Route Management Manual

The Truck

The Light Curtain covers a 3-dimensiona l (generally cone-shaped) area from the Light Curtain Module to the floor in front and to the sides of the truck. If an obstruction is detected in the Light Curtain, the sensor’s LED turns orange and the automated truck stops. Figure4 shows the Light Curtain Module obstruction sensor dimensions.

NOTE: Side curtains (wings) are only active during turning.

ALeft/Right Wings75.5 inches (1917 mm)

BFront Field (width)46.5 inches (1206 mm)

CFront Field (length)40 inches (1016 mm)

DLeft/Right Fields65.5 inches (1663 mm)

NOTE: In Automatic Mode, this truck trav els in the tractor-first direction only.

The truck’s sensors do not detect obstructions behind and to the sides of the truck. Risk to pedestrians is higher in these areas, especially when the truck is turning.

Load Width Boundary

NOTE: Load width is at floor level.

NOTE: The load must be centered on the forks.

The truck’s load width boundary is defined as the width boundary of the truck with load (including any material overhanging a pallet) and pallet(s) and/or cart(s), while the truck is trave ling in a straight line. See the truck’s specifications tag, loca ted on the arch crossbar, for more information regarding the load width boundary. This boundary includes the load size and position relative to the truck. The lo ad should not exceed the load width boundary to make sure that the load st ays within the path detectable by the truck’s sensors when traveling straight in Automatic Mode; if a load extends beyond the load width boundary, it may not be protected by the truck’s sensors when traveling straight in Automatic Mode.

When turning, the load, cart(s), or forks will take a different path than the tractor and sensors. Be aware that these trailing sections of the truck will cut corners in turns, and may not be protec ted by the truck’s sensors. Make sure you do not program drop behaviors that may result in a previously dropped load being located in one of these unprotected areas.

Load Height

Ifa load extends beyond the light curtain, it will not be protected by the truck’s light curtain when trave ling straight in Automatic Mode.

When turning, the load, cart(s), or fo rks will take a different path than the tractor and sensors. Be aware that these trailing sections of the truck will cut corners in turns, and may not be protected by the truck’s sensors.

Be aware of overhanging obstacles not at floor level when tall or wide loads extend beyond the light curtain sensor field.

Taller or wider loads may extend ou tside the detection area of the light curtain. High or wide loads ma y create pinch, shear, crush, or contact points or may be dislodged by items extending into the aisle that are outside of the light curtain fields.

Additional guards or markers may be needed if the truck route includes overhanging obstacles. If possible, program routes through areas without these obstacles.

Operational Characteristics

This truck has several operational characteristics that change based on mode of operation. These characteristics include those shown in Table4 .

NOTE: The truck is in Manual Mode when training routes. The vehicle is completely under the control of th e operator. Manual Mode overrides certain sensors that are available in Automatic Mode only. Please refer to the Operator manual for a comple te list of features available in Manual and Automatic Mode. In Manual Mode, the operator is responsible for all truck functions.

NOTE: This truck automatically reduces speeds when turning in all modes of operation.

NOTE: Maximum steer angle is restricted while training routes to offer the automated truck a sharper steering angle so it can self-correct, should it find itself heading off- path when traveling in automatic mode.

Path

The truck is trained to follow a rout e. During normal operation while following a route in Automatic Mode, th e truck may deviate from the route by up to 6 inches to either side of th e route. The combination of the trained route and allowable deviation from that route is defined as the truck’s path.

The truck’s path and the clearances, from both fixed and movable objects, must be taken into account when considering Hazardous Zones, Restricted Areas (see “Hazardous Zones and Restricted Areas” on page43 “), and Stop Fields.

Automatic Mode Programmable Behaviors

Behaviors are programmable actions performed by the truck in Automatic Mode. They are programmed using the GOI at the appropriate location(s), as designated on the Fac ility Route Map, during route training. During automatic operation, the truck will perform the Behavior(s) at the programmed location(s) on the route. For instructions on how to train Behaviors in routes, see “Adding Behaviors” on page76 .

Travel distance and steering angle are the only manual inputs that the truck records during route training. Manually performing other desired actions, such as honking the horn, pausing, and changing speed, while training routes does NOT program the truck to perform those actions – these actions must be programmed as Behaviors. See “Adding Behaviors” on page76 for details on how to program Behaviors while tr aining routes.

NOTE: Behaviors and their settings cannot be added to a route, removed from a route, or be modified once the route training is completed. To add, remove, or modify behaviors af ter route training is complete, the route segment must be retrained.

Available behaviors are:

•Horn Honk

•Wait for Start

•Timed Pause

•Wait for Gate

•Drop-Off

•Zones

•Slow Travel

•Intersection Zone

•Ramp Zone

•Uneven Floor Zone

•Fire Door

Horn Honk

The Horn Honk Behavior sounds the au tomatic mode horn. A Horn Honk is often used by material handling equipment throughout facilities to indicate impending movement, such as:

•When approaching crosswalks

•In areas with obstructed views

•At intersections or when exiting aisles

Wait for Start

When a Wait for Start Behavior is selec ted, the automated truck will come to a stop and only resume travel afte r an operator presses the green Start button, located on the GOI. The blue in dicator light will blink during a Wait for Start Behavior. When the green Start button is pressed, the horn will sound and the automated tr uck will proceed on its route. This Behavior may be beneficial at workstations to allow operators to remove or add product.

Model 3020 only. If it is necessary to step between the truck and the cart or between carts while the au tomated truck is executing this behavior, the control handle should first be flipped up. This will prevent any unexpected movement of the vehicle. Once interaction with the cart(s) is complete, step out of the path of the automated truck, flip the control handle down, and then press the green Start button.

Timed Pause

A Timed Pause Behavior programs the au tomated truck to stop for a specified period of time. The truck will sound its horn to alert personnel in the area that the truck is about to begin movement before it resumes travel. Timed Pauses can be specified for any period of time ranging from 1 second to 60 minutes, in 1-second increments.

A Timed Pause might be trained into a route for several reasons, such as:

•At intersections, cross aisles, or end of aisles

•When approaching doorways