 22.
Each end has an emergency power-off option – the front has the red emergency stop button and rear the
has the power button which also immediately powers down the unit.
Note that any time MARC is powered off in Active Map Mode, it will need to be reprogrammed.
For information on operating modes, see Operating modes: Active Map and Fixed on page 20.

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Programming your first destinations
Now that you’re ready to roll, let’s give MARC a try!
1. If cart is booted up and ready, go to step 5.
2. Turn the key switch to ON position.
3. Press power button. If the cart does not power up, verify the emergency stop button is not engaged and
disengage if needed (rotate clockwise with arrows until it pops out).
4. Wait for MARC to boot up, up to 2 minutes.
• Cart is ready when audio cue “Cart ready” is heard and indicator LEDs are pulsing green.
• Wherever MARC is physically located will be the destination when a button is programmed.
• Speed between locations can be a normal walking speed (up to 1.3 m/second or 3MPH) or less.
• Start and end points should be a minimum of 1m (3 feet) from all stationary objects.
• Entire route should include 6 feet of available space.
5. Press and hold any un-programmed station key (grey) for 3 seconds until you hear the double-beep sound.
• In this example, we used “3.” Station button will turn green, indicating programming completed.
6. Using the handle, manually push the cart to a second location you wish to program as a destination.
7. Press and hold any un-programmed station key (grey) for 3 seconds until you hear the double-beep sound.
• Use any unused station key 1-13 (in this example, we used “1”).
That’s it! You have programmed MARC for 2 destinations in Active Map Mode and can put him to work. Press the station
button for each programmed key (in our example 1 and 3), and MARC will travel to the location programmed for that
button.
Additional tips:
• In Active Map Mode, MARC does not retain information when powered down or restarted.
• This section describes Active Map Mode. You can also use MARC in Fixed Map Mode if you plan to use MARC in
a specific area. See Operating modes: Active Map and Fixed on page 20 for more information.
• You can add a new destination at any time using any additional un-programmed station button.
• MARC will prioritize the path you took when programming destinations.
• You can re-program any station button by moving the cart to a new destination and pressing a pre-programmed
button (green) for 3 seconds and the current location replaces the previous destination.
• You can also remove a destination from a button without programming a new one. Hold the programmed
button (green) 6 seconds until you hear a triple-beep. The button will turn grey and will not be associated with a
destination.
• In Active Mapping Mode, you can also move your MARC system to any additional, non-programmed locations
(for example, to get inventory items from shelves), and then tap one of the pre-programmed buttons to send
MARC back to that location.
For detailed information on using the EZ-Go Navigation panel, see EZ-Go Navigation system overview on page 18 or
Error! Reference source not found. on page Error! Bookmark not defined..
TIP: If you see the second screen, press
the battery level button to return to the
first screen with station buttons.

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EZ-Go Navigation system overview
Station buttons 1-13 display in grey when they are not programmed for a specific destination. Press and
hold a grey button until you hear the double-beep indication (approximately 3 seconds) to program that
station with the unit’s current location. The button will then turn green indicating it is programmed.
Station buttons 1-13 display in green when they are programmed for a specific destination. Tap these
buttons to send the unit to its destination designated for the specific number pressed.
CLEARING:If you wish to clear a set location for a station button, press and hold the button for more than
6 seconds but less than 10 seconds until you hear the triple-beep indication. When released, the button
will return to a grey color.
REPROGRAMMING:If you wish to set a programmed button to its current location, press and hold the
button for approximately 3 seconds until you hear the double-beep indication.
Station buttons are Blue when the cart is in Looping Mode. For more information on Looping Mode, see
Operating modes: Looping Mode on page 22.
Under normal operating conditions, the bottom right button is reserved to display the battery’s current
charge status. This button also allows users to switch between the first and second screens.
The Save Map button is used to save or erase the currently mapped area and also used to indicate the
current map status. The button appears grey if there is currently not a saved map (Active Map Mode) and
green when a map is saved (Fixed Map Mode). To save a map, press the button for 3 seconds till the
double-beep confirmation is heard. The button will turn green and the audio cue “Map saved” will be
heard. To erase the currently saved map, press the map button for 6 seconds but less than 10 seconds until
you hear the triple-beep tone. The button will turn grey, indicating the map has been erased, and the audio
cue “Map erased” will be heard. When a map is not saved (Active Map Mode), turning the cart off or
rebooting will cause the currently mapped area to be deleted from the system. See Operating modes:
Active Map and Fixed on page 20 for more information.
The Home button allows for realignment of the mapped area in the instance that MARC becomes
disoriented or is ‘lost’. This can happen in a variety of scenarios, including for example the cart hits a wet
slippery spot on the floor that causes the wheels to slip. To tell MARC that it is in the Home location, press
and hold the button for 3 seconds till you hear the double-beep tone. This will allow the map to realign to a
known point of origin. To learn more about using the Home functions, see the section titled Using the
Home Button on page 23.
First (main) screen
Second (extended) screen

