Omron LD-105CT User manual

LD Cart Transporter
User's Manual
I612-E-07

Copyright Notice
The information contained herein is the property of Omron Robotics and Safety Technologies, and shall
not be reproduced in whole or in part without prior written approval of Omron Robotics and Safety Tech-
nologies The information herein is subject to change without notice and should not be construed as a com-
mitment by Omron Robotics and Safety Technologies The documentation is periodically reviewed and
revised.
Omron Robotics and Safety Technologies, assumes no responsibility for any errors or omissions in the
documentation.
Copyright 2016 - 2021 by Omron Robotics and Safety Technologies All rights reserved.
Any trademarks from other companies used in this publication are the property of those respective com-
panies.
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.
This manual was originally written in English.
Created in the United States of America

Table of Contents
Chapter 1: Introduction 11
1.1 Definitions 11
1.2 Product Description 11
LD Platform Cart Transporter 13
Cart 16
Coupling 16
Optional Components 16
User-Supplied Components / System Requirements 17
1.3 Software Overview 17
FLOW Core 17
SetNetGo 19
1.4 How Can I Get Help? 19
Related Manuals 19
Support 19
Including a DebugInfo File 20
Chapter 2: Safety 23
2.1 Dangers, Warnings, and Cautions 23
Alert Levels 23
Alert Icons 23
Falling Hazards 24
Special Information 24
2.2 What to Do in an Emergency /Abnormal Situation 24
Releasing the Brakes 24
Releasing an E-Stop 25
2.3 Safety Precautions 25
User's Responsibilities 25
General Hazards 26
Electrical Hazards 26
Pinch and Entanglement Hazards 27
Magnetic Field Hazards 28
Qualification of Personnel 28
Payload Movement and Transfer 29
Configurable Warning Buzzer 29
Multi-AMR Avoidance 29
Traffic Control 30
Passing Lanes 30
2.4 Environment 30
General Environmental Conditions 30
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Public Access 30
Clearance 31
Obstacles 31
Safety Scanning Laser Emergency Stop 31
Safety System Overspeed Faults 31
2.5 Intended and Non-intended Use 32
Intended Use 32
Non-Intended Use 33
Platform Modifications 34
2.6 Battery Safety 34
2.7 Additional Safety Information 34
Accidental Cart Separation 34
Mobile Robot LDSafety Guide 34
2.8 Disposal 35
Chapter 3: Setup 37
Overview 37
Tasks 37
3.1 Transport and Storage 37
LD Platform Cart Transporter 38
Battery 38
Standalone Cart 38
3.2 Before Unpacking 39
3.3 Unpacking 39
Battery 39
LD Platform Cart Transporter 41
Repacking for Relocation 44
3.4 Setting Up an LD Platform Cart Transporter 44
Rolling the LD Platform Cart Transporter off of the Crate Base 45
Installing the Battery 47
Installing the Docking Station 51
3.5 Installing the Cart Brake Release 56
Installation 57
Adjustment 61
Chapter 4: Configuration 63
4.1 Settings and Configuration 63
Maintenance Ethernet Connection 63
Setting Up Wireless Ethernet 65
4.2 Mapping 67
Mapping Overview 67
Mapping Tasks 67
Setting Up Cart-Parking Goals 68
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Table of Contents
Marking Cart-Parking Goals on Floor 68
4.3 Configuring a Touchscreen 68
Touchscreen Ethernet Setup 68
Operating Modes 69
Localization Goals 71
Screen Logo 72
Screensaver 73
Display Language 74
Contact Information 75
4.4 Acceleration, Deceleration, and Rotation Limits 75
4.5 Supplemental Information 76
Laser Setup 76
Chapter 5: Payloads 77
5.1 Safety 77
Warning Label 77
Drive Warning Light 77
Turn Warning Lights 77
Warning Buzzer 77
5.2 Considerations 78
Dimensions 78
Pinch Hazard 78
Weight 78
Center of Gravity 78
Chapter 6: Connectivity 83
6.1 Required Connections 83
6.2 LD Platform Cart Transporter Connections 83
Core 83
Cart-Specific PCA 84
6.3 Standard Platform Connections 89
LD Platform Core Front, Upper 89
LD Platform Core Rear, Upper 96
Internal LD Platform Core Connections 105
