08
AGC Boards
Guidance Board
1) Radio Input
4) Diagnostic
Input
2) Camera
Input
3) GUI Input
9) T4 Terminal
Block
6) T1 Terminal
Block
5) Diagnostic
Port
Selector
10) Motor
Connection
13) Rabbit Core
Prog. Port
14) Dead
Reckon
Test
11) Analog
Connection
8) T3
Terminal
Block
7) T2 Terminal
Block
08_AGC Boards_1.01
Guidance Board
(Continued)
15) Guidance
16) Drive
Overload
17) Battery
Frequency
18) Range
Frequency
19) Camera
Override
20) Drives
Enable
21) Pendant
Guide Left
22) Pendant
Guide Right
12) Brake
Module
23) Pendant
Enable
25) Low Speed
24) High
Speed
26) Floor
Marker
Input
29) Dynamic Brake Enabled
27) Main Drive Enabled
30) Reverse Enabled
28) Steering Drive Enabled
08_AGC Boards_1.01
Power and Safety Board
37) LED#2
36) LED#1
34) P4 Terminal Block
38) LED#3
32) P2 Terminal Block
41) J6 Jumper
39) LED#4 & LED#5
43) Relays
35) J3 Connection
42) Jumpers
40) LED#6
33) P3 Terminal Block
31) P1 Terminal Block
(Weidmuller Terminal Blocks (Orange) may be present, Phoenix Terminal Blocks (Green) Shown)
08_AGC Boards_1.01
Steering and Drive Board
45) J2 Terminal
Block
47) J5 Connection
49) PLD Software
Version
46) J4 Connection
50) PLD Prog. Port
48) J6 Terminal
Block
51) Oscillator Bias
Adjust
53) Steering
Position
Feedback
Adjust
52) Oscillator
Amplitude
Adjust
44) J1 Terminal
Block
08_AGC Boards_1.01
Expander Board
56) Laser
Scanner
Connection
54) P2 Terminal
Block
57) PC
Connection
58) NPN/PNP
Config.
55) P4 Terminal
Block
Brake Adapter Board
59) Brake Disengaged
60) Master On
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.
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.
4
5
6
7
8
9
10
11
12
13
14
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.
GUI: Connects the Diagnostic Port to the graphical user interface.
T1 Terminal Block. 24V control power, pendant control.
Refer to AGC wiring diagram for more information.
T2 Terminal Block. 24V control power, charge relay, status outputs
Refer to AGC wiring diagram for more information.
T3 Terminal Block. Analog inputs, Current Sensing.
Refer to AGC wiring diagram for more information.
T4 Terminal Block. 5V control voltage.
Refer to AGC wiring diagram for more information.
Motor Connection to (47) J4 Connection on Drive Board
Analog Connection to (45) J5 Connection on Drive Board
Brake Module Port
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.
4: Not Used
08_AGC Boards_1.01
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
Guidance Status Indicator
Rapid Flash: Guidance Ok
0.5 Second Flash: Dead Reckon Mode Enabled
Steady On or Off: Guidance Not Ok
Drive Overload
Battery Frequency
Range Frequency
Camera Override
Drive Enabled
Pendant Guide Left
Light turns on when input from pendant tells cart to go left.
Pendant Guide Right
Light turns on when input from pendant tell cart to go right.
Pendant Enable
Light turn on when input from pendant tell cart to enable motion.
High Speed
Low Speed
Floor Marker Input
Light turns on while the proximity sensor senses a floor marker.
Main Drive Enabled
Steering Drive Enabled
Dynamic Brake Enabled
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.
P1 Terminal Block
31
Battery Power, Charger Power, Drive Board, Motor Power
P2 Terminal Block. safety inputs, switched power
32
Refer to AGC wiring diagram for more information.
P3 Terminal Block
33
Cart Power On/Off, E-Stop, Unswitched Power
P4 Terminal Block. brake power, light motor power/control, switched power
34
Refer to AGC wiring diagram for more information.
J3 Connection
35
Connection used for current sensing.
LED#1
36
Safety Circuit 1 Satisfied
LED#2
37
Safety Circuit 2 Satisfied
LED#3
38
Safety Circuit Check Satisfied
08_AGC Boards_1.01
39
40
41
42
43
LED#4 & LED#5
Safety override mode enabled.
LED#6
Master Relay On
J6 Jumper
Safety Mode Select Holding.
Jumpers
Safety Bypass
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.
J1 Terminal Block
44
Steering Motor Power
J2 Terminal Block
45
Drive Motor power
J4 Connection
46
Digital Signals from Guidance Board
J5 Connection
47
Analog Signals from Guidance Board
J6 Terminal Block
48
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.
P2 Terminal Block
54
Expanded Inputs, User Configurable based upon application.
P4 Terminal Block
55
Expanded Outputs, User Configurable based upon application.
56
Laser Scanner Connection
08_AGC Boards_1.01
57
58
PC Connection
Plug a serial cable into this slot to interface with the Laser Scanner.
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.
Brake Disengaged LED
59
On when brake is disengaged
Master On LED
60
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.
Power Connection
61
Provides power to light board.
Lighting LEDs
62
Provides light for illuminating stripe
08_AGC Boards_1.01