Ce676 4CBTR RM 3-4

10-1
REMOTE CONTROLLER SPECIFICATION

Page Page
0
Overview.............................. 10-2 System Configuration 1
Overview .............................. 10-53
Sales points.............................. 10-2
External input and output..... 10-54
2
Handling ................................... 10-3
Bumper .............................. 10-18
COMPONENTS....................... 10-62 3
Error detection....................... 10-64
BUMPER REMOVAL- 4
INSTALLATION .................... 10-20 TROUBLESHOOTING ....... 10-66
Bumper adjustment Trouble shooting table.......... 10-66 5
procedure ............................. 10-23
Bumper Bracket Removal
TROUBLESHOOTING............ 10-67 6
Procedure............................. 10-26 Sensors.............................. 10-89
Guide sensor ......................... 10-89
7
Retractable device ............ 10-28
GENERAL ............................... 10-28
Address sensor ..................... 10-99 8
Setting addresses for
COMPONENTS ....................... 10-29
stopping at multiple 9
REMOVAL-INSTALLATION ... 10-31 set points ........................... 10-105
Adjustment procedure .......... 10-34 Stop sensor.......................... 10-109
10
Steering motor .................. 10-37 Signal horn........................... 10-112 11
Switches and Lamps ...... 10-116
GENERAL ............................... 10-37 12
SPECIFICATIONS................... 10-40 Rear tower ....................... 10-119
COMPONENTS ....................... 10-42 GENERAL............................. 10-119
13
REMOVAL-INSTALLATION ... 10-43 REMOVAL- 14
INSTALLATION.................. 10-122
Controller........................... 10-50
Procedure for setting 15
GENERAL ............................... 10-50
receiver frequency
SPECIFICATIONS................... 10-51 and code ........................ 10-125 16
As for items which are not covered in this section, see sections 0 to 9 and appendix tables.
17
18
10-2
Overview
Sales points
1. Excellent traveling performance
(1) AC motor drive provides constant speed in remote control travel regardless of the size of the tow capacity,
allowing stable traveling at all times.
(2) Remote controlled braking combines regenerative brakes and electromagnetic brakes to achieve improved
braking performance.
2. Excellent environmental performance
(1) Waterproof construction is used for the sensors to improve water resistance, thereby allowing traveling in
the rain under manned operation.
3. Safety functions
(1) In infra-red obstacle sensor and safety bumper are fitted so that the vehicle will reduce speed and stop on
encountering an obstacle.
(2) Emergency stop switches are provided on all four corners of the vehicle.
(3) Operator presence sensing function allows remote control operation to be prohibited when a mounted
operator is detected.
(4) If the battery lock is off when the brake is operated, remote control operation is prohibited.
(5) The vehicle stops when it has gone out of the course.
4. Operability
(1) A course detection lamp makes it easier to determine the position of the magnetic tape.
(2) LED display lamps are fitted to make it easy to check the remote controlled operation status.
10-3
Handling
GENERAL
Remote controlled operation functions have been added to the Tugnova standard vehicle, so that the vehicle can
now be started and stopped from a remote position, thereby reducing line supply time and other operation losses.
Conventional manned travel is also possible by operating the levers in the driver’s seat. 0
1
Remote Controller
2
3
Stopping and starting by operation
4
5
of the remote controller
6
7
The vehicle travels along magnetic tape on
the floor during remote controlled operation
8
9
10
Operation patterns for remote control
11
Remote control operation allows selection of three types of traveling pattern.
Inching function (standard)
Traveling between two points function (OPT)
12
Stopping at multiple set points function (OPT)
13
14
15
16
17
18
10-4
1. Inching function
The vehicle moves forward only when the inching switch on the remote controller is being pressed, and slows
to a stop when the switch is released.
Practical example:
(a) Move the vehicle forward by remote control operation and align with the position of the parts shelf while
working.
(b) When aligning the position, the vehicle can be advanced by remote control, without returning to the
driver’s seat enabling a good work efficiency.
(c) The vehicle can be moved quickly between operations by manned travel.
Manned Travel Inching travel by remote controlled operation
High speed movement to the target line by

manned travel
Production line
Work while inching by remote controlled

operation
Dolly
Move by manned travel from

the previous operation
Magnetic tape stuck to the floor

Traction
vehicle
Parts rack
10-5
2. Traveling between two points function (OPT)

The vehicle starts traveling by operation of the start switch on either the remote controller or the vehicle, then,
the vehicle travels automatically to the position of a stop marker, then, after reading the stop marker, the vehicle
slows to a stop.
(Start switch on the remote controller is OPT: Remote unmanned start device*)
(For five seconds on starting the vehicle travels at 1 km/h).
0
Practical example:
(a) Travel unmanned between operations, advance the vehicle by remote control at the side of the line to
align it with the parts while working.
1
2
Inching travel by remote controlled Unmanned traveling between
operation two points
3
• Stop at stop marker • Send off using the start switch 4
5
Parts line 6
7
• Stop at stop marker
8
9
10
11
12
13
Assembly line
14
• Send off using the start switch • Work while inching by remote controlled
operation 15
*: When the OPT remote unmanned start device is selected, the vehicle can be started using the start switch on the
remote controller.
16
Please note that in this case there is no start switch set on the vehicle.
17
18
10-6
3. Stop at multiple set points function [with speed reduction function] (OPT)
(1) The vehicle starts traveling by operation of the start switch on either the remote controller or the vehicle,
then, the vehicle travels automatically to the position of a set address marker, then, after reading the
address marker, the vehicle slows to a stop.
(Start switch on the remote controller is OPT: Remote unmanned start device*)
(For five seconds on starting the vehicle travels at 1 km/h).
(2) The setting of the stop address is performed with the address selection switch on the vehicle (max. 10
places)
Practical example:
(a) Travel unmanned between operations to set address, advance the vehicle by remote control at each
operation to align it with the parts rack while working.
10-7
Inching travel by remote controlled Unmanned traveling between

operation multiple set points
Vehicle address selection switch

Set the places to stop with the switch
• Send off using the start switch

• Stop at the address
marker
• Work while inching by remote

controlled operation
• Stop at the address marker
Stop at the address marker
• Send off using the

start switch
• Work while inching by remote

controlled operation
• Stop at the address marker • Stop at the address marker
*: When the OPT remote unmanned start device is selected, the vehicle can be started using the start switch on the
remote controller.
Please note that in this case there is no start switch set on the vehicle.
10-8
Speed Reduction Function

This function raises stopping accuracy by beginning to reduce speed from before the selected stop address
marker, thereby shortening the stop braking distance.
The vehicle reduces speed to 1 km/h by reading a speed reduction marker. Thereafter, it stops by reading the
selected stop address marker.
When a non-selected address marker is read, the vehicle determines that it is not a stop address marker, and
does not stop, accelerating to a speed of (3.6 km/h) to continue traveling.
If an address marker is not read within 10 seconds of beginning to reduce speed, the vehicle determines an error
has occurred and sounds an error warning and stops.
Speed reduction marker Selected: Address marker
3.6 km/h
Speed
reduction
Stop
1 km/h
Speed reduction marker Non-selected: Address marker
3.6 km/h Speed Acceler 3.6 km/h

reduction ation
Error stop
1 km/h
10 seconds
10-9
Remote Controller
Power light Start switch (Option)
Transmitting lamp Horn switch
Low Battery Warning Lamp Inching switch
Emergency stop switch Standby switch
When the vehicle is ready for unmanned traveling, the vehicle can be operated remotely by its remote controller.
Note:
• Always operate switches with your fingertips.
• Always check the safety of the vehicle periphery before operating the remote control.
• Do not perform remote control operations while mounted on the vehicle.
• Do not perform remote control travel outside of flat areas as there is a risk of damage being caused
to the guide sensor by surface irregularities on the course.
• Do not perform remote control operation close to facilities that emit noise that is close to radio
frequencies, such as high frequency electric furnaces, as this may cause malfunction.
• Do not perform remote control operation close to facilities that block electromagnetic waves, such
as iron partitions, as this may cause malfunction.
• Never perform remote control operations while the battery hood is open.
1. Power lamp (Red)
This lamp turns on for 3 seconds when the standby switch has
been pressed. (Ready to send traveling commands)
10-10
2. Transmission lamp (Red)

This lamp turns on during transmission of electromagnetic
waves.
3. Low Battery Warning Lamp (Red)

This lamp turns on when the remaining battery power in the
transmitter is low.
Note:
As operation during low remaining battery power can cause
malfunction, replace the battery promptly when the warning
lamp has turned on.
4. Emergency stop switch

This switch can be pressed to stop the vehicle in the event of
unexpected trouble occurring during remote control traveling.
Note:
To restart the vehicle, press the reset switch to unlock
abnormal stop mode, then press the standby switch to put the
vehicle into ready mode and allow remote control operation
again.
5. Start switch (Option)

When a remote unmanned start device (option) is set on a
vehicle with traveling between 2 points function (option) or a
vehicle with stopping at multiple set stops function (option), the
vehicle can be started by this switch.
Vehicles that do not have a remote unmanned start device
(option) set do not have a start switch on the remote controller,
so the start switch on the vehicle is used.
Note:
• Please note that if the vehicle is not operated within 3
seconds of pressing the standby switch, travel
commands will not be able to be transmitted.
• Always check the safety of the vehicle periphery before
starting the vehicle.
10-11
6. Horn switch
7. Inching switch
The vehicle can be advanced only while pressing this switch.
(Inching function)
When the switch is released, the vehicle slows to a stop.
Note:
• Please note that if the vehicle is not operated within 3
seconds of pressing the standby switch, travel
commands will not be able to be transmitted.
• Always check the safety of the vehicle periphery before
starting the vehicle.
8. Standby switch
When the switch is pressed, traveling commands can be
transmitted for an interval of 3 seconds during which the power
lamp turns on.
LED Display Lamp

LED Display Lamp These lamps turn on or off during remote control travel to inform the
operator of the vehicle status.
Refer to the table below for the display and meaning of each LED.
LED Display Description
• Blinking with 0.2 second cycle
Performing remote control travel
• Blinking with 1 second cycle
Yellow blinking Vehicle is stopped (ready mode)
Performing remote control reduced speed
travel
• Blinking with 0.2 second cycle
Abnormal stop such as emergency stop or
Red blinking stop due to contact with safety bumper
Vehicle is stopped (ready mode)
Turns on white Key switch on
10-12
Signal horn
Signal horn The signal horn sounds various warnings during remote control
travel.
Refer to the table below for the sound and meaning of each
warning.
Warning sound Description
Sounds when the obstacle sensor, safety
Beep (slow
bumper or some other safety function detects
intermittent horn)
an error.
Stutter (rapid
Warning horn prior to starting.
intermittent horn)
Bell (clear high-
Warning during traveling and after stopping
pitched bell)
Signal of arriving at a station
Yelp**** (rapid (Vehicles with travel between 2 points function
siren) and vehicles with stopping at multiple set stops
function: Option)
* Over the continuous travel time limit (120 seconds), out of the
course, accelerator lever, parking brake, OPS switch battery
stopper, emergency stop switch emergency stop switch
operation
10-13
VEHICLE EXTERIOR VIEW

4CBT2R • 3R • 4CBTK4R
Start switch (OPT)
Receiver and antenna
LED Display Lamp
Emergency stop switch
Address selection switch (OPT)

Start switch (OPT)
Obstacle sensor
Retractable device (built in)
Bumper
Signal horn
10-14
4CBTY2R • 4CBTYK4R
Start switch (OPT)
Receiver and antenna
LED Display Lamp
Emergency stop
switch
Start switch
Address selection (OPT)
switch (OPT)
Emergency stop switch Emergency stop

switch
Obstacle sensor
Retractable device (built in)
Signal horn
Bumper
10-15
Drawing showing the layout from the operator’s seat

Ready switch
Bumper error lamp
Course detection lamp
Steering error lamp
Emergency stop lamp
Ready switch
Reset switch Manned/Unmanned Selection Lever
10-16
Ready switch
Course detection lamp

Bumper error lamp
Steering error lamp

Emergency stop lamp
Ready switch
Manned/Unmanned Selection Lever

Reset switch
10-17
Name function
Manned/Unmanned
Switches between “Manned travel” and “Unmanned travel”.
Selection Lever
This lamp turns on when the vehicle has gone out of the course, or when an error occurs in the
Steering error lamp (Red)
automatic steering system. In such cases, the vehicle stops and unmanned travel is disabled.
Bumper error lamp (Red) This lamp turns on when the safety bumper encounters an obstacle and the vehicle stops.
In the following cases the lamp turns on or blinks, and unmanned travel is disabled.
Emergency stop lamp Turns on: When the emergency stop switch has been pressed to stop the vehicle
(Red) Blinks: When the emergency stop switch on the remote controller has been pressed to stop the
vehicle
Turns on: When the guide sensor has detected the course in unmanned travel mode
Turns off: When the vehicle enters one of the following states during unmanned travel mode,
Course detection lamp the lamp turns off and unmanned travel is disabled.
(White) • When the guide sensor does not detect the course
• When the vehicle goes out of the course while traveling
• When an error occurs with the retractable device
When the switch is pressed the lamp turns on and the vehicle becomes ready for unmanned
Ready switch
travel.
When the vehicle has stopped with one of the above abnormal situations, press the reset
Reset switch
switch before repairing the place with the error.
10-18
Bumper
GENERAL
Bumper bracket
Obstacle sensor
Front cover
Signal horn
Upper cover
Bumper
Urethane rubber
Bumper arm
10-19
COMPONENTS
Bumper arm
Set plate
Bolt Screw
Nut plate
Limit switch
Bolt
Snap ring Washer
Bushing
Roller
Spacer
Bumper arm
Hook
Stopper bolt Bushing Edge rubber
Lock nut Spacer
Thrust washer
Tension spring
10-20
Bolt
BUMPER REMOVAL-INSTALLATION
Removal Procedure
1. Remove the upper cover. (Three bolts)
Upper cover
Bolt 2. Remove the front cover attachment bolts.