Core Internal Data Pinouts 106
LD Platform Core Internal Power Pinouts 108
Chapter 7: Operator Interface 111
7.1 Touchscreen 111
Touchscreen Initialization 111
Touchscreen Configuration 112
Screen Top Bar 112
Left Screen Pane 112
Right Screen Pane 114
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Table of Contents
Center Pane 118
Relocalization 118
Choose Dropoff Mode 118
Patrol Route Mode 121
7.2 Operator Panel 122
E-Stop Button 122
ON Button 123
OFF Button 123
Brake-release (BRAKE)Button 123
Keyswitch 123
LATCH Button 123
UNLATCH Button 124
7.3 Other Controls and Indicators 124
Light Discs and Beacon 124
LD Platform Core Indicators 128
Battery and Docking Station 129
Chapter 8: Operation 131
8.1 Operating Environment 131
Intended Use 131
Clearance 131
Obstacles 131
Environment and Floor 132
133
Platform Getting Stuck 133
Cart Getting Stuck on Platform 134
8.2 Typical Operation 134
8.3 Power and Charging 135
Battery Indicators and Controls 135
Docking Station 136
Manually Charging the Battery 138
Balancing the Battery 139
8.4 Startup 140
Procedure 140
Joystick 140
8.5 Working with Carts 141
Goals 141
Operation 141
Cart-Locating 141
Cart Brakes 141
Chapter 9: Options 143
Enterprise Manager 143
MobilePlanner Software (licensed) 143
Joystick 143
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Table of Contents
Spare Battery 143
Spare Carts 143
Call Buttons/Door Boxes 143
Acuity Localization 144
High-Accuracy Positioning System 144
Chapter 10: Maintenance 145
10.1 Safety Aspects While Performing Maintenance 147
Electrical Hazards 147
Burn Hazard 147
Pinch Hazard 147
Magnetic Field Hazards 148
10.2 Safety Measures Prior and After Maintenance 148
10.3 Lifting the Platform Safely 148
Front Lifting Points 148
Rear Lifting Area 149
10.4 Safety Inspection 150
Warning Devices 150
Warning Labels 150
Informative Labels 153
10.5 Cleaning 154
Work Area Maintenance 154
LD Platform Cart Transporter and Cart 154
Tires 155
Casters 155
Axles 155
Lasers 155
Docking Station Contacts 156
10.6 Accessing the Payload Bay 156
Removing Latching Mechanism Cover 156
Removing Top Plate 156
Installing Top Plate 158
Installing Latching Mechanism Cover 158
10.7 Removing and Installing LD Platform Cart Transporter Covers 158
Removing Covers 159
Installing Covers 162
10.8 Replacing Periodic Parts 164
Maintaining and Replacing Batteries 165
Maintaining Batteries 165
10.9 Replacing Non-Periodic Parts 166
Docking Station Roller and Bearing 166
Docking Station ACPower Fuse 167
Docking Station Internal Fuse 168
Safety Scanning Laser 169
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Table of Contents
Obstacle Detection and Coupling Lasers 169
Rear Sonar Units 169
Sonar Controller 169
Cart Latching Mechanism 171
Light Discs 173
Operator Panel 173
Wheels and Tires 173
Drive Assemblies 174
Platform Casters 177
Cleaning Casters on ESD Platforms 179
LD Platform Cart Transporter Casters 179
Cart Brake Release 182
LD Platform Core 184
E-Stop and Safety Laser Commissioning 185
Chapter 11: Technical Specifications 187
11.1 Dimension Drawings 187
11.2 Specifications 188
LD Platform Cart Transporter Physical 188
LD Platform Cart Transporter Performance 189
Battery Output 190
Cart 191
Docking Station 191
Appendix 193
A.1 Parts List 193
8 LD Cart Transporter User's Manual 14766-000 Rev H

Revision History
Revision Code Date Revised Content
01 April, 2017 Original release
02 March, 2017 Corrections and improvements.
03 September, 2017 Corrections and improvements.
04 November, 2017 Corrections and improvements.
05 February, 2018 Corrections and improvements.
06 February 2019 Corrections and improvements.
07 April, 2021 Corrections and improvements.
14766-000 Rev H LD Cart Transporter User's Manual 9

Chapter 1: Introduction
This manual covers the setup, operation, and user maintenance of an LD Platform Cart Trans-
porter and cart.
