08_AGC Boards_1.01

08 AGC Boards

Guidance Board

3) GUI Input

1) Radio Input

6) T1 Terminal Block 5) Diagnostic

Port Selector

9) T4 Terminal Block

8) T3 Terminal Block

11) Analog Connection

10) Motor Connection 13) Rabbit Core

Prog. Port

7) T2 Terminal Block

14) Dead Reckon Test

2) Camera Input

4) Diagnostic Input

08_AGC Boards_1.01

Guidance Board

(Continued)

16) Drive Overload

18) Range Frequency

17) Battery Frequency

20) Drives Enable

19) Camera Override

22) Pendant Guide Right

21) Pendant Guide Left

23) Pendant Enable

24) High Speed

25) Low Speed

26) Floor Marker Input

29) Dynamic Brake Enabled

30) Reverse Enabled

27) Main Drive Enabled

28) Steering Drive Enabled

15) Guidance

12) Brake Module

08_AGC Boards_1.01

Power and Safety Board

(Weidmuller Terminal Blocks (Orange) may be present, Phoenix Terminal Blocks (Green) Shown)

31) P1 Terminal Block 33) P3 Terminal Block

34) P4 Terminal Block

32) P2 Terminal Block

36) LED#1 37) LED#2

38) LED#3

39) LED#4 & LED#5

42) Jumpers

40) LED#6

41) J6 Jumper

35) J3 Connection

43) Relays

08_AGC Boards_1.01

Steering and Drive Board

45) J2 Terminal Block

44) J1 Terminal Block

48) J6 Terminal Block

47) J5 Connection

46) J4 Connection

53) Steering Position Feedback Adjust

50) PLD Prog. Port

49) PLD Software Version

51) Oscillator Bias Adjust

52) Oscillator Amplitude Adjust

08_AGC Boards_1.01

Expander Board

Brake Adapter Board

56) Laser Scanner Connection

57) PC Connection

58) NPN/PNP Config.

54) P2 Terminal Block

59) Brake Disengaged

60) Master On

55) P4 Terminal Block

08_AGC Boards_1.01

Camera Board

61) Power Connection 62) Lighting LEDs

08_AGC Boards_1.01

Item # Description

Guidance Board IDC AGC3700 Processor Base supports the Rabbit Core processor module. The high performance processor supports analog and digital inputs along with serial and Ethernet connections. The processor base and core module is specifically design for AGC cart operation utilizing a specialized color camera to provide guidance to a steering servo drive and motor speed control. Most cart functions are stored in the core processor. Core processor is plug-in allowing for easy field updates.

1 Radio Communication Port. Connects to AGC Radio.

2 Camera Communication Port. Connects to AGC Camera Board.

3 Graphical User Interface (GUI) communications port. Connects to GUI.

4 Diagnostic Port for camera, radio and graphic user interface. This port connects to the device that is selected by the (6) Diagnostic Port Selector.

The Diagnostic Port Selector switches select the device that the (2) Diagnostic Port is connected to. Only one switch should be in the PC selection at a time. Run: Sets the corresponding port for normal cart operation. PC: Connects the corresponding port to the Diagnostic Port.

CAM-A: Connects the Diagnostic Port to the camera.

Comm: Connects the Diagnostic Port to the radio.

5

GUI: Connects the Diagnostic Port to the graphical user interface.

6 T1 Terminal Block. 24V control power, pendant control. Refer to AGC wiring diagram for more information.

7 T2 Terminal Block. 24V control power, charge relay, status outputs Refer to AGC wiring diagram for more information.

8 T3 Terminal Block. Analog inputs, Current Sensing. Refer to AGC wiring diagram for more information.

9 T4 Terminal Block. 5V control voltage. Refer to AGC wiring diagram for more information.

10 Motor Connection to (47) J4 Connection on Drive Board

11 Analog Connection to (45) J5 Connection on Drive Board

12 Brake Module Port

13 Rabbit Core Programming Port

Used to perform a Dead Reckon Test.

1: Dead Reckon to the left.

2: Dead Reckon to the right.

3: Dead Reckon enabled.