(Four bolts)
3. Move the front cover aside slightly and disconnect the signal
horn connector.
4. Remove the front cover.
Front
cover
Signal horn
Disconnect the
connector.
5. Remove the left and right tension springs following the

Bolt procedure below.
(1) Loosen the hook attachment bolts.
Hook
(2) Loosen the adjustment bolts.
Note:
Do not remove the hook attachment bolts and adjustment
bolts.
6. After loosening the lock nut, tighten the stopper bolt and
Stopper bolt
loosen the tension of the tension spring.
Lock nut
Bumper arm
10-21
7. Remove the tension spring.

Tension spring
Large hook Note:
Attach the large hook of the tension spring to the hook
side, and the small hook to the bumper arm side.
Hook
Small hook
Bumper arm
Stopper bolt 8. Disconnect the connector of the limit switch.

9. Remove the bumper arm attachment bolts.
Bolt
Washer
Limit
switch
Bumper arm
Detail of bumper arm attachment section
Bolt
Washer
Bushing
Bumper arm
Tension spring
Thrust washer Washer
10. Remove the bumper W/bumper arm.

Note:
1 • Be careful of the bush falling off.
• Be careful not to touch the limit switch.
2
10-22
11. Remove the bumper arm attachment bolts, then remove the
Bolt nut plate.
Nut plate
12. Remove the bumper arm from the bumper.
Installation Procedure
The installation procedure is the reverse of the removal procedure.
Bumper arm
10-23
Bumper adjustment procedure

Bumper attachment and adjustment
Nut plate Bumper
Bumper bracket
Bumper bracket
Tension spring
Attach the bumper so that the dimension of the step A between the bumper and the bumper bracket is within 2 mm
[0.079 in] to the left or right****, then fasten the nut plate.
A = 10 mm [0.39 in]
10-24
Tension spring tension adjustment
Bumper
Bumper arm A
Hook attachment bolt
Hook
Small hook Large hook
Bumper bracket
Adjustment bolt
Tension spring
1. Hook up the spring between the bumper arm and the hook.
Note:
Attach the large hook of the tension spring to the hook side, and the small hook to the bumper arm side.
2. Tighten the adjustment bolt until the dimension A reaches the standard.
A = 46 to 47 mm [1.81 to 1.85 in]

3. Fasten the hook with the hook attachment bolt.
10-25
Adjust the limit switch
Bumper arm
Tension spring
Limit switch
1. Loosen the limit switch attachment screws.

2. After adjusting the spring, press the bumper arm fully in, then press the limit switch until it clicks on the bumper
arm side.****
3. Fasten the limit switch attachment screws.
10-26
Bumper Bracket Removal Procedure

Obstacle sensor 1. Disconnect the connector of the obstacle sensor.
Bumper bracket
Bumper bracket
attachment bolt
Wooden block
Wooden block
2. Place a wooden block under the bumper bracket.

3. Remove the bumper bracket attachment bolts.
10-27
Move
4. Remove the bumper bracket from the vehicle.
Bumper bracket adjustment procedure
Bumper attachment and adjustment
Bumper
Bumper bracket
A
Frame
1. Attach the bumper so that the dimension of the step A between the bumper and the bumper bracket is within 2
mm [0.079 in] to the left or right****, then fasten the nut plate.
A = 10 mm [0.39 in]
10-28
Retractable device
GENERAL
The following sensors needed for unmanned traveling are attached to the retractable device.
• Guide sensor
• Stop sensor
• Address sensor
• Manned/Unmanned selection switch
The retractable device is operated by the manned/unmanned selection lever in the driver’s seat.
When the manned/unmanned selection lever is operated, the retractable device moves up and down, and manned
or unmanned travel can be selected.
The retractable device is attached to the front axle bracket.
Bumper
Frame
Retractable device
Bumper bracket
Retractable wire
Manned/Unmanned
selection switch
Retractable device
Guide sensor Address sensor
Stop sensor
10-29
COMPONENTS
Knob
Retractable wire
mount
Spring mount
Manned/Unmanned Selection Lever

Shaft mount
Pin
Pin Bushing
Screw
Snap ring Flat washer
Flat washer
shaft
Pin
Lever
Flat washer
Damper Cotter pin
Spacer Bolt
Flat washer
Bushing
Flat washer Spring

nut
nut
Spacer
Retractable wire Clamp
10-30
Limit switch
mm [in]
(Movement until
operation)
1.5 max
(Operation position)
Mounting hole 4.2 +0.1 [0.165 +0.004

[1.472± 0.031]
0 0
]
37.4±0.8
Connector
33±0.15
[1.30± 0.006]
10-31
Pin
REMOVAL-INSTALLATION
Removal Procedure
1. Remove the bumper and the bumper bracket.
2. Disconnect the retractable wire.
Flat washer Cotter pin
3. Remove the bolt and nut that fastens the retractable wire.
nut Washer
Note:
Remove the clamp attaching bolt, then remove the clamp
from the retractable wire.
4. Disconnect the connector of the guide sensor.

Note:
Where a stop sensor and address sensor are fitted,
remove the connectors for each sensor.
Connector
5. Remove the harness clamp from the retractable device. (In 2

Bolt places)
Harness clamp
10-32
6. Remove the under cover.
Under cover
Bolt
7. Remove the attaching bolts of the retractable device (2 pcs).

Note:
Lower the retractable device, being careful not to contact
and damage the sensors.
8. Remove the retractable device from the vehicle.
Bolt 9. Remove the toe board and remove the retractable wire clamp.
(In 3 places)
Retractable wire
Note:
from the retractable wire.
Clamp
10-33
10. Remove the retractable wire clamp on the left hand side of the
front protector. (In 1 place)
Parking brake wire Retractable wire
Note:
Clamp from the retractable wire.
Bolt
Grommet
11. Remove the emergency stop switch from the left hand side of
Bolt the front protector.
Emergency Note:
stop switch Fasten the emergency stop switch to the front side of the
front protector.
12. Remove the retractable wire together with the instrument

panel (LH) from the vehicle.
(1) With the manned/unmanned selection lever, fuse and
warning lamp attached to the instrument panel (LH),
remove the attachment bolt.
(2) With the instrument panel lifted slightly, disconnect all the
connectors.
(3) Remove the retractable wire together with the instrument
panel (LH) without pulling excessively.
10-34
Adjustment procedure
Adjust the guide sensor
1. Press the manned/unmanned selection lever down, and put the retractable device in the lowered position.
2. Adjust the distance A from the guide sensor to the floor to the standard.
Standard A = 25 to 30 mm [0.98 to 1.18 in]
At this time the distance B becomes 8mm [0.315 in]. (Reference)

10-35
3. Adjust the dimension C so that the guide sensor and the floor surface become parallel to each other. (The degree
of parallel may be determined visually)
Reference C = 31 mm [1.22 in]

Note:
After adjustment, be sure to apply a lock nut to prevent the bolt from loosening.
10-36
Adjust the retractable wire
Manned/Unmanned
Selection Lever Clamp nut
1. Operate the manned/unmanned selection lever into the fully pressed down position.
2. Move the wire clamp and tighten the nut to fasten the wire clamp in the position where there is no play left in the
wire.
Note:
After adjustment, be sure to apply a lock nut to prevent the bolt from loosening.
10-37
Steering motor
GENERAL
Steering wheel
Steering motor
View from perspective A
• During manned travel

Operate the steering wheel to change the direction of travel.
• During unmanned travel
The signal from the guide tape enters the controller, and the motor is driven by a signal from the controller to
change the direction of travel.
10-38
Steering wheel
Steering motor
View from perspective A
• During manned travel

Operate the steering wheel to change the direction of travel.
• During unmanned travel
The signal from the guide tape enters the controller, and the motor is driven by a signal from the controller to
change the direction of travel.
10-39
Unit: mm [in]
M6 tap,
depth 15
4-M6 × 90
Position to affix part
1 2
(Black) (Red)
Connector pin
arrangement
Connection diagram
The direction of rotation is the clockwise direction viewed from the
output axle side when the red wire (2nd pin) is connected to the +
Red (2nd pin) side.
(The motor unit also rotates in the clockwise direction)****
Black (1st pin)

10-40
SPECIFICATIONS
Specification with speed reducer
Item Standard:
Rated output W 154
Rated speed r/min 60
Rated torque N • m (kgf • cm)[ft • lbf] 24.5 (250) [18.1]
Rated voltage V 48
Rated current A 6.5
Instantaneous maximum allowable

A 20
current
Continuous rating 60 minutes
Insulation type Type F
Withstand voltage AC 500 V, 50 Hz, 1 minute
Insulation resistance 10MÉ¹ or more at DC 500 Megavolt
Weight kg[lb] 4.5 [9.9]
Exterior coating Yoke: plated, Gears: Black paint, Other: untreated
Speed reducer specification

Item Standard:
Gear ratio 1/50
Efficiency 0.66
Motor unit
Item Standard:
Motor unit rated output W 233
Motor unit rated torque N • m (kgf • cm)[ft • lbf] 0.74 (7.5) [0.55]
Motor unit rated speed r/min 3000
Continuous rated torque during

N(kgf) [lbf] • min 0.81 (0.08) [0.18]
speed reduction
Actual continuous rated current

A 6.5
at reduced speed****
Counter electromagnetic force

V/kr/min 13.0
constant
Torque constant N • m (kgf • cm)[ft • lbf]/A 0.123 (1.254) [0.091]
Armature inertia kg-m2(GD2/4) 2.45 × 10-4
Armature resistance Ω 0.91
Armature inductance mH 3.5
Frictional torque N • m (kgf • cm)[ft • lbf] 0.03 (0.306) [0.02]
Maximum allowable speed r/min 5500
Instantaneous maximum torque N • m (kgf • cm)[ft • lbf] 2.5 (25.5) [1.84]

10-41
Item Standard:
Maximum theoretical
acceleration rad/s2 10200
Mechanical time constant ms 14.5
Electrical time constant ms 3.85
Thermal elevation limit of coil °C [°F] 155 [311]

10-42
COMPONENTS
Steering motor
Key
(Steering motor accessory)
Bolt
Flat washer
Adjustment bolt
Adjuster
nut
Lock nut
Plug
Sprocket
Spacer
Bolt
Steering motor chain
Sprocket
Plug
(Front axle)
Key
10-43
Front cover
Removal Procedure
Bolt
2. Loosen the 4 attachment bolts for the adjuster.

Steering motor
Note:
Do not remove the bolts.
Adjuster
Bolt
3. Move the steering motor W/adjuster to the center of the

vehicle.
(1) Loosen the lock nut.
(2) Loosen the adjustment bolt to its limit.
Adjustment bolt
(3) Move the steering motor W/adjuster to the center.
Lock nut
Adjuster
4. Disconnect the steering chain link.

Note:
Operate the steering wheel so that the clip comes to just
in front of you.
Clip
Plate
link
Steering chain
10-44
5. Remove the steering chain.

Note:
Apply MP grease to the sprockets on the motor side and
axle side, and attach the steering chain.
6. Disconnect the retractable wire from the front protector.

Retractable wire
7. Disconnect the connector of the steering motor.
Clamp
Connector
Bolt
8. Remove the instrument panel (LH).

(Refer to 10-33)
10-45
9. Remove the steering motor.

Steering motor
(1) Remove the loosened bolts.
(2) Remove the adjuster, sprocket, and adjustment bolt
together.
Adjuster
Adjustment bolt Sprocket
10. Remove the plug from the sprocket.
Sprocket
11. Remove the sprocket from the front axle side.
Note:
When reassembling the plug, be sure to apply Three Bond
1401-B or an equivalent product.
Plug
12. Use the SST and remove the sprocket.

SST SST 09950-76013-71
(09950-40010)
10-46
Removal Procedure
Front
Bolt
cover
Bolt
Bolt
2. Loosen the 4 attachment bolts for the adjuster.

Steering motor
Note:
Do not remove the bolts.
Bolt
Adjuster
3. Move the steering motor W/adjuster to the center of the

vehicle.
(1) Loosen the lock nut.
(2) Loosen the adjustment bolt to its limit.
Lock nut
(3) Move the steering motor W/adjuster to the center.
Adjuster
Adjustment bolt
10-47
4. Disconnect the steering chain link.