The basic configuration performed using the software that comes with the system is covered.
Full details of that configuration are covered in the FLOW Core User's Guide.
1.1 Definitions
Platform: The most basic part of the robot. It includes the chassis, drive assemblies, sus-
pension, wheels, battery, safety scanning laser, obstacle-avoidance lasers, sonar, an on-board
LD Platform core with built-in gyroscope, software needed to navigate, connectors for inter-
facing with and powering the Operator panel and cart coupling system, Operator panel, and
the platform covers.
LD Platform Cart Transporter:A platform with the LDPlatform OEM (including extended
arms)and the coupling plate attached, set up to transport a cart. This is also referred to as just
a transporter.
Cart:A cart, on four casters, that can be attached to an LD Platform Cart Transporter, for
increasing the payload capacity. The cart has brakes on two casters, which can be released
either by coupling with a transporter, or by using a manual brake-release lever on the cart.
AMR (Autonomous Mobile Robot):The LD Platform Cart Transporter with a cart attached to
it. This is the complete mobile robot, which will transport your payload on the cart.
For the initial setup, configuration, and connections, we will refer to the platform.
For controlling or monitoring the full mobile robot, with a cart attached, we will refer to the
AMR.
1.2 Product Description
The LD Platform Cart Transporter is a general-purpose mobile platform designed for moving a
detachable cart indoors and around people. It is self-guided and self-charging, with an auto-
mated docking station.
The platform, which moves the cart, comes complete with the ability to know where it is
within your workspace, and to navigate safely and autonomously to any accessible destination
within that workspace, continuously and without human intervention.
The LD Platform Cart Transporter is intended to expand the range of payloads that can be
moved by a platform, both in weight and size.
The LD Platform Cart Transporter is available in two models, designed to transport carts with
a payload up to 105 kg (231 lb)for the LD-105CT and 130 kg (287 lb) for the LD-130CT plat-
form. Where appropriate, differences between the models are called out. Otherwise, this
manual applies to both LD Platform Cart Transporters.
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12 LD Cart Transporter User's Manual 14766-000 Rev H
1.2 Product Description
Figure 1-1. Cart and LD Platform Cart Transporter, Separate
Figure 1-2. Cart and LD Platform Cart Transporter, Coupled

Chapter 1: Introduction
LD-130CT
LD-105CT
Figure 1-3. LD Platform Cart Transporter Model Labels
LD Platform Cart Transporter
The LD Platform Cart Transporter is a mobile platform, designed for working around people
while moving a cart. It is self-guided and self-charging, with an automated docking station.
The transporter combines hardware and mobile-robotics software to provide an intelligent,
mobile platform to transport your payload on the cart. Its primary guidance uses a safety scan-
ning laser to navigate, comparing the laser readings to a digital map stored on the platform.
The laser is backed up by a gyroscope mounted on the internal core, and encoders and Hall
sensors on each drive wheel.
In addition to the front safety scanning laser, each LD Platform Cart Transporter has two side
lasers, for detecting potential obstacles in its path, a low front laser in the bumper to detect
obstacles lower than the safety scanning laser, and a rear-facing obstacle-detection laser, to
ensure that it is safe for the transporter to back up or turn in place.
For situations that are so dynamic that laser localization becomes difficult, we offer the Acuity
Localization option, which localizes the AMR using an upward-facing camera to recognize
overhead lighting patterns. 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 fea-
tures that are mapped. This is covered in the LDPlatform Peripherals Guide.
Body and Drive
The LD Platform Cart Transporter is relatively small, lightweight, and highly maneuverable. It
has a strong aluminum chassis and solid construction that makes it very durable.