14

4: Not Used

08_AGC Boards_1.01

Guidance Status Indicator

Rapid Flash: Guidance Ok

0.5 Second Flash: Dead Reckon Mode Enabled 15

Steady On or Off: Guidance Not Ok

16 Drive Overload

17 Battery Frequency

18 Range Frequency

19 Camera Override

20 Drive Enabled

21 Pendant Guide Left Light turns on when input from pendant tells cart to go left.

22 Pendant Guide Right Light turns on when input from pendant tell cart to go right.

23 Pendant Enable Light turn on when input from pendant tell cart to enable motion.

24 High Speed

25 Low Speed

26 Floor Marker Input Light turns on while the proximity sensor senses a floor marker.

27 Main Drive Enabled

28 Steering Drive Enabled

29 Dynamic Brake Enabled

30 Reverse Enabled

Power and Safety Board IDC PSB-SFTY-BRD is used to distribute power to all components. With force guided contacts monitoring a safety circuit, the power safety board has the ability to control power to devices based upon a safe condition being satisfied.

31 P1 Terminal Block Battery Power, Charger Power, Drive Board, Motor Power

32 P2 Terminal Block. safety inputs, switched power Refer to AGC wiring diagram for more information.

33 P3 Terminal Block Cart Power On/Off, E-Stop, Unswitched Power

34 P4 Terminal Block. brake power, light motor power/control, switched power Refer to AGC wiring diagram for more information.

35 J3 Connection Connection used for current sensing.

36 LED#1 Safety Circuit 1 Satisfied

37 LED#2 Safety Circuit 2 Satisfied

38 LED#3 Safety Circuit Check Satisfied

08_AGC Boards_1.01

39 LED#4 & LED#5 Safety override mode enabled.

40 LED#6 Master Relay On

41 J6 Jumper Safety Mode Select Holding.

42 Jumpers Safety Bypass

43 Relays Pin Lift Control. Based upon cart options, relays may be present.

Steering and Drive Board IDC Model DD-2060 servo drive board is dual channel MOSFET pulse width driver capable of operating two servomotors, one for steering and one for motor drive. The servo inputs are capable of being commanded by an external pulse width signal for steering position and drive speed. Motor drive is speed regulated with a pulse tachometer sensor that also provides position (distance) counting to the processor board. Dynamic braking and reversing can be selected by command from the host controller. Drive provides filtered & buffered speed & current signals to the host controller for diagnostics.

44 J1 Terminal Block Steering Motor Power

45 J2 Terminal Block Drive Motor power

46 J4 Connection Digital Signals from Guidance Board

47 J5 Connection Analog Signals from Guidance Board

48 J6 Terminal Block Position Sensing, Tachometer, and Drive Enable

49 PLD Software Version

50 PLD Programming Port

52 Oscillator Bias Adjust

52 Oscillator Amplitude Adjust

53 Steering Position Feedback Adjust

Expansion Board IDC AGC-3700B EXP provides access to the use of a laser scanner, in addition the user gains the use of more I/O to assist in other AGC applications such as part in place proximity sensors, status indicators, or whatever needs may exist for 24V control power.

54 P2 Terminal Block Expanded Inputs, User Configurable based upon application.

55 P4 Terminal Block Expanded Outputs, User Configurable based upon application.

56 Laser Scanner Connection

08_AGC Boards_1.01

57 PC Connection Plug a serial cable into this slot to interface with the Laser Scanner.

58 NPN/PNP Configures the Laser Scanner Inputs/Outputs to act as NPN or PNP.

Brake Adapter Board IDC Model AGC 3700-BD is used to assist with the normally closed electrically guided brake. This is a high current brake driver to create better stopping ability and safer running carts. The brake will only be disengaged when told to release, if power were to fail the brake would be applied, making for a fail-safe device.

59 Brake Disengaged LED On when brake is disengaged

60 Master On LED On when both safety circuits have been satisfied

Light Board IDC Model LAMP-18 provides a uniform band of light to aid in providing a constant image color for the camera to follow.

61 Power Connection Provides power to light board.

62 Lighting LEDs Provides light for illuminating stripe