Note:
Operate the steering wheel so that the clip comes to just
Clip
in front of you.
Plate
Steering chain
link
5. Remove the steering chain.

Note:
Apply MP grease to the sprockets on the motor side and
axle side, and attach the steering chain.
6. Disconnect the retractable wire from the front protector.

Retractable wire
7. Disconnect the connector of the steering motor.
Clamp
Connector
Bolt
10-48
8. Remove the steering motor.

Steering motor (1) Remove the loosened bolts.
(2) Remove the adjuster, sprocket, and adjustment bolt
together.
Adjuster
Adjustment
bolt Sprocket
9. Remove the plug from the sprocket.

10. Remove the sprocket from the front axle side.
Sprocket Note:
When reassembling the plug, be sure to apply Three Bond
1401-B or an equivalent product.
Plug
11. Use the SST and remove the sprocket.

SST 09950-76013-71
(09950-40010)
SST
10-49
Steering chain adjustment procedure

1. Tighten the adjustment bolt by hand until it comes into contact
Lock nut with the frame.
2. From the status in 1., tighten the adjustment bolt a further one
turn (to tension the steering chain).
3. Fasten with a lock nut.
Adjuster
Adjustment bolt
10-50
Controller
GENERAL
Emergency stop relay
Drive contactor
Drive controller
Remote control contactor
Remote control controller

10-51
1. Manned travel mode

Even when the controller has been used, the manned travel functions of the vehicle can be retained by selecting
manned travel mode.
2. Remote inching function
In this mode, the vehicle travels along the magnetic tape route only while the inching button on the remote
controller is being pressed.
3. Traveling between two points ST
In this mode, traveling is initiated by pressing the continuous start button on either the remote controller or the
vehicle, then the vehicle stops automatically when it detects a station stop marker.
4. Stop at multiple set points ST traveling (with speed reduction function)
In this mode, the number of the destination station is pre-selected, then traveling is initiated by operation of the
continuous start button on either the remote controller or the vehicle.The vehicle stops when it detects an
address marker corresponding to the selected station.
5. During remote control travel, the controller controls the travel start and travel stop commands to the AC inverter
on the vehicle.
6. The controller controls the safety equipment such as the emergency stop switch, obstacle sensor and bumper.
SPECIFICATIONS
Item SPECIFICATIONS
Ambient temperature 0 to 50°C [32 to 122°F]
Ambient humidity 30 to 85% RH
10 to 55 Hz, 1 sweep/1 minute,

Controller ambient Vibration resistance
Double amplitude 0.75 mm [0.03 in], 10 minutes in each direction X/Y/Z
environment
Shock resistance 98 m/s2, Each direction, 4 times
No corrosive gas
Atmosphere
No severe dust
DC 48 V Lead battery
Input power
Voltage range 40 to 52 VDC
DC 24 V (Created by DC/DC power source inside the controller)

Control power
(Excluding board-internal power supply)
1 to 4km/h [0.621 to 2.484 mph] (Set by variable resistor inside the

Travel speed during remote control operation
controller)
Compatible motor 48V 154W DC motor
Control method PWM method

Steering motor control
Overcurrent detection
14.8 ±1.5 A (emergency stop if continued for 10 seconds)
value
Guidance method Magnetic guidance

Guidance control
Minimum curve radius R1500 mm [59 in]
Unit: mm [in]
External connector (1)
10-52
A
External connector (2)
For attaching section a unit

3 pcs****-φ7 thickness 12.3
Slotted
hole
Name 7 x 12
plate
System Configuration Overview
Remote controller
Magnetic guide
sensor
Battery Contactor EPS controller
DC 48 V (Steering motor control)
DCM DC motor
MC
Emergency stop
switch
Safety
PLC Controller
(Programmable controller) Ready
DC/DC power switch
supply CPU I/O
24 V Unit 1
I/O Input device
Unit 1 Switch,
I/O sensor,
Relay circuit
Unit 2 etc.
(Isolation from
AC inverter for
manned
traveling
operation
devices)
48 Input points Input device
48 Output points Lamp,
horn,
etc.
Speed • Some devices are omitted from this diagram.

adjustment • The configuration may differ from the actual machine
(Variable resistor) depending on the specification.
• For details of connection, refer to the Controller Connection
Diagram.
• This product does not include devices other than the remote
system controller.
10-53
External input and output
10-54
Note:
• For details of connection, refer to the wiring diagram.
• LP.stands for lamp, while SW.stands for switch.
• There is no overcurrent protection on the I/O output terminal of the controller.
• Do not apply any voltage other than DC 24 V to the controller I/O terminals.
• When using the 24 V power supply of the controller externally, make sure that the total current in use does not exceed 2.8 A.
• When connecting an induced load, provide a protective diode on the external device side.
• There are several connectors with the same pole number as the external input output connector. There is no protection to prevent insertion of
the wrong connector.
• Have the power turned off when inserting or removing connectors.
Connector No. Wire No. Name IN/OUT Supplements
• DC 48 V positive side for control supply of controller

VBKY Controller control power + IN 48 V 5 A
• Linked with vehicle key switch
CN311 N1 Controller control power - IN 48 V • DC 48 V negative side for control supply of controller
P48 Controller drive power + IN 48 V 20 A • DC 48 V positive side for driving steering motor
N1 Controller drive power - IN 48 V • DC 48 V negative side for driving steering motor
• Connected with direction switch for manned operation

DIF1 Direction SW. Forward Device side IN 24 V • If ON for more than 2 seconds during remote control mode travel,
emergency stop
• During manned operation, outputs direction SW. signal

DIF2 Direction SW. Forward Controller side OUT 24 V 100 mA
• During remote control mode, output from controller when traveling starts
• Connected with direction switch for manned operation

DIR1 Direction SW. Reverse Device side IN 24 V • If ON for more than 2 seconds during remote control mode travel,
emergency stop
CN312 • During manned mode, outputs direction switch signal
DIR2 Direction SW. Reverse Controller side OUT 24 V 100 mA
• During remote control mode, OFF
AC1 Accelerator resistance middle terminal (IN) • Connected with accelerator signal for manned operation
• During manned mode, outputs accelerator signal

AC2 Accelerator voltage output OUT • During remote control mode, outputs voltage set by controller speed
adjustment VR
ACP1 Accelerator resistance + (OUT) • Positive side of accelerator resistance for manned operation
ACP2 Accelerator power supply + IN 5 V • Positive side of 5 V supply for accelerator resistance
ACS1 Accelerator SW. IN 24 V • Accelerator switch for manned operation
• In manned mode, outputs accelerator switch signal unchanged

ACS2 Accelerator SW. OUT 24 V 100 mA
CN312 • During remote control mode, continuously ON
ACN Accelerator power supply - IN • Negative side of 5 V supply for accelerator resistance
• (Empty)
• Vehicle electromagnetic brake
• In manned mode outputs electromagnetic brake input from controller
unchanged
BK1 Electromagnetic brake Device side OUT
• During remote control operation, even when the brake signal from vehicle
controller is ON (brake OFF), the signal will be OFF (brake ON) if an error is
detected by the remote system controller.
• Electromagnetic brake signal from the vehicle controller (brake release with
BK2 Electromagnetic brake Controller side IN
ON signal)
SEA1 Seat switch Device side IN 24 V • Seat (floor) switch (ON when a person is detected on the vehicle)
CN313 • In manned mode, outputs the signal from the seat (floor) switch unchanged
SEA2 Seat switch Controller side OUT 24 V 100 mA
• During remote control mode, continuously output ON
• Connection with foot brake contact point (OFF when foot brake is
X24 FOOT BRAKE IN
depressed)
• Connection with parking brake contact point (OFF when parking brake is
X25 Parking brake IN
applied)
• (Empty)
• For battery voltage monitoring and control power OFF processing

VB ––– IN 48 V 1 A
• Supplies battery voltage when connected to the vehicle battery
• ON for 3 seconds when error occurs

• In case of obstacle sensor operation, does not turn OFF with passage of
Y23 Signal horn 1 OUT 24 V 100 mA
time
• Priority level 1 (Priority High)*1
CN314 • ON for 2 seconds when travel starts (does not operate if re-starting within 3
Y24 Signal horn 2 OUT 24 V 100 mA seconds from stopping)
• Priority level 2 *1
• ON during traveling
Y25 Signal horn 3 OUT 24 V 100 mA
• Priority level 3 *1
10-55
10-56
• ON after stopping at a station when in either travel between 2 points ST

mode or stop at multiple set points ST mode
CN314 Y26 Signal horn 4 OUT 24 V 100 mA • OFF after 20 seconds has elapsed after arriving at a station or when travel is
re-commenced
• Priority level 4 (Priority Low)*1
M10 Steering motor (A) OUT 48 V 18 A

CN321 • Connection with steering motor of rated voltage DC 48 V
M11 Steering motor (B) OUT 48 V 18 A
P24 External device 24 V power supply + OUT 24 V 3.7 A

• DC 24 V power supply for control device
N1 External device 24 V power supply - OUT 0 V
MS1 Ready SW. (1) IN

• Connection with ready switch
MS2 Ready SW. (2) IN
• Connection with reset SW.

X06 Reset switch IN 24 V
• Unlocks error mode when input is ON
• Connection with contact “a” of emergency stop switch

X07 Emergency stop SW. contact “a” IN 24 V
• When signal is ON, ready goes to OFF and traveling stops
• When using travel between 2 points ST function and stop at multiple set
points ST function, connects with the start switch “a” contact point
• Used as travel start signal for travel between two points ST function and stop
X08 Continuous start SW. IN 24 V at multiple set points ST function
CN322 • When signal changes to ON during travel between 2 points ST function or
stop at multiple set points ST function, traveling stops
• Check input if ON continues for more than 2 seconds
• ON when course detection signal (X01) from the magnetic guide sensor is
Y00 Course detection LP. OUT 24 V 100 mA
ON
• ON when out of course error occurs

Y01 Steering error LP. OUT 24 V 100 mA
• Blinks with a 0.2 second cycle during a steering controller error
• ON on bumper operation or disconnection
Y02 Bumper error LP. OUT 24 V 100 mA
• ON with a 1 second cycle on width sensor operation
• ON when emergency stop (X07) is ON

Y03 Emergency stop LP. OUT 24 V 100 mA
• Blinks with 1 second cycle when remote control receiver 4 (X23) is ON
• Outputs operation ready mode

Y04 Operation ready LP. OUT 24 V 100 mA
• ON when operation ready circuit is complete
EM11 Emergency stop SW. 1 Contact “b” IN
• Connects 2 sets of the no voltage “b” contact point of the emergency stop
EM12 Emergency stop SW. 1 Contact “b” IN switch
EM21 Emergency stop SW. 2 Contact “b” IN • When the input if OFF (emergency stop SW. pressed), the operation ready
circuit switches OFF
EM22 Emergency stop SW. 2 Contact “b” IN
• Connects with the obstacle sensor distance detection signal

• The signal is ON when no obstacle is being detected, and OFF when one is
detected
X4B Obstacle sensor distance detection IN 24 V • If the signal changes to OFF during remote control traveling, the vehicle
stops and vehicle resumes travel after 2 seconds have elapsed after the
signal returns to ON
• A PNP open collector output sensor is used
• Connects with the obstacle sensor close detection signal

detected
OSSD1 Obstacle sensor close detection 1 IN 24 V
• If the signal changes to OFF during remote control traveling the vehicle
stops traveling
• A NPN open collector output sensor is used
CN322 • Connects with the obstacle sensor close detection signal

detected
• If the signal changes to OFF during remote control traveling the vehicle
Obstacle sensor close detection 2
OSSD2 IN 24 V stops traveling
(24320-40600-71 only)
• The signal is input with the same timing as OSSD1. If the timing becomes
different, a sensor fault is assumed and the power supply must be turned on
again, and therefore****
• a PNP open collector output sensor is used
• Connects with the obstacle sensor failure diagnosis signal

X4D Diagnose failure of the obstacle sensor IN 24 V
• ON when the obstacle sensor is normal, OFF when there is a failure
• Connects with the width sensor of the “b” contact

X0C Width Sensor IN 24 V • If the signal turns OFF during remote control traveling the sensor detects an
error
• If this signal turns ON during travel between 2 points ST traveling, reduced

speed travel is initiated
Speed reduction marker sensor (for travel • If stopping at multiple set points ST specification has been set, this input is
X02 IN 24 V
between 2 points ST) disabled
• Even when travel between 2 points ST function is being used, if reduced
speed travel function is not required then connection is not required
10-57
10-58
• If this signal turns ON during travel between 2 points ST traveling, it is

Stop marker sensor (for travel between 2 assumed that the vehicle has arrived at a station, and the vehicle stops
X03 IN 24 V
points ST) • If stopping at multiple set points ST specification has been set, this input is
CN323
disabled
• (Empty)
• The remote control mode selection signal is inputted at the “b” contact
X05 Remote control mode selection IN 24 V
• When this signal is OFF, remote control mode is selected
• Connects with the magnetic guide sensor course detection signal