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To turn Looping Mode on, press and hold the Looping Mode button for 3 seconds till you hear the double-
beep tone. The icon will turn green to indicate is has been activated. To turn looping mode off, press and
hold the button for more than 6 seconds until the triple-beep sound is heard. The icon will turn grey to
indicate Looping Mode has been deactivated. For detailed information on using MARC carts in looping
mode, see the section Operating modes: Looping Mode on page 22.
The Info button displays pertinent system information. When pressed it cycles through software version
(2.1.3, for example), the model number (4470, for example) and the system level serial number.
MARC carts offer a safety beeping option, which is heard while MARC is moving in autonomous mode. This
beeping, similar in sound to a traditional forklift, is a double-beep active while in motion to warn workers
nearby that the cart is in motion. Note the volume is increased and decreased using the volume buttons
that control the audible system notifications and both are adjusted together. Warning beeps can be
enabled or disabled using the single button, and current status is displayed on the button as shown to left.
To turn the beeping on, press and hold the button for 3 seconds till you hear the double-beep tone. The
icon will turn green to indicate is has been activated. To turn of the beeping, press and hold the button for
more than 6 seconds until the triple-beep sound is heard. The icon will turn grey to indicate beeping has
been turned off.
The volume (+) button increases the volume in increments of 10%, and the volume (–) button decreases
volume in increments of 10%. When in the main screen showing the programmed location buttons, tap the
battery level button on the lower right to access the second screen with the volume adjustment buttons.
Powered Assist manual drive buttons allow the user to operate the cart manually. The buttons will move
the cart in the direction shown when pressed. Use caution, as during manual movements the safety
features of the cart are disabled. When in the main screen showing the programmed station buttons, tap
the battery level button on the lower right to access the second screen with the manual drive buttons. For
more information on using manual movement, please see Powered manual movement mode on page 26.
WARNING:All safety features are disabled while using the powered manual movement mode.
Operator is responsible for safe movement of MARC in any manual movement mode. Great
care must be taken while using powered manual movement mode.
A yellow check engine symbol indicates there is an urgent issue with the cart. It is still possible to operate
the cart, but the issue should be addressed as soon as possible. For more information, see Troubleshooting
on page 37. Press the battery level indicator button to return to the main screen.
A red check engine symbol indicates there is a critical issue with the cart. Autonomous mode and powered
manual drive mode are both disabled when there is a critical issue. For more see Troubleshooting on page
37.
Tapping any button during movement will cancel the route. If you tap the wrong location, for example, you
can immediately press any key to abandon the route and then press the correct location button.

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Operating modes: Active Map and Fixed Map modes
MARC carts operate in two distinct mapping modes. It is important to understand the differences between these modes
to ensure the most value for your unique scenario. Below is a comparison chart, followed by an overview of each mode.
Depending on how you plan to use each MARC, you have options to most efficiently leverage the benefits of automation
that will help save you the most time possible. Each mode of operation is described below.
Active Map Mode Overview
While in Active Map Mode, all areas MARC travels through will be added to its internal map. This means there are no
‘predefined’ areas where the unit is required to operate within.
In Active Map Mode, MARC units will not remember mapped areas when they are powered down. This includes during a
battery swap. To save the map, the Save Map button should be used, which then puts MARC into the Fixed Map Mode.
Fixed Map Mode Overview
Fixed Map Mode is the most efficient option when you plan to use MARC in a consistent area and can leverage the
saved map for that area.
While in Fixed Map Mode, MARC units must be kept in their mapped area. If they are removed from a known mapped
area, the “Out of mapped area” audio cue will be heard.
Once MARC is in Fixed Map Mode, the map will become saved permanently (until an “Erase Map” process is executed or
the software is updated). Additionally, the unit must now remain in the currently mapped area while operating, or the
message “Out of mapped area” will be heard and the cart will need to be returned to the mapped area for use.
Optionally, the map can be erased, returning MARC to Active Map Mode. In this case, the mapping process must be
redone.
The Save Map button is used to save the currently mapped area and used to indicate the current map
status. The button appears grey if there is currently not a saved map (Active Map Mode) and green when a
map is saved (Fixed Map Mode). To erase the currently saved map, press the map button for 6 seconds but
less than 10 seconds until you hear the triple-beep tone. The button will turn grey, indicating the map has
been erased, and the audio cue “Map erased” will be heard. When a map is not saved (Active Map Mode),
turning the cart off or rebooting will cause the currently mapped area to be deleted from the system. See
Operating modes: Active Map and Fixed on page 20 for more information.
Mode Comparison Chart
Active Map
Mode
Fixed Map
Mode
Ability to save map (move to Fixed Map Mode)
X
Ability to retain map on power-off or restart
X
MARC can only be used in mapped area
X
Quickly use cart in varied areas – shared usage
X