The platform is a two-wheel, differential-drive vehicle, with spring-loaded passive casters front
and rear for balance. The drive-wheels have independent spring-suspension, with solid, foam-
filled tires. The wheels are at the mid-line of the platform, so that the platform can turn in
place.
Safety Scanning Laser
The onboard navigation laser is a very precise scanning sensor. The laser provides 500 read-
ings in a 240 degree field of view, with a typical maximum range of 15 m (49.2 ft). The laser
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14 LD Cart Transporter User's Manual 14766-000 Rev H
1.2 Product Description
operates in a single plane, positioned at 200 mm (7.9 inches) above the floor. In most envir-
onments, the sensor will provide highly-accurate data.
Glass, mirrors, and other highly-reflective objects cannot be reliably detected by the laser. Cau-
tion must be exercised when operating the AMR in areas that have these types of objects. If the
AMR will need to drive in close proximity of these objects, we recommend that you use a com-
bination of markings on the objects, such as tape or painted strips, and also use forbidden sec-
tors in the map, so that the AMR knows to plan paths safely around these objects.
Side Lasers
These two lasers are used to detect obstacles that protrude into the AMR's path, but may not
be detected by the safety scanning laser.
This is needed when obstacles higher than the safety scanning laser (but low enough to be
obstacles)protrude into the AMR‘s path.
Low Front Laser
This laser is mounted to the front bumper. It detects obstacles that are low and in front of the
transporter, such as an empty pallet, which might be too low for the safety scanning laser to
see.
Rear-Facing Laser
This laser gives better coverage of what’s behind the transporter than sonar alone. It is used
during both turning in place and backing up when the transporter and cart are coupled.
Coupling Laser
A laser mounted in the transporter coupling plate is used to locate a triangle on the underside
of the cart’s coupling plate. This is used by the transporter to accurately align with the cart, so
it can couple with it.
Sonar
The LD Platform Cart Transporter’s two rear-facing sonar pairs are for obstacle-sensing while
backing up. The range is up to 5 m (16 ft), though the typical accurate range is only about 2 m
(10 ft). Each pair consists of one emitter and one receiver. The sonar emitters and receivers are
identical physically, but the transporter uses them differently.
Encoders and Gyroscope
Each wheel has an encoder that tells the navigation system how far the wheel has turned, and
in which direction. Each wheel also has a Hall sensor.
The LD Platform core has a gyroscope mounted on it, to track the AMR's rotation.
The combination of rotation and distance traveled are used by the platform to back up the
safety scanning laser during localization. These limit the area on the platform's map that the
AMR needs to search when localizing.

Chapter 1: Introduction
What’s Included with an LD Platform Cart Transporter
lOne fully-assembled platform
The platform includes a safety scanning laser, a low front laser, two side lasers, a rear-
facing laser, and two rear-facing sonar pairs. Each pair is one transmitter and one
receiver.
lOne battery
This is shipped separately from the platform, due to air shipping regulations.
If the battery was shipped by air, it will be at less than 30% charge per IATA reg-
ulations.
lTop plate and coupling plate
The platform top plate covers the payload bay of the platform, and supports the lower
(platform)coupling plate, which engages the cart coupling plate, attached to the cart,
and the coupling laser.
lLD Platform core, which includes an integrated computer, running Advanced Robotics
Automation Management (ARAM) and a microcontroller with MARC firmware. The
core is housed inside the platform. It also runs the SetNetGo OS.
ARAM and MARC firmware and the SetNetGo OS are pre-loaded on the LD Platform
Core.
lAn HMIPost
This supports the two side lasers and the rear-facing laser, both for obstacle avoidance.
It also supports the Operator Panel.
lOperator Panel
This includes a touchscreen, an E-Stop button, ON and OFF buttons, a brake-release but-
ton, and a keyswitch, which can be locked, and key removed, in either position. The
panel’s frame supports two WiFi antennas and a beacon.
There are LATCH and UNLATCH buttons below the E-Stop.