X01 Magnetic guide sensor Course detection IN 24 V
• The signal is ON when the guide course is detected
• Connects with the magnetic guide sensor deviation output (position signal)
• The signal range is 2 to 8 V, and the sensor voltage is input at 5 V
GS1 Magnetic guide sensor Analog signal IN 2 to 8 V
• This signal voltage is used to check the amount of deviation from the guide
CN323 course and control the steering
Y06 Magnetic guide sensor Left branching OUT 24 V 100 mA • Connects with the magnetic guide sensor SEL input (branching signal)
Y07 Magnetic guide sensor Right branching OUT 24 V 100 mA • As the branching function is not used, Y06 and Y07 are both always ON
BM11 Bumper switch (1) IN 24 V

• Connects 4 wire bumper to BM11, BP12, BP13 and N1
BP12 Bumper switch (2) IN 24 V
• For details of connection, refer to the controller connection diagram.
BP13 Bumper switch (3) IN 24 V
P24 External device 24 Vpower supply + OUT 24 V 3.7 A

• DC 24 V power supply for control device
N1 External device 24 V power supply - OUT 0 V
• Connects with wireless receiver

X20 Wireless receiver 1 IN 24 V
• When ON a remote control inching travel command is determined

X21 Wireless receiver 2 IN 24 V • When ON, start command is determined for travel between 2 points ST
CN331 function/stop at multiple set points ST function
X22 Wireless receiver 3 IN 24 V
• When signal is ON, outputs signal horn 3 (Y25)

• When signal is ON emergency stop signal is determined
X23 Wireless receiver 4 IN 24 V This signal is inputted to PLC and is processed by software to become
a stop signal. It is not directly connected to the operation ready circuit.
Take care in treating it as safety equipment.
• Blinks with a 0.2 second cycle when an error occurs
Y20 Signal lamp 1 OUT 24 V 100 mA
• Blinks with a 1 second cycle when a warning occurs
• Blinks with 1 second cycle when remote control mode is selected and the
operation ready circuit is ON
Y21 Signal lamp 2 OUT 24 V 100 mA • Under normal remote control travel, blinks with a 0.2 second cycle
• When traveling at reduced speed in remote control mode, blinks 1 second
CN331 OFF and 2 seconds ON
Y22 Signal lamp 3 OUT 24 V 100 mA • ON during operation of remote system controller CPU (PLC)
Y27 Traveling stopped OUT 24 V 100 mA • ON when travel command output is OFF
• (Empty)
• (Empty)
X28 Address sensor Trigger IN 24 V
X29 Address sensor 1 IN 24 V
X2A Address sensor 2 IN 24 V • Connects with the multiple set point address sensor
• Used as a station stop condition during stop at multiple set points ST control
X2B Address sensor 3 IN 24 V
• The signal timing of the multiple set point address sensor complies with
X2C Address sensor 4 IN 24 V Macome Corporation specification SMR-300HR (as of May 2006) *2
CN341
X2D Address sensor 5 IN 24 V
X2E Address sensor 6 IN 24 V
• When this input is ON (connect to N1) the stop at multiple set points ST
Enable stop at multiple set points ST function is enabled, and the travel between 2 points ST function is disabled
X2F IN 24 V
control • When this input is OFF (open) the stop at multiple set points ST function is
disabled, and the travel between 2 points ST function is enabled
10-59
10-60
X40 ST01 selection SW. IN 24 V
X42 ST03 selection SW. IN 24 V • Connects the stop at multiple set points ST function setting switch
When the stop at multiple set points ST function is not used, the connection
CN342 is not required
X44 ST05 selection SW. IN 24 V • The switch uses the “a” contact point
The ST selection status is controlled at the remote system controller side
X45 ST06 selection SW. IN 24 V The switch selects momentary specification****
• When each input changes to ON when each ST is not selected, the ST is
selected, and when the input changes to ON when a ST is already selected,
X47 ST08 selection SW. IN 24 V the selected status is removed

CN343 • Connects with station selection reset switch for stop at multiple set points ST
function
X4A ST selection Reset SW. IN 24 V
The switch selects the “a” contact points specification
• Check input if ON continues for more than 2 seconds
Y40 ST01 selection LP. OUT 24 V 100 mA

• Connects with the ST display lamp for stop at multiple set points ST function
Y43 ST04 selection LP. OUT 24 V 100 mA • Each ST selection LP shows the selection setting status of the ST, and turns
CN342 ON when an ST has been selected
Y44 ST05 selection LP. OUT 24 V 100 mA For 20 seconds after arriving at an ST, the LP corresponding to that ST
Y45 ST06 selection LP. OUT 24 V 100 mA blinks with a 1 second cycle
Y46 ST07 selection LP. OUT 24 V 100 mA Y40 to Y47 output error display output in addition to error codes when
error display mode is selected

CN343
X4F Error display mode for maintenance IN 24 V

CN303 Error display mode for maintenance • While ON, displays error codes to Y40 to Y47
N1 0V
COM
*1: The output priority order in the case where several horn output conditions are met simultaneously, from highest to lowest priority, is 1. Y23, 2. Y24, 3. Y25,
4. Y26.
*2: The signal and relationship to the stop ST of each address sensor is shown in the chart below.
ST 1 (X29) 2 (X2A) 3 (X2B) 4 (X2C) 5 (X2D) 6 (X2E) Remarks
1 ON OFF OFF OFF ON OFF
2 OFF ON OFF OFF ON OFF
3 ON OFF ON OFF ON OFF
4 ON OFF OFF ON OFF ON
5 OFF ON OFF ON OFF ON
6 OFF ON OFF ON ON OFF
7 ON OFF OFF OFF OFF ON
8 OFF ON OFF OFF OFF ON
9 ON OFF ON OFF OFF ON
10 OFF ON ON OFF OFF ON
– ON OFF OFF ON ON OFF Used as a marker to begin speed reduction
10-61
COMPONENTS
10-62
Number of
No. Name Model Number Manufacturer Remarks
device points
01 CP1 Circuit protector CP31FM/20 Fuji Electric For drive power
02 CP2 Circuit protector CP31FM/5 Fuji Electric For control power
03 Regl 24 V DC Power supply NVD24SC8-U ETA Electric Control power supply 24 VDC, 5 A
04 PLC Unit 1 Programmable controller CPU FPO-C32T Matsushita Electric Works Input 16 points, output 16 points (100 mA NPN)
05 PLC Unit 2 Programmable controller I/O FPO-E32T Matsushita Electric Works Input 16 points, output 16 points (100 mA NPN)
relay MY4N-D2 DC 24 V Omron Mode switching 3A 4c contact points
07 RY1
Socket PYF-14A Omron
relay MY4N-D2 DC 24 V Omron Mode switching 3A 4c contact points
08 RY2
relay MY2N-D2 DC 24 V Omron Speed reduction switching 5A 2c contact points
09 RY3
relay RJ2S-CLD1 D24 Aidec Bumper 8A 2c contact points
10 RY4
Socket SJ2S-05B Aidec
relay RJ1S-CLD1 D24 Aidec Electromagnetic brake 12A 1c contact points
11 RY5
Socket SJ1S-05B Aidec
12 SRY1 Safety relay controller G9SB-2002-C Omron Operation ready circuit
13 SRY2 Safety relay controller G9SB-200-B Omron Obstacle sensor
Safety relay G7SA-2A2B DC 24 V Omron Travel order
14 SRY3
Socket P7SA-10F-ND Omron
15 MC1 Contactor CM2-A DC 24 V Kyoritsu Keiki Drive power supply
16 EPS Power steering unit N54F40495=1 Meidensha Steering drive
17 VR1 Variable resistor WA2W501 Japan Resistor MFG For speed adjustment 500 Ω 2 W
18 R10 Resistor MOS2C182G KOA For speed adjustment 1.8 kΩ 2 W
19 R11 Resistor MOS2C122G KOA For speed adjustment 1.2 kΩ 2 W
20 R12 Resistor MOS2C122G KOA Speed reduction speed 1.2 kΩ 2 W
21 R13 Resistor MOS2C681G KOA Speed reduction speed 680 kΩ 2 W
RY3 RY4 RY5
CP2
CP1
SRY3
VR1
PLC Unit 1 PLC Unit 2 PLC Unit 3

RY2
RY1
SRY1
CP1
MC1 SRY2
SRY3
CP1
VR1
CP2
EPC
Reg1 EPC
Reg1
RY3 RY4 RY5

10-63
Error detection
10-64
Error code list

Detection enabled period
({: Enabled, U: Display only, motion Indication
Error – : Disabled)
Description
code Stopped Stopped Ready Emerg Autom Horn Display
Manned Travelin Norma
(Ready (Ready cut* ency atic 1 Lamp 1 Others
mode g l stop
OFF) ON) ***** stop return (Error) (Error)
01 PLC error (Hardware error) – { { { { { {
02 PLC error (Setting error) – { { { { { {
Steering error LP.
03 Steering controller error – { { { { { {
0.2 second cycle ON
Emergency stop error LP.
10 Emergency stop switch operation – { { { { { {
ON
Emergency stop error LP.
11 Wireless emergency stop operation – { { { { { {
1 second cycle ON
Ready OFF
12 (Ready has turned OFF unrelated to – { { { { { {
control)
20 Bumper operation Break circuit – U U { { { { Bumper error LP. ON
Bumper error LP.
21 Width sensor Operation Break circuit – U U { { { {
1 second cycle ON
Out of course
22 (When course is not detected for 0.1 – – – { { { { Steering error LP. ON
seconds or more while traveling)
30 Obstacle sensor failure – { { { { { {
31 Obstacle sensor close detection – – – { { { { {
32 Obstacle sensor distance detection – – – { { { { {
Travel continues for 120 seconds or more
50 – – – { { { {
in inching mode
51 – – – { { { {
in travel between two points ST mode
52 – – – { { { {
in stop at multiple set points ST mode
Reduced speed travel continues for10
57 – – – { { { {
seconds or more
Detection enabled period
({: Enabled, U: Display only, motion Indication
Error – : Disabled)
Description
code Stopped Stopped Ready Emerg Autom Horn Display
Manned Travelin Norma
(Ready (Ready cut* ency atic 1 Lamp 1 Others
mode g l stop
OFF) ON) ***** stop return (Error) (Error)
Seat switch operation (A person has
60 – – U { { { {
mounted the vehicle)
61 Foot brake in operation – – U { { { {
62 Parking brake in operation – – U { { { {
Front direction (ON continuously for 2
63 – – U { { { {
seconds or more)
Rear direction (ON continuously for 2
64 – – U { { { {
seconds or more)
Battery voltage low (40 V or less)
A0 – { { { {
(Warning display only, no horn operation)
Travel command when ready is OFF
A1 – { – – { {
(Warning display only)
*: When ready off by abnormal operation occurs during traveling, an emergency stop is performed.
10-65
10-66
TROUBLESHOOTING
Trouble shooting table
No. Trouble description Described on
1 After pressing the ready switch, the vehicle cannot perform unmanned start Page 10-67
2 Even when the ready switch is pressed, it does not light up Page 10-69
3 The bumper error lamp continues to turn on or blink –
3-1 • The bumper error lamp continues to turn on Page 10-70
3-2 • The bumper error lamp continues to blink Page 10-71
4 Emergency stop lamps turns on Page 10-72
5 Obstacle sensor continues to detect Page 10-73
6 The steering error lamp continues to turn on or blink –
6-1 • The steering error lamp continues to turn on Page 10-75
6-2 • The steering error lamp continues to blink Page 10-76
7 The electromagnetic brake does not operate (does not stop the vehicle) Page 10-77
8 While not switched to unmanned mode, the power for the remote control comes on –
8-1 • Manned/unmanned selection switch inspection Page 10-78
8-2 • Power is not turned on. Page 10-79
9 The emergency stop lamp continues to blink Page 10-80
10 The vehicle will not change back to manned mode from unmanned mode Page 10-81
11 Manned mode travel speed is not appropriate Page 10-82
12 Vehicle does not stop at the correct address marker Page 10-83
13 Vehicle does not reduce speed at the speed reduction marker Page 10-84
14 The vehicle does not travel following the guide tape, and easily goes out of the course Page 10-85
15 Cannot travel in manned mode Page 10-86
16 Steering becomes heavy when traveling in manned mode Page 10-87
17 Receiver inspection Page 10-88

10-67
TROUBLESHOOTING
After pressing the ready switch, the vehicle cannot perform unmanned start
The situation recovers when

the key switch is turned back
off then turned on again
No
While the ready switch is lit up, While the ready switch is lit up, While the ready switch is lit
the LED display lamp is neither the error alarm sound up, the LED display lamp is
flashing red not the error lamp are active flashing red, and the warning
buzzer continues to beep
(slow intermittent horn)
Transmitter inspection
(Refer to 10-88)
5.Obstacle sensor inspection
(Refer to 10-73)
Vehicle is not detecting the YES Move the vehicle and allow it Does not
course to detect the course recover
No
*
B
Turn off the input from the
There is input from the OPS floor switch (standing)
YES
switch (Standing: Floor switch Turn off the input from the
Seated: Seat switch) seat switch (seated)
No
*
The direction switch (seated), Return the direction switch
YES (seated), or accelerator lever
or accelerator lever (standing)
are not in neutral state (standing) to neutral state
No
*
The battery stopper is not Lock the battery stopper
locked securely (battery YES securely, putting the battery
stopper switch is not being stopper switch into a pressed
pressed) state
No
OPS switch input state
Category ON OFF
Seat Standing up from
Seated in the seat
A (Seat switch) the seat
Upright Step on the floor Do not step on the
(Floor switch) switch floor switch
10-68
*
The parking brake is being YES Release the parking brake
pulled (return the lever)
No
*
The foot brake is being YES
stepped on (there is input to Release the foot brake
the foot brake)
No
The obstacle sensor is reacting YES Remove any obstacles from

to an obstacle the obstacle sensor detection
area
No
Stop at multiple set points

specification only:
YES Set the stop addresses with
Address selection switch is not
the address selection switch
pressed
No
Do the * parts function normally No Check the operation of the *

in manned travel mode? parts with the switch unit
YES B
Replace RY1 and RY2
With all of the emergency stop switches

turned off, perform a
continuity inspection:
CN322-3 Ù CN322-7
No continuity Continuity
Replace PLC unit Replace

No.1 emergency stop
relay RYEM
10-69
Even when the ready switch is pressed, it does not light up
The situation recovers when the key

switch is turned back off then turned on
again
No
The yellow and red lamps of the LED YES

display are blinking, and the emergency
stop lamp is turned on
No
One of the 4 emergency stop switches YES

is being pressed
No
4.Emergency stop switch Return the emergency stop

inspection switch to recover
(Refer to 10-72)
The yellow lamp of the LED display is YES

blinking
No
Ready switch inspection

Conductivity inspection of the connector
of the ready switch on the LH
instrument panel
Continuity inspection:
CN252-1 Ù CN252-2 Error
No continuity (When switch if off)
Conductivity inspection of the connector

of the ready switch on the RH
instrument panel
CN352-1 Ù CN352-2
No continuity (When switch if off)
Vehicle will not switch to unmanned
travel mode Normal:
Replace ready switch
8-1. Manned/unmanned selection Replace harness

switch inspection (Refer to 10-78)
10-70
The bumper error lamp continues to turn on

again
No
The safety bumper is being pressed by YES

Remove the obstacle
an obstacle
No
While the safety bumper is not being YES Defective adjustment of the attachment
pressed, the bumper switch is being position of the bumper switch
pressed
No
Safety bumper adjustment defect

The safety bumper cannot return all the YES
• Bumper roller sliding defect
way • Lack of grease etc.
No
Bumper switch circuit inspection

Resistance value inspection:
CN323-10 Ù CN323-11
CN323-9 Ù CN322-7
Error
Resistance 0.05Ω or less Harness defect
CN323-10 Ù CN323-9
CN323-11 Ù CN322-7
No continuity
OK
Bumper switch inspection

Bumper switch connector inspection
Continuity inspection: No
CN211-3 Ù CN211-1 continuity
Replace bumper switch
CN211-3 Ù CN211-2
CN211-3 Ù CN211-4
Continuity (When switch is off)
Continuity
Error
RY5 inspection Replace RY5
Normal:
Replace PLC unit No.1

10-71
The bumper error lamp continues to blink

again
No
The short circuit connector of CN221 or YES

Connect the short circuit connector
CN226 is disconnected
No
No
Circuit continuity check continuity
Continuity inspection: Harness defect
CN323-4 Ù CN322-7
Continuity

10-72
Emergency stop switch inspection
Emergency stop switch conductivity

inspection
Terminal Switch status

number ON OFF
Error
Replace emergency stop switch
11 to 12 × {
21 to 22 × {
31 to 32 × {
{ : Continuity × : No continuity
OK
Harness continuity check

(With key switch and emergency stop continuity
Harness defect
switch off)
CN322-9 Ù CN322-10
CN322-11 Ù CN322-12
Continuity
Replace PLC unit No.1****

Error
Replace safety relay unit

10-73
Obstacle sensor continues to detect
Obstacle sensor continues to

detect
Power lamp of the obstacle

sensor is not turned on
Check continuity of the

No
harness
continuity
CN249-1 Ù CN324-4
CN249-12 Ù N1
Continuity
RY2 defective
The obstacle sensor is
Remove any obstacles from
reacting to an obstacle YES
within the obstacle sensor
The output lamps 1, 2
detection area
(orange) are turned on
*
*: If a highly reflective obstacle (reflective
No board, mirror etc) is in the front of the
detection area, the sensor may react
even though the obstacle is outside of the
The power supply lamp of detection area
YES
the obstacle sensor (green) Obstacle sensor defect
is blinking
No
Obstacle sensor continuity

inspection No
Continuity inspection: continuity
(Output 1) Harness defect
CN249-2 Ù CN323-8
(Output 2) Obstacle sensor error display Sensor window
CN249-3 Ù CN323-7
Continuity
Display window Projector window
Output 1: Distance area obstacle

detection
Output 2: Close area obstacle
detection
Output 3: Not used
Power supply
Output 3 (green: blinks during a failure)
Output 2 Output 1
(Orange)
10-74
Continues to detect an obstacle (travel between 2 points, stop at multiple set points)
Obstacle sensor continues to

detect
The obstacle sensor display

lamp is turned on, or there is No
a display on the 7 seg
display
YES No Check continuity of the
continuity harness
Harness defect Continuity inspection:
CN249-9 Ù CN220-1
CN249-12 Ù CN220-2
The close area display lamp Remove any obstacles
YES Continuity
or the distance area display from within the
lamp is turned on obstacle sensor
Obstacle sensor defect
detection area*1
No
Remove the dirt from the *1: If a highly reflective obstacle (reflective board,
laser detection surface of mirror etc) is in the front of the detection area,
The laser detection surface YES the sensor may react even though the
the obstacle sensor.
dirt warning lamp is turned obstacle is outside of the detection area
Take measures to prevent
on *2: If the laser detection surface dirt warning lamp
reflection of an external
No light source to the is flashing at 1 second intervals, this is
sensor.*2 indicating that it is time to clean the laser
detection surface.
The situation recovers when
Also, if the laser detection surface becomes
the key switch is turned back YES Recovers
dirty then
off then turned on again
The sensor is being will display on the 7 seg display.
No
dazzled by a headlight,
strobe light, infra red light Table 1
The 7 seg display shows source or by sunlight or 7 Seg Display
either YES other external light Cause of Failure
Indication
source.
OR . Take measures to prevent Leak at CN249-2 and N1
No reflection of an external
light source to the sensor. Leak at CN249-2 and P42
Any one of the items in Table YES
Harness defect Leak at CN249-2 and N1
1 are shown on the 7 seg
display
Leak at CN249-3 and N1
No
Leak at CN249-3 and P24
Check continuity of the No
harness continuity Leak at CN249-3 and N1
Harness defect
CN249-10 Ù CN323-8 Leak at CN249-2 and CN249-3
Continuity Leak or broken circuit at
CN249-2 or CN249-31
Obstacle sensor
The 7 seg display shows
operating Close area Normal operation lamp
either YES
temperature error display lamp
. Use within the
operating
No
temperature range
of the vehicle
Obstacle sensor defect Distance area
display lamp
7 seg display Laser detection surface

dirt warning lamp
10-75
Steering error lamp display is on
The situation recovers when the key switch is

turned back off then turned on again
No
YES
The vehicle is not aligned with the guide tape Return the vehicle to the course
No
The magnetic field of the guide tape is

becoming weak YES
(Change the location and try guided travel to Replace the guide tape
see if the operation is normal or not)
No
A magnetic body is present on or under the

course (including a buried object) YES Change the course and lay a course that
(Change the location and try guided travel to is not affected by any magnetic bodies
see if the operation is normal or not)
No
A magnetic body is attached to the guide YES

sensor Remove the attached magnetic body
No
The guide sensor is not mounted at the YES

appropriate height Adjust the mounting height of the guide sensor
No
Continuity inspection of the gate output circuit

Harness defect
CN215-3 Ù CN323-15
Continuity
Guide sensor inspection

Measure the gate output voltage:
Measure with the guide sensor over the guide
Error
tape Guide sensor defect
CN323-15 Ù CN322-8
(Normal value between 23.5 V and 25.0 V
inclusive)
Normal:

10-76
The steering error lamp continues to blink

again
No
YES
The circuit protector CP1 is off Turn the circuit protector CP1 on
No
Less than
Battery low voltage error check
38 V Battery low voltage error
Check voltage across P - N
(Normal value 38 V and above)
Normal:
Steering motor overcurrent check

Measure current:
CN258-1 Ù CN321-2
13.3 A or more YES Eliminate the cause of the steering lock
The steering is locked (Inspect the steering motor)
(The tire is stuck in a groove, a foreign
object is stuck in the steering chain, or
the motor has a defect)
No
Steering motor circuit inspection

1. Check steering motor connectors
Check connectors CN258 and CN321 1. Connector connections
Error
2. Check for breaks in the circuit 2. Harness defect
CN258-1 Ù CN321-1
CN258-2 Ù CN321-2
OK
Over heat inspection

Let the vehicle sit for a short while
(approximately 30 minutes)
Does not recover
Replace the steering controller

10-77
The electromagnetic brake does not operate (does not stop the vehicle)
Travel in manned mode and check the Operates

Electromagnetic brake gap adjustment defective
operation of the electromagnetic brake.
Does not operate
Display shows electromagnetic brake

No
error, and the vehicle speed is limited to Replace RY4
5km/h
YES
Check voltage of terminal on

electromagnetic brake side
Measure voltage:
CN131-3 Ù N
Voltage 5 V or less
OK
Replace harness
10-78
Manned/unmanned selection switch inspection
Even when the manned/

unmanned selection lever is YES The retractable device does Error Retractable device height
pulled down, the retractable not lower sufficiently adjustment defective
device does not press the
Normal:
manned/unmanned selection
switch
No
The dog for pressing in the

manned/unmanned selection YES Dog adjustment defective
switch does not make
contact with the switch
Disconnect the connector of

When the manned/
the manned/unmanned
unmanned selection lever is
selection switch and check
moved to the unmanned
YES whether the vehicle goes into Error
side, the manned/unmanned Manned/unmanned selection
unmanned mode
selection switch is pressed, switch defective
(The switch circuit is open
but the mode does not switch
during unmanned mode and
to unmanned mode
closed during manned mode)
Normal:
Check for a discontinuity in

the harness No
CN226-2 Ù CN323-16
CN262-3 Ù N1
Continuity
*:
• When the manned/unmanned selection switch is not pressed when the
manned/unmanned selection lever is pressed to the unmanned side and
the retractable device is not lowered sufficiently, the vehicle will perform
manned travel.
• If the guide sensor detects a magnetic field for 3 seconds or more when
the manned/unmanned selection switch is not pressed, the course
detection lamp blinks. Check for adjustment defect.
10-79
Power is not turned on.
The remote system controller power

supply does not turn on
(Manned travel can be performed)
YES Return the circuit protector lever and

The circuit protector CP2 is off turn in on
No
Inspect battery voltage: YES

Charge the battery
Less than 38 V
No
Voltage inspection:
Across the +Vout and 0Vout terminals of No
Replace the DC-DC converter
the DC-DC converter Reg1
Between 23.5 V and 25 V inclusive
YES

10-80
The emergency stop lamp continues to blink
The emergency stop lamp continues to

blink
Transmitter stop switch failure

No
Error display continues even when the 17.Transmitter inspection
transmitter battery is removed (Refer to 10-88)
YES
Voltage inspection:
No
CN331-1 Ù CN331-6 Receiver defective
0.1 V or less
YES

10-81
The vehicle will not change back to manned mode from unmanned mode
Even when the manned/ Even when the manned/

unmanned selection lever is YES unmanned selection lever is YES
Retractable device
set to the manned side, the switched to the manned side,
adjustment defective
manned/unmanned selection the retractable device does
switch is pressed not go up
No Normal:
The dog for pressing in the

manned/unmanned selection YES
Dog adjustment defective
switch does not come away
from the switch
Check for a discontinuity in No

the harness continuity
CN226-2 Ù CN323-16
CN226-3 Ù N1
Continuity
The manned/unmanned YES

selection switch is stuck and Replace manned/unmanned
does not return selection switch
No
Inspect manned/unmanned
selection switch No
Replace PLC unit 1
CN226-2 Ù CN226-3
(When switch is on)
Continuity
Replace manned/unmanned
selection switch
10-82
Manned mode travel speed is not appropriate
Vehicle speed in unmanned

mode is abnormal
Adjust vehicle speed

adjustment dial
Adjust the vehicle speed
adjustment dial to make the
vehicle speed 3.6 km/h
Check vehicle speed in The vehicle speed in Replace vehicle speed