The optional Acuity Localization camera mounts on top of the Operator panel frame, on
the same plane as the antennas and beacon.
lAutomated docking station
This allows the LD Platform to charge itself, without user intervention. It includes a
wall-mount bracket and a floor plate, for a choice of installation methods. See Installing
the Docking Station on page 51.
A manual charging cord is included, so you can charge a spare battery outside of the
platform.
lJoystick (option)
This is used for manually controlling the AMR, mostly when making a scan to be used
for generating a map.
At least one joystick is needed for each fleet of AMRs. Once a map is generated, the map
can be shared with multiple AMRs working in the same space.
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16 LD Cart Transporter User's Manual 14766-000 Rev H
1.2 Product Description
Cart
The cart is a frame mounted on four casters, designed so that it can couple with an LD Plat-
form Cart Transporter. Once coupled, the cart moves with the transporter. When the trans-
porter arrives at the intended goal, it uncouples from the cart and leaves, while the cart
remains at the goal. Brakes automatically engage on the cart casters, preventing it from rolling
in case the floor isn’t completely level.
The cart has a manual brake-release lever, so it can be moved manually.
Coupling
The LD Platform Cart Transporter can attach to a cart at a pickup goal, move the cart to a
dropoff goal, and leave it at that goal, with no human intervention.
When the cart and transporter are coupled, the transporter automatically presses a lever that
releases the cart’s brakes, so it is free to move with the transporter.
The coupling system has:
la motorized Latching Mechanism
la coupling laser
This is mounted in the coupling plate, and is used to align the transporter with the cart
when coupling.
lLATCH and UNLATCH override buttons, on the Operator Panel
Coupling Plates
Each cart has one coupling plate, and each platform has one coupling plate. The plates are
mounted so that, when the platform moves under the cart, the plates can attach to each other,
allowing the platform to move the cart. The software is aware of whether or not a cart is
attached.
lThe cart coupling plate includes a slot that can be latched with the platform coupling
plate. The cart coupling plate is passive.
lThe platform coupling plate includes a laser, for aligning the platform before coupling,
and a motorized Latching Mechanism, for latching the cart coupling plate.
Optional Components
Refer to Options on page 143 for details.
lAcuity Navigation
For environments that are very dynamic, such that a map can’t be kept current, or
where the area is too large for the navigation laser to see, Acuity can be used to nav-
igate using overhead light patterns seen with an upward-facing camera.
lEnterprise Manager
This system manages a fleet of AMRs, for multi-AMR traffic coordination and job man-
agement. It includes the Enterprise Manager appliance running the Mobile Software
suite.

Chapter 1: Introduction
lSpare battery
A spare battery can be used to minimize down-time. Swapping the battery for a fully-
charged battery avoids taking the AMR out of service for more than a few minutes.
lCall/Door Boxes
These allow an AMR to be requested from a remote location, or allow the AMR system
to control an automated door, so the AMR can pass through it.
User-Supplied Components / System Requirements
PC with Microsoft Windows®
lEthernet (wireless preferred)
Wireless is required for a fleet (more than one AMR).
l100 megabytes of available hard-disk storage
1.3 Software Overview
FLOW Core
The FLOW Core includes all of the software used for platforms and the Enterprise Manager
appliance, with the exception of the SetNetGo OS.
ARAM
The Advanced Robotics Automation Management software (ARAM) runs on the LD Platform
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 planning, loc-
alization, navigation, and so on, culminating in motion commands to the MARC firmware.
ARAM also controls the battery and light discs, and manages digital and analog I/O, which,
along with platform power, provide for integration of application-specific sensors and effectors
that the user adds.
ARAM manages wired and wireless Ethernet communications with offboard software, for
external monitoring, development, and systems coordination, including coordination of a fleet
of AMRs through the optional Enterprise Manager . It also manages integration with other sys-
tems, as well as external monitoring, setup, and control with the MobilePlanner application.
ARAMCentral
ARAMCentral is the software that runs on the Enterprise Manager appliance. This software
and the appliance combined are referred to as Enterprise Manager.
For a fleet, the ARAMCentral software manages:
lthe map that all AMRs use
lthe configuration that all AMRs use
ltraffic control of the AMRs
This includes multi-AMR avoidance, destination, standby, and dock control.
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18 LD Cart Transporter User's Manual 14766-000 Rev H
1.3 Software Overview
lqueuing of jobs for the AMRs
lremote I/O, if you are using it
MobilePlanner (licensed)
In order to have your AMR 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 FLOW Core 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 AMRs. Once you generate a map for an area, it can be shared
between multiple AMRs in one fleet.
MobilePlanner, Operator Mode
The MobilePlanner Operator Mode is used to monitor one or more AMR's activities and have
them perform mobile tasks in the mapped space. When MobilePlanner is started without its
license dongle, it automatically starts in this mode. Refer to the separate FLOW Core User's
Guide for details.
Mobile Adept Robot Controller (MARC)
At the lowest level, a microcontroller running MARC firmware handles the details of platform
mobility, 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 emer-
gency stop systems, bumper, and joystick. The MARC firmware computes and reports the plat-
form’s odometry (X, Y, and heading) and a variety of other low-level operating conditions to
ARAM.
Touchscreen Support
Whenever the Mobile Software suite is downloaded, it includes support software for the
optional touchscreen.
Call/Door Box Support
Call/Door boxes have one software component on the box and another on either the Enterprise
Manager or on the single AMR, when there is no Enterprise Manager.
ARCL Protocol
ARCL is a function of ARAM and ARAMCentral, which is included as part of this suite.
The Advanced Robotics Command Language, or ARCL, is a simple text-based command and
response server for integrating an AMR (or fleet of AMRs) with an external automation sys-
tem.

Chapter 1: Introduction
ARCL allows you to operate and monitor the AMR, its accessories, and its payload devices
over the network, with or without MobilePlanner.
SetNetGo
The SetNetGo OS runs on the LD Platform core and Enterprise Manager appliance. It is the
host OS in which ARAM and ARAMCentral run.
The SetNetGo interface in the MobilePlanner software is used for configuring the Ethernet set-
tings for the platform, upgrading software, and performing systems diagnostics, such as
retrieving log files. It can be accessed when connected via the maintenance and management
Ethernet ports, or via wireless Ethernet if enabled.
NOTE: It is possible to connect directly to the SetNetGo OSon a 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.
1.4 How Can I Get Help?
Refer to the corporate website:
http://www.ia.omron.com
Related Manuals
This manual covers the installation, setup, operation, and maintenance of an LD Platform Cart
Transporter. There are additional manuals that cover these actions for the platform.
Table 1-1. Related Manuals
Manual Title Description
Mobile Robot LDSafety
Guide (Cat. No. I647)
Contains general safety information for all of our LD Platforms.
FLOW Core User's Guide
(Cat. No. I637)
Covers MobilePlanner software, the SetNetGo OS, and most of
the configuration of an LD Platform.
EM 2100 Installation
Guide (Cat. No.I634)
Covers the Enterprise Manager 1100 system, which is hardware
and software used for managing a fleet of AMRs.
LDPlatform Peripherals
Guide (Cat. No. I635)
Covers peripherals, such as the Touchscreen, Call/Door box, and
Acuity Localization options.
Support
If, after reading this manual, you are having problems with your LD Platform Cart Trans-
porter, contact your local Omron support.
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. See the following section for generating your debuginfo file.
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20 LD Cart Transporter User's Manual 14766-000 Rev H
1.4 How Can I Get Help?
Including a DebugInfo File
If the platform has been set up on a wireless network, skip to SetNetGo Access on page 21.
Network Setup
If the AMR 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 AMR 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.
(Windows 7)Start >Control Panel >(Network and Internet >)Network and Sharing Center
>Change adapter settings
(Windows 10)Start >Settings >Network and Internet >Change adapter options
Right-click on the LAN Connection, and click on Properties.
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 following…” radio but-
tons to enable them, and then type in the IP and netmask values.
Connect the network port of your computer to the platform's Maintenance port. See the figure
Location of Parts in the Payload Bay on page 146.