Slow No
unmanned mode unmanned mode is 1 km/h adjustment dial
(Variable resistor defective)
Fast YES
RY3 defective
Measure voltage of
accelerator circuit Within
Replace drive controller
CN101-30 Ù CN101-31
Standard: 3V or above
Outside standard range
Replace vehicle speed

adjustment dial
(Variable resistor
defective)
10-83
Vehicle does not stop at the correct address marker
Vehicle does not stop at the correct

address marker
The vehicle mis-identifies a certain set No The vehicle does not stop at any of the
address marker, or skips reading it address markers
YES
No
continuity Check for breaks in the clock circuit
Harness defect Continuity inspection:
CN217-3 Ù CN341-4
Continuity
Replace address sensor

The address marker magnet has peeled YES Error
off Address marker defective
No Replace PLC unit No.3
A magnetic body is attached to the YES

address sensor Remove the attached
magnetic body
No
The attachment of the address sensor YES

deviates from regulation values Adjust the height of the
address sensor
No
Check harness continuity

CN217-2 Ù CN341-3 (A • N circuit) No
CN217-1Ù CN341-2 (A • S circuit) continuity
Harness defect
CN217-10 Ù CN341-1 (B • N circuit)
CN217-9 Ù CN341-8 (B • S circuit)
N pole: Yellow S pole: Green
CN217-8 Ù CN341-7 (C • N circuit)
Magnetic
Continuity
Marker type polarity
① ② ③
Replace address sensor Advancing direction
Address No. 1 N OFF N
Error
Address No. 2 S OFF N
Address No. 3 N N N
Address No. 4 N S S
Address Address No. 5 S S S
marker Address No. 6 S S N
Address No. 7 N OFF S
Address No. 8 S OFF S
Address No. 9 N N S
Address No. 10 S N S
Speed reduction marker N S N
10-84
Vehicle does not reduce speed at the speed reduction marker
The vehicle does not perform reduced

speed traveling correctly
The vehicle reduces speed at markers No The vehicle does not reduce speed at
other than speed reduction markers
all
YES
No Check for breaks in the clock circuit

Harness defect continuity Continuity inspection:
CN217-3 Ù CN341-4
Continuity
Replace RY3
YES
The address marker magnet has peeled Address marker defective Error
No
Replace address sensor
Error
A magnetic body is attached to the YES
Remove the attached
address sensor
magnetic body Replace PLC unit No.3
No
The attachment of the address sensor YES

Adjust the height of the address
deviates from regulation values
sensor
No
Check harness continuity No

Harness defect
CN217-2 Ù CN341-3 (A • N circuit)
CN217-1 Ù CN341-2 (A • S circuit)
CN217-10 Ù CN341-1 (B • N circuit)
CN217-9 Ù CN341-8 (B • S circuit) N pole: Yellow S pole: Green
CN217-8 Ù CN341-7 (C • N circuit)
CN217-7 Ù CN341-6 (C • N circuit) Magnetic
Marker type polarity
Continuity
① ② ③
Advancing direction
Address No. 1 N OFF N
Replace address sensor Address No. 2 S OFF N
Error
Address No. 3 N N N
Address No. 4 N S S
Address Address No. 5 S S S
marker Address No. 6 S S N
Address No. 7 N OFF S
Address No. 8 S OFF S
Address No. 9 N N S
Address No. 10 S N S
10-85
The vehicle does not travel following the guide tape, and easily goes out of the course
The vehicle does not travel following the

guide tape, and easily goes out of the
course
Check for any error of the guide tape

(Peeling off of the guide tape or Abnormal
Lay the guide tape correctly
inversion of the guide tape or magnetic
guide rod etc)
No error
Check for any buried magnetic body

Present Change the course so as not to be
(Lay the guide tape in a separate place
affected by any magnetic bodies
and check the operation)
None
The turning circle of the front wheel is

small than R1500 YES Re-lay the guide tape so that the
(The guide tape is laid with a left turn radius of turns exceeds the
tighter than R1590 or a right turn tighter regulation R
than R1410)
No
YES
The track surface is wet or has oil on it Remove water or oil
No
There is slack in the steering motor YES Adjust the tension of the steering
chain motor chain
No
The guide sensor is not mounted at the YES

Adjust the mounting height of the
appropriate height
guide sensor
No
The steering signal is not being

outputted properly Error
Guide sensor defect
Measure the output voltage:
Measure with the guide sensor over the
guide tape 0V
CN323-14 Ù N1 Harness defect
Normal value: 2 to 8 V
OK
Replace STC controller

10-86
Cannot travel in manned mode
Manned travel disabled
Cannot travel in either manned or

No unmanned mode
Unmanned travel is possible
(Electromagnetic brake does not
YES release)
YES
Error
Check operation of RY4 RY4
defective
OK
Error
Check operation of RY1 and RY2 RY1 and RY2 defective
OK

10-87
Steering becomes heavy when traveling in manned mode
Steering becomes heavy when traveling

in manned mode
Check for any error of the steering

Abnormal
motor Steering motor defective
(Abnormal noise or heat)
No error
Replace steering controller (main

circuit FET short)
10-88
Receiver inspection
Inspect remote system controller

Check whether the transmitter signal is
Horn sounds
reaching the remote system controller
with operation of the horn
*
Horn does not sound
Check the frequency and code Not Replace the transmitter

Check that the frequencies and codes matched and receiver with units
inscribed on the respective nameplates whose frequencies and
of the transmitter and receiver match codes match
Matched
Insufficient
Check the remaining battery power of Check the continuity of the harness on
power
the transmitter the vehicle
remaining Replace the batteries
Check whether the transmitter’s low Continuity inspection:
of the transmitter
battery warning lamp is on, and where CN274-1 Ù CN331-4 (Inching
No operation)
the power lamp is on continuity CN274-2 Ù CN331-3 (Transmission)
Harness defect
Sufficient power CN274-5 Ù CN331-1 (Stop)
remaining CN274-7 Ù CN331-6 (24 V)
CN274-8 Ù CN331-5 (0V)
Continuity
Does not
Check the transmission status of the
turn on:
transmitter Replace the receiver
Press the inching and continuous
switches of the transmitter and check
that the communication lamp turns on
Turns on
Check the reception status of the

receiver Does not Check the battery voltage of the
Press the inching and continuous turn on: receiver
switches of the transmitter, and check Check that the power supply voltage
that the receive lamp (LED) on the supplied to the receiver is 24 V
receiver board turns on
It is 24 V
Turns on
Check the signal from the receiver Replace the receiver

Check for the presence of a travel
command signal between the receiver
and the vehicle No signal
Replace the receiver
Current inspection:
CN331-1 Ù CN331-6 (Stop operation)
CN331-4 Ù CN331-6 (Inching *: When inspecting the transmitted and receiver, first operate the
operation) horn and check for transmission to the vehicle by whether or not
CN331-3 Ù CN331-6 (Start operation) the horn sounds.There is a high likelihood that other travel
Signal present command signals will be transmitted similarly, so this way allows
you to home in on the cause easily.

10-89
Sensors
Guide sensor
GENERAL
This sensor detects the magnetic field generated by the guide tape that is laid down on the floor for guidance, and
thereby guides the vehicle in unmanned travel.
In the guide sensor there are 28 magnetic detection elements arranged with a pitch of 5 mm [0.197 in] as shown in
the drawing below. By detecting the magnetic field generated by the guide tape, these magnetic detection elements
recognize it as an ON/OFF bit pattern.
Bit pattern
Magnetic field
Guide tape
Characteristics
• The sensor detects the magnetic field generated by the guide tape and outputs a voltage (deviation output) for
the position deviation between the guide sensor and the guide tape.
• A branching command (SEL1 and SEL2) changed the mode between straight ahead mode, right branching
mode and left branching mode, to handle a route that branches into two.
• The deviation output in straight ahead mode is not easily influenced even when the distance between the guide
sensor and the guide tape changes.
• A gate output is provided to determine that the guide sensor is within the detection range of the guide tape.
SPECIFICATIONS
Item SPECIFICATIONS
Power source voltage DC + 10.8 V + 30 V
Current consumption 30 mA Max.
-10 to +60°C [14° to 140°F]
When operating
Ambient temperature (However, no condensation or freezing)
range -20 to +70°C [-4° to 158°F]
During storage
(However, no condensation or freezing)
When operating 35 to 95% RH (However, no condensation)
Ambient humidity range
During storage 35 to 95% RH (However, no condensation)
10-90
Item SPECIFICATIONS
Detected magnet Guide tape (MGL-50 series to MGR-50 series)
Detected magnetic pole N pole (Also reacts to strong S pole of *6mT or greater)
Operating distance 5 to 40 mm [0.197 to 1.575 in]
Branching command input Branching mode is specified by input signal of SEL1 and SEL2
Branching mode SEL1 SEL2

Branching command
Straight ahead L: Short circuit across SEL1, SEL2 and

L L
mode 0V
Right branching H: SEL1 and SEL2 open circuit****
Mode specification L H
mode
When unselected: Deviation output = 5 V
Left branching
H L Gate output = OFF
mode
Non-selected H H
Input circuit Converter

Response circuit 5 ms
A voltage output for the deviation of the guide tape center and the guide
Deviation output
sensor center
Output characteristics and positional
relationship
Straight ahead
0.1878 V
mode
Right branching
Step voltage 0.375 V
mode
Characteristics
Left branching
Deviation output
0.375 V
mode
For any step voltage value ± 10 mV
Precision of output voltage
(At power supply voltage DC + 24 V, No load gate voltage, Ta = 23 °C)
Range of output voltage 2 to 8 V
Center voltage 5V
Output element Op-Amp
Allowable load resistance value 2 kΩ or more
Output circuit
Output impedance less than 6.5 Ω

Response time 5 ms
Short circuit protection Deviation output - 0 V
Gate output Output switching of guide tape detectable zone****

Left and right detection range ± 90 mm [± 3.543 in]
Zone
Operating distance 0 to 45 mm [0 to 1.772 in]

Gate output
Output logic Closed inside detection zone

Output circuit Transistor open collector output (Refer to 10-95)
Output capacity Withstand voltage: DC + 30 V max. Sink voltage****: 100 mA max.
Residual voltage 2 V Max. (At sink current 100 mA)
Response time 5 ms
10-91
Item SPECIFICATIONS
Protection structure IP67 (IEC compliant)
Insulation resistance 100 MΩ Min. (at DC 500 V Megavolts) across 0 V and the case****
Case material Aluminum
External dimensions Refer to Page 10-97
Connector 6 pin waterproof connector (Sumitomo Wiring Systems MT Waterproof series)
Weight Approx. 290 g [0.64 lb] Max. (including cord and connector)
Output cord and connections

1. Output cord
Cord used: 6 core cord
End processing: 6 pin waterproof connector
2. Connector specification
Sumitomo Wiring Systems MT Waterproof series
Housing : M(6189-6171)
Terminal : M(1500-0105)
Wire seal : (7160-8234)
Connector diagram Pin No. Wiring color Input and output signal
1 Red DC + 10.8 V to ± 30 V
2 White Deviation output
3 Brown Gate output
4 Blue SEL1 Input
5 Yellow SEL2 Input
6 Black 0V
10-92
Connection example for guide sensor
Control side, input output port etc
+V 1 Red
(DC + 10.8 to 30 V)
Withstand 30 V max
Load
voltage 100 mA max
2 White Sink current
Gate output
3 Brown
Deviation output DC +10.8
to 30 V
4 Blue
SEL1 Input
5 Yellow
SEL2 Input *Contact point input
possible
6 Black
0V
10-93
Description of operation
Deviation output
As shown in the drawing below, calculation of the ON/OFF bit pattern by the inbuilt pattern analysis circuit allows
computation of the right end position, left end position and center position of the magnetic field generated by the
guide tape.
DC + 10.8 to
V + 30 V Electrical
0V circuit Left end output Output
Deviation circuit
Center circuit circuit
SEL1 Input Right end circuit
SEL2 Input
Branching
command
Pattern analysis circuit Gate circuit
input
Switch circuit
Magnetic detection elements
Guide tape
1. Straight ahead mode

Straight ahead mode is specified on a guide route that has no branching routes. In straight ahead mode the
center is calculated from the left end position and right end position of the ON bit pattern of the magnetic
detection switch. The output voltage of the deviation output is determined based on this position.
The number of ON bit patterns detected by the magnetic switch varies depending on the operating distance of
the guide sensor to the guide tape and the magnetic environment of the guidance route.
As the magnetic field generated by the guide tape is not generated vertically straight, but has a balloon form as
shown in the bit pattern diagram (Refer to 10-89), the number of ON bits changes as the operating distance
between the guide sensor and the guide tape becomes closer or more distant.
However, if the generated magnetic field has lateral symmetry then the center position is the same regardless
of the number of ON bits.
In other words, the center position can be detected regardless of the operation distance.
2. Right branching mode
The device switches into right branching mode directly before a branching route. The deviation output is
determined by the right end position of the ON bit pattern.
However, the output is not along the right end position of the guide tape, but the position at 1/2 way to the
center**** of the width of the guide tape.
Also, because in right branching mode only the right end of the ON bit pattern is monitored, if there is a change
in the operation distance as with the straight ahead mode, some displacement may occur.
10-94
3. Left branching mode

The device switches into left branching mode directly before a branching route. The deviation output is
determined by the left end position of the ON bit pattern.
However, the output is not along the left end position of the guide tape, but the position at 1/2 way to the
center**** of the width of the guide tape.
Also, because in left branching mode only the left end of the ON bit pattern is monitored, if there is a change in
the operation distance as with the straight ahead mode, some displacement may occur.
Gate output
The gate output is switched ON if even 1 of the 28 magnetic detection elements detects ON.
If the guide sensor comes away to the left or right from the guide tape, or if the sensor moves significantly away from
the correct operation distance and all the magnetic detection elements turn OFF, the gate sensor output turns OFF.
Also, since the gate output uses the same pattern analysis circuit as the deviation output, it cannot be used as an
operation error detection for the guide sensor.
10-95
Input and output circuit

Branching command input circuit SEL1 and SEL2
+ V (DC + 10.8 to + 30 V)
4.7 kΩ 10 kΩ
30 kΩ
Converter
SEL1
6 Black 10 kΩ
0V
SEL2 (Blue) input circuit is the same
Deviation output circuit
+ V (DC + 10.8 to + 30 V)
30 kΩ
100 kΩ
- 2 White
Deviation output
+
6 Black
0V
*Overcurrent protection element
(6.5 Ω max. @23 °C)
Gate output circuit
*Overcurrent protection
3 Green
element Gate output
(6.5 Ω max. @23 °C)
Vz = 33 V
6 Black
0V
2SC2882Y or
equivalent product
10-96
When installing the guide sensor, install the guide sensor in an position away from parts other than the magnetic
guide tape that generate a magnetic field (electric motors, electromagnetic brakes etc).
Furthermore, install the guide sensor on a non-magnetic attachment angle bracket.
However, if strong magnetic bodies such as iron must be present in the periphery of the guide sensor attachment
part, they may disturb the magnetic flux distribution from the magnetic tape, and adversely affect the accuracy of
detection. In such cases, provide a space of at least the dimensions shown in the table below.
Moreover, use non-magnetic screws for attaching the guide sensor.
Unit: mm [in]
10-97
Guide sensor external dimensions

Unit: mm [in]
6 pin waterproof 6 core cord
2-φ5 mounting holes
Detection
surface
10-98
Internal circuit
30 V max / 100 mA max
Power supply 1 Red
Load
Gate output 2 White
Deviation 3 Brown
DC + 10.8 to V + 30 V
SEL1 Input 4 Blue
SEL2 Input 5 Yellow
Power supply 6 Black
With contact point input possible
Cautionary points in handling

• Wire the input and output cord correctly. Incorrect wiring may destroy the guide sensor.
• Use a power supply voltage within the regulation voltage.
• Use a deviation output and gate output that are within the allowable capacity.
• Give consideration so that noise or excessive surge etc is not applied to the deviation output, gate output and
branching command input (SEL1 and 2).
• If the input cord is wired with the motive power and electric power cables there is a possibility of causing
malfunction, and in some cases this may cause unstable voltage in the deviation output also. Therefore, have
measures in place for the input cord on the input device side.
• Do not attach any source of magnetic field (motor etc) in the periphery of the guide sensor.
• Take care not to pull hard on the input and output cord, or to bend it back on itself, as there is a risk of breaking
a wire.
• This product is of waterproof construction IP67, however waterproof construction has not been used at the cord
terminals, therefore avoid use in which the device will be constantly immersed.
• Be wary of chemicals and solvents (thinners, acetone etc), and corrosive gas as there is a risk that these could
deform the case and the input cord.
10-99
Address sensor
GENERAL
The address sensor contains 3 pairs of highly sensitive magnetic sensors consisting of a N pole detecting element
and an S pole detecting element, and outputs a clock signal for a 6 bit data signal and read timing.
When a mark magnet approaches the center of the address sensor each detection element detects information.
When the detector elements A and C on both sides of the spot mark reader change to ON state, the clock signal is
outputted, and the read information of each detecting element is outputted according to the timing of this clock signal.
SYSTEM CONFIGURATION
Clock circuit section

Clock signal output
A. N pole signal output
A A. S pole signal output
B. N pole signal output
B B. S pole signal output
C. N pole signal output
C C. S pole signal output
Detecting Switch circuit Interface circuit section

elements
10-100
SPECIFICATIONS
Item SPECIFICATIONS
SMR-300H-I7C015P1
Power source voltage DC + 24 V ± 10% Ripple 1% or less
Operating temperature and humidity -10 to + 50 °C [14°F to 122°F] • 30 to 90% RH
range (No freezing or condensation)
Storage temperature and humidity -20 to +60 °C [-4°F to 140°F] • 30 to 90% RH
range (No freezing or condensation)
Protection structure IP67 (IEC standard)
Detected magnet SMG-300
Operating distance 20 mm to 40 mm [0.79 to 1.57 in] when using SMG-300
Displacement from track ± 10 mm or less [± 0.39 in]
N pole detection element 0.6 to 0.7 mT *1
A-C
Detection S pole detection element 0.6 to 0.7 mT *1
sensitivity N pole detection element 0.4 to 0.5 mT *1
B
S pole detection element 0.4 to 0.5 mT *1
Output type Transistor open collector output (normal open)
Output capacity Withstand voltage: DC + 30 V Max. Sink current: 50 mA max.
Output signal
Response time 1 ms or less
Output circuit Refer to output circuit diagram
SPECIFICATIONS φ7 twisted pair multi**** cable
Output cord Cord length 150 mm [5.91 in]
Connector type 10 pin waterproof connector: Tyco AMP Econoseal J series *2
Weight 355 g [0.783 lb]
Insulation resistance 100 MΩ Min. (across the case and 0V ****, at DC 500 V Megavolts)
*1: When approaching opposite polarity, mis-detection at approximately 4mT (40G).

*2: Connector specified by user.
Output circuit diagram
Clock, data output diagram
OUT
10-101
Output cord and connections

1. Output cord
Cord used: 10 core Multiple core cord
End processing: 10 pin waterproof connector (Tyco AMP)
2. Connector specification
Tyco AMP Econoseal J series
Housing : 174657-2
Double lock plate : 174658-7
Contactor : 173600-1
Rubber plug : 172746-1
Connector diagram Pin No. Input and output signal
1 DC + 24 V ± 10%
2 0V
3 Clock signal output
4 A • N pole signal output
5 A • S pole signal output
6 B • N pole signal output
7 B • S pole signal output
8 C • N pole signal output
9 C • S pole signal output
10 N.C.
3. Connection
The basic connection example for the spot mark reader is shown below.
DC + 30 V / 50 mA Max.
SMR-300H-I7C015P1
1
3
Load
4
Load
DC + 24 V
Main
circuit 0V
9
Load
Note:
When a relay or other inductance load is used, be sure to insert a diode to prevent reverse voltage and a
spike killer.
10-102
Attaching the spot mark reader

1. Environment for attaching the spot mark reader
When attaching the spot mark reader, attach it in a position away from objects that generate a magnetic field
(motors etc). Furthermore, when iron or other magnetic bodies are close to the spot mark reader, the magnetic
flux distribution is disturbed and the accuracy of the detectors is adversely affected. In such cases, provide a
space of the dimensions shown in the table below around the periphery of the spot mark reader.
The left and right mounting holes of the spot mark reader unit are to be attached to a smooth flat surface.
Furthermore, the angle mounting brackets used should be of non-magnetic material (brass, aluminum, SUS304
etc).
Peripheral space for the spot mark reader when the periphery includes magnetic bodies
d1 = 40 mm [1.57 in] or more, d2 = 20 mm [0.79 in] or more, d3 = 30 mm [1.18 in] or more
Mounting angle
bracket
Magnetic body Magnetic body
Non-magnetic
body
d3
d2
d1 d1 d1 d1
2. Allowable angle for mounting the spot mark reader

Attach the spot mark reader so as to fulfill the following conditions.
θ1 = with in ± 1°, θ2 = with in ± 1°
θ1
θ1
Detected magnet Detected magnet

θ2
10-103
Spot mark reader external dimensions

Unit: mm [in]
10 pin waterproof connector

10 core shielded cord φ7
Heat shrink tube
A B C
Detection Detection
position surface
Internal circuit
DC + 30 V / 50 mA Max.
Power supply 1
Load Load Load Load
Clock signal output 3

A • N pole signal output 4
DC + 24 V ± 10
A • S pole signal output 5
C • S pole signal output 9

Power supply 2
10-104

• When connecting a relay or other inductance load to the output, insert a diode to prevent reverse voltage and a
spike killer into the source.
• Wire the output cord correctly.Incorrect wiring may destroy the spot mark reader.
• Take care not to apply excessive tension to the output cord, or to bend it back on itself, as there is a risk of
breaking a wire.
• If the output cord is wired together with power or electrical cables it may cause malfunction. Wire it separately.
• Do not allow power lines carrying large current or magnetic field sources (motors etc) near to the periphery of
the spot marker reader.
• This product is of waterproof construction IP67, however waterproof construction has not been used at the cord
terminals, therefore avoid use in which the device will be constantly immersed.
• Be wary of chemicals and solvents (thinners, acetone etc), as there is a risk that these could deform the case
and the cord.
10-105
Setting addresses for stopping at multiple set points

GENERAL
Stop position addresses are comprised of N pole and S pole marker
magnets and can configure 12 different codes.
Marker magnets
The marker magnets may have 2 values (N pole and S pole) at both
ends, and 3 values (N pole, S pole and nothing) in the center.
In this way, 2 × 3 × 2 = total 12 codes are configured.
10-106
Auxiliary marker magnet

N pole auxiliary
The 3 values of the center part are obtained by N pole, S pole and
marker
nothing, however in the case of nothing, a magnetic field is
produced from the influence of the adjacent magnet and this may
cause malfunction.
Auxiliary marker magnets work to counteract the above magnetic
fields to prevent malfunction.
S pole auxiliary
marker
Address code number table

The marker magnets are in the order A, B, C when the direction
arrow is oriented to the left.
The address code numbers of the address magnet plates, and the
marker magnet combinations are as shown below.
Marker magnet arrangement

Address code No.
A B C
No. 1 N n N
No. 2 S – N
Reference No. 3 N N N
Type Polarity Color
symbol
No. 4 N S S
N N Yellow
Marker magnets
S S Green No. 5 S S S
Auxiliary marker n N Yellow No. 6 S S N

magnet s S Green No. 7 N – S
No. 8 S s S
No. 9 N N S
No. 10 S N S

10-107
Arrangement interval for address magnet plates
SMG-300 SMG-300
300 mm [11.8 in] or more
If address magnet plates are arranged closely together there is a risk that the spot mark reader might detect
alternating address magnet plates and malfunction. Separate the plates 300 mm [11.8 in] or more as shown in the
drawing.
Address magnet plate external drawing

Unit: mm [in]
Laminated marker magnets
Base SPC
10-108

• If a strong magnetic body (iron plate, iron frame etc) is within a 300 mm [11.8 in] periphery of the address magnet
plate, the magnetic flux density distribution will be altered. Depending on the degree of change in the magnetic
flux density distribution, the stop mark reader SMR300 series may mis-read.
• Remove such magnetic bodies at least 300mm [11.8 in] from the magnetic tape also.
• Do not install the address magnet plate on top of an iron plate.The influence of the residual magnetic field may
cause mis-detection.The same applies when there is an iron frame underneath the installation surface.
• If a magnet (magnet with surface flux density of 100 mT or more, magnetic screw driver etc) is allowed close to
the address magnet plates, there is a risk that the magnetic flux density distribution could change.
• If iron particles, iron filings, or other magnetic bodies become attached to the surface of the address magnet
plates, they may influence the magnetic flux density distribution.Periodically remove and attached objects.
• A small degree of partial damage (scratching or denting) to the surface laminate film will not cause a problem.
However, if the laminate film is lost through continuous wear and moreover the dimensions of the magnet layer
are seen to change through wear, then the magnetic flux density distribution will be affected.
• When mechanically protecting the surface of the address magnet plate, select a non-magnetic material.
• The plates cannot be used in an environment where they will be exposed to machining oil, lubricating oil or
solvents (methanol, thinners etc). If any such substance should happen to come into contact with the plates,
remove it quickly.
10-109
Stop sensor
GENERAL
Unit: mm [in]
Detection
surface M12 x 1 Operation display lamp
10-110
SPECIFICATIONS
Item Standard
Power supply voltage DC + 12 to 24 V Ripple 1% or less
(Voltage variation range) DC + 10 to 30 V
Set detection sensitivity 0.8 mT ± 0.1 mT
Output type NPN open collector (normal open type)
Output capacity DC 30V 30 mA Max.
Response time 0.3 ms or less
Detected object Magnet (S pole)
Hysterisis 0.03 mT Max.
Circuit protection Reverse power supply connection, output surge
Display Lamp Red LED
-10 to + 50 °C [14 to 122 °F]
Operating temperature range
(But no freezing or condensation)
Operating humidity range 10 to 90% RH
Temperature influence 0.05 mT/10 °C or less
Insulation resistance DC 500 V 100 MΩ Min. (Energized section and external metal mounting)
Withstand voltage AC 1000 V 1 min (Energized section and external metal mounting)
Vibration Endurance: 10 to 55 Hz Double amplitude 1.5 mm 2 times each in X,Y and Z directions
Shock 50 G 3 times in X,Y and Z directions
Protection structure IP-65 or equivalent product
Nut tightening torque 0.78 N • m (8 kgf • cm) [0.58 ft • lbf]
Nut locking agent Recommended: ThreeBond 1401
5.1 flexible PVC/gray matt
Input and output cable
Conductor structure: 17/0.16 (0.3 mm2 [0.0005 in2] or equivalent product)
Brown: DC+
Input and output cable description Blue: 0 V
Black: Output
Connector specification
Sumitomo Wiring Systems 090 type waterproof 4P connector
Connector diagram Pin No. Input and output signal
1 DC + 24 V ± 10%
2 0V
3 Clock signal output
4 A • N pole signal output

10-111
Connection diagram
Brown
Load
Magnet detection Circuit
Black
DC power supply
Blue
10-112
Signal horn
GENERAL
WIRING DIAGRAM
10-113
Signal horn connection procedure
* Match the terminal symbols of the signal horn to the tag symbols on the harness side when assembling.
10-114
Removal Procedure
Signal horn 1. Remove the grommet from the cover.
Cover
Grommet
2. Remove the cover attachment bolts. (Two bolts)
Bolt
Bolt
3. Remove the signal horn W/bracket. (Four bolts)

Bracket Bolt
Signal
horn
Signal horn 4. Remove the harness from the signal horn following the
procedure below.
(1) Remove the plastic cover.
(2) Remove the harness.
Connector Plastic cover

10-115
5. Remove the signal horn from the bracket following the

procedure below.
Metal (1) Remove the metal mounting pieces.
pieces
(2) Remove the signal horn.
10-116
Switches and Lamps

Course detection
56550-40600-71
Pilot lamp (White) Harness
Emergency stop / bumper error / steering error
56590-02771-71
Red tape
Emergency stop Yellow tape
Bumper error
Blue tape Harness
Steering error
Pilot lamp (Red)
Emergency stop Bumper STEERING

L+ 3 31 32
L- 4 1 2
Terminal
arrangement
10-117
Ready switch
57440-40600-71
Illuminated switch (Green) Harness
Terminal arrangement
Reset switch
57420-40600-71
Harness
Non-illuminated switch (Yellow)
10-118
Address selection switch

57430-02771-71
Red tape
Panel upper stage
Blue tape
Panel lower stage

Illuminated switch (White)
SW1 SW2 Connected
(a) 3 4 LED PLC
(b) 1 11 LED 24 V
(c) 2 21 SW N1
(d) 5 6 SW PLC
LED Display Lamp

mm [in]
Yellow
Red
White
O (Yellow LED) R (Red LED)
Lights
(Rated voltage AC/DC 24 V) W (White LED) Y (Power supply)
Harness
10-119
Rear tower
GENERAL
Specification for inching operation and travel between 2 points operation
Antenna
Rear combination lamp
Receiver LED Display Lamp

Front cover
Under cover

10-120
Stop at multiple set points specification
Antenna
Rear combination lamp
Receiver
LED Display
Ready switch Lamp
Address selection switch Under cover
Ready switch
Ready switch

10-121
Terminal
Wiring color
number
21 R
R (Wound with black
22
tape)
13 O
14 Y
31 G-Y
O (Wound with black
32
tape)
X2 B
X1 GR
10-122
1. Park the vehicle on flat ground, and chock the wheels.
2. Disconnect the battery plug.
3. Open the battery hood
4. Temporarily suspend the rear tower.
Rear tower
5. Disconnect the wiring.
Rear tower
Wiring
6. Remove the 6 mounting bolts for the rear tower.

Rear tower mounting bolts
10-123
7. Hoist the rear tower.

Rear tower
8. Remove the rear tower bracket.

(Four bolts)
Rear tower bracket
9. Remove the under cover.
Under cover
10. Remove the address selection switch.

(For stop at multiple set points specification)
Address Remove the front cover.
selection switch
(For inching operation and travel between 2 points
specification)
10-124
11. Remove the receiver.
Receiver
12. Remove the antenna.

Antenna
LED Display Lamp 13. Remove the LED display lamp.
14. Remove the emergency stop switch.
Emergency
stop switch
10-125
Procedure for setting receiver frequency and code

If a new supplementary receiver needs to be set to the frequency and code of a vehicle because the original receiver
failed or was lost, follow the procedure below.
Cautionary points when performing setting operation

Be sure to observe the following points to ensure safety when performing the setting.
DANGER:
When performing the setting operation, make sure that the vehicle power is switched OFF.
If the operation is performed with the vehicle power on, their is a risk that the vehicle might start moving due to
unintended transmission of electromagnetic wave.
Furthermore, operations should be performed with the battery removed from the transmitter, except for the
operation of checking after setting.
Prohibited:
Do not change any settings of the DipSW other than the frequency and code of the transmitter.
There is a risk that remote control travel will be disabled, or that unintended travel may occur.
Method for setting frequency and code

1. Transmitter
(1) Disconnect the battery plug of the vehicle whose frequency and code are to be set, and remove the key.
(2) Remove the battery from the transmitter, remove the 4 screws from the reverse side of the transmitter, and
remove the rear cover.
(3) Set the DipSW of the transmitter to the corresponding frequency and code, making reference to the
Frequency setting table, (Refer to 10-130) and the Code setting table, (Refer to 10-132) .
(4) Reattach the rear cover of the transmitter with the 4 screws, and re-insert the battery.
(5) In a safe place, turn the vehicle power ON. and operate the transmitter to check that the vehicle responds
correctly to commands.
(At this point initial supply of power may trigger memory processing, so that the vehicle may not move for
just the first operation).
(6) Write the set frequency and code on the nameplate in indelible marker pen so they cannot be erased, and
fix the nameplate to the rear cover of the transmitter.
2. Receiver
(1) Disconnect the battery plug of the vehicle whose frequency and code are to be set, and remove the key.
(2) Remove the 2 screws from the front side of the receiver and remove the front cover.
(3) Set the DipSW of the receiver to the corresponding frequency and code, making reference to the Frequency
setting table, (Refer to 10-130) and the Code setting table, (Refer to 10-132) .
(4) Reattach the front cover of the receiver with the 2 screws.
(5) In a safe place, turn the vehicle power ON and OFF once, then, turning the vehicle ON again, operate the
transmitter to check that the vehicle responds correctly to commands.
(Turning the vehicle power ON then OFF once is to allow the memory processing to be carried out on initial
supply of power).
(6) Write the set frequency and code on the nameplate in indelible marker pen so they cannot be erased, and
fix the nameplate to the front cover of the receiver.
10-126
Specification frequency table

No. IV V
STD/OPT (code) STD OPT (E55D)
58535-40600-71 58545-40600-71
Transmitter No.
58735-40600-71 58745-40600-71
Receiver No. 58635-40600-71 58645-40600-71
Wireless modem STD-302N-R-434 STD-302N-R-869
Frequency band 434 MHz band 869 MHz band
433.075 to 868.025 to
Frequency range
434.775 MHz 869.975 MHz
Number of channels 69 79
STEP 25 kHz 25 kHz
Number of codes 8,192 8,192
Number of combinations 565,248 647,168
Frequency DipSW 7Bit (Max.128)
Code DipSW 13Bit (Max.8,192)
10-127
Setting frequency and code

Frequency and code setting DipSW section
Inside the transmitter Inside the receiver
Harness
Base plate
Wireless 9V
module battery
DipSW Base plate
Antenna
Wireless
module
DipSW
DipSW details
ON position
OFF position
Frequency selection DipSW ID code selection DipSW

6Bit (7Bit) 14Bit (13Bit)
10-128
Transmitter - (Rear cover)
Nameplate
Write frequency
Write code No.

10-129
Receiver - (Front cover)
Nameplate
Write frequency
Write code No.

10-130
DipSW frequency setting table
IV
STD-302N-R 434 MHz frequency setting
(Transmitter: 58535-40600-71, 58735-40600-71) (Receiver: 58635-40600-71)
SW setting SW setting
Channel setting Frequency (MHz) Channel setting Frequency (MHz)
①②③④⑤⑥⑦ ①②③④⑤⑥⑦
0 433.075 35 433.950
1 433.100 36 433.975
2 433.125 37 434.000
3 433.150 38 434.025
4 433.175 39 434.050
5 433.200 40 434.075
6 433.225 41 434.100
7 433.250 42 434.125
8 433.275 43 434.150
9 433.300 44 434.175
10 433.325 45 434.200
11 433.350 46 434.225
12 433.375 47 434.250
13 433.400 48 434.275
14 433.425 49 434.300
15 433.450 50 434.325
16 433.475 51 434.350
17 433.500 52 434.375
18 433.525 53 434.400
19 433.550 54 434.425
20 433.575 55 434.450
21 433.600 56 434.475
22 433.625 57 434.500
23 433.650 58 434.525
24 433.675 59 434.550
25 433.700 60 434.575
26 433.725 61 434.600
27 433.750 62 434.625
28 433.775 63 434.650
29 433.800 64 434.675
30 433.825 65 434.700
31 433.850 66 434.725
32 433.875 67 434.750
33 433.900 68 434.775
34 433.925
: ON : OFF
10-131
V
STD-302N-R 869 MHz frequency setting
(Transmitter: 58535-40600-71, 58735-40600-71) (Receiver: 58635-40600-71)
SW setting SW setting
Channel setting Frequency (MHz) Channel setting Frequency (MHz)
①②③④⑤⑥⑦ ①②③④⑤⑥⑦
0 868.025 40 869.025
1 868.050 41 869.050
2 868.075 42 869.075
3 868.100 43 869.100
4 868.125 44 869.125
5 868.150 45 869.150
6 868.175 46 869.175
7 868.200 47 869.200
8 868.225 48 869.225
9 868.250 49 869.250
10 868.275 50 869.275
11 868.300 51 869.300
12 868.325 52 869.325
13 868.350 53 869.350
14 868.375 54 869.375
15 868.400 55 869.400
16 868.425 56 869.425
17 868.450 57 869.450
18 868.475 58 869.475
19 868.500 59 869.500
20 868.525 60 869.525
21 868.550 61 869.550
22 868.575 62 869.575
23 868.600 63 869.600
24 868.625 64 869.625
25 868.650 65 869.650
26 868.675 66 869.675
27 868.700 67 869.700
28 868.725 68 869.725
29 868.750 69 869.750
30 868.775 70 869.775
31 868.800 71 869.800
32 868.825 72 869.825
33 868.850 73 869.850
34 868.875 74 869.875
35 868.900 75 869.900
36 868.925 76 869.925
37 868.950 77 869.950
38 868.975 78 869.975

10-132
39 869.000
: ON : OFF Not available
DipSW code setting table

SW setting
Code Remarks
①②③④⑤⑥⑦⑧⑨⑩⑪⑫⑬⑭
00000
00001
00002
00003
00004
00005
00006
00007
00008
00009
00010
08191 Export (Max. 8,192 types)****
: ON : OFF

Ce676 4CBTR RM 3-4

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10-1

REMOTE CONTROLLER SPECIFICATION

Manned Travel Inching travel by remote controlled operation

High speed movement to the target line by

Work while inching by remote controlled

Move by manned travel from

Magnetic tape stuck to the floor

2. Traveling between two points function (OPT)

Inching travel by remote controlled Unmanned traveling between

Vehicle address selection switch

• Send off using the start switch

• Work while inching by remote

• Stop at the address marker

Stop at the address marker

• Send off using the

• Work while inching by remote

• Stop at the address marker • Stop at the address marker

Speed Reduction Function

Speed reduction marker Selected: Address marker

Speed reduction marker Non-selected: Address marker

3.6 km/h Speed Acceler 3.6 km/h

Power light Start switch (Option)

Transmitting lamp Horn switch

Low Battery Warning Lamp Inching switch

Emergency stop switch Standby switch

2. Transmission lamp (Red)

3. Low Battery Warning Lamp (Red)

4. Emergency stop switch

5. Start switch (Option)

LED Display Lamp

VEHICLE EXTERIOR VIEW

Start switch (OPT)

Receiver and antenna

LED Display Lamp

Emergency stop switch

Address selection switch (OPT)

Emergency stop switch

Emergency stop switch

Retractable device (built in)

Start switch (OPT)

Receiver and antenna

LED Display Lamp

Emergency stop switch Emergency stop

Retractable device (built in)

Drawing showing the layout from the operator’s seat

Emergency stop switch

Bumper error lamp

Course detection lamp

Steering error lamp

Emergency stop lamp

Emergency stop switch

Course detection lamp

Steering error lamp

Manned/Unmanned Selection Lever

Snap ring Washer

Bolt 2. Remove the front cover attachment bolts.

5. Remove the left and right tension springs following the

7. Remove the tension spring.

Stopper bolt 8. Disconnect the connector of the limit switch.

Detail of bumper arm attachment section

Thrust washer Washer

10. Remove the bumper W/bumper arm.

12. Remove the bumper arm from the bumper.