6435187deba362003c3b65e6.pdf

SFL-CDD14 Users' Guide
Document history
version release Date description
V1.0 2022.10 first edition
V1.1 2023.3 second edition
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for more information, log on https://www.seer-group.com/

Thank you for your purchase.
Only qualified personnel who have received corresponding operation training and obtained
qualifications are allowed to use this product.
This document includes precautions to ensure personal safety and protect this product.
Disclaimer
all contents of this document have been verified and confirmed and are as accurate, reliable
and complete as possible, but all contents cannot be guaranteed to be consistent with the
product.
Technical data are subject to change without prior notice.
The copyright of this document is only owned by Shanghai Seer Intelligent Technology
Corporation. Without written permission, no organization or individual can copy or issue it in
any form. If it is quoted, the source must be indicated, and no reference, deletion or
modification against the original intention of this document is allowed.
Shanghai Seer Intelligent Technology Corporation. does not have any express or implied
warranty of this document and its contents.
Shanghai Seer Intelligent Technology Corporation. has the right to amend and finally interpret
the terms of this disclaimer.

Directory
1. Preface............................................................................................................................................................7
1.1 reading tips.............................................................................................................................................7
1.2 prohibition of use...............................................................................................................................7
2. Security...................................................................................................................................................8
2.1 Security Message Type......................................................................................................................8
2.2 General Safety precautions..............................................................................................................8
2.3 safety instructions..............................................................................................................................9
2.3.1 Personnel Qualification requirements........................................................................................ 9
2.3.2 operational security.................................................................................................................. 10
2.3.3 load safety................................................................................................................................. 11
2.3.4 parking safety............................................................................................................................ 11
2.3.5 security avoidance scope.......................................................................................................... 11
2.4 battery safety warning.................................................................................................................... 12
2.5 risk assessment.....................................................................................................................................12
2.6 residual risks..................................................................................................................................... 12
2.7 Environmental Security........................................................................................................................ 13
2.7.1 noise.......................................................................................................................................... 13
2.7.2 scrap disposal............................................................................................................................ 13
3. Product Introduction.................................................................................................................................14
3.1 Introduction..........................................................................................................................................14
3.2 Product Size..........................................................................................................................................14
3.2.2 gyroscope coordinate system................................................................................................... 16

3.3 Main tags..............................................................................................................................................17
3.3.1 precautions................................................................................................................................17
3.3.2 nameplate..................................................................................................................................18
3.4 car body configuration......................................................................................................................... 19
3.5 Operation panel....................................................................................................................................20
3.6 HMI display screen............................................................................................................................... 21
3.6.1 main interface........................................................................................................................... 22
3.6.2 General Information Display..................................................................................................... 23
3.6.3 basic information interface.......................................................................................................24
3.6.4 control interface........................................................................................................................28
3.6.5 alarm box interface................................................................................................................... 29
3.7 acousto-optic system........................................................................................................................... 30
3.7.1 enclosure lamp..........................................................................................................................30
3.7.2 three-color lamp........................................................................................................................30
3.7.3 steering lamp.............................................................................................................................30
3.7.4 Searchlight.................................................................................................................................31
3.8 technical parameters............................................................................................................................31
3.9 software functions................................................................................................................................34
3.10 network requirements and configurations........................................................................................34
4. Start using.......................................................................................................................................................35
4.1 Articles with box...................................................................................................................................35
4.2 Robot boot............................................................................................................................................35
4.3 shutdown of robot................................................................................................................................36
5.1 Manual charging of robot.....................................................................................................................37
5.2 robot automatic charging.....................................................................................................................41
5.3 performance curve of battery products...............................................................................................42
5.3.1 discharge curves with different magnification..........................................................................42

5.3.2 discharge curves at different temperatures............................................................................. 42
5.3.3 Cycle performance (1.0C/1.0C recharge) curve........................................................................43
5.4 battery system parameters..................................................................................................................43
5. 5 battery management system parameters...........................................................................................44
5.6Battery safety performance.................................................................................................................. 45
5.7 battery storage.....................................................................................................................................47
6. Navigation and control system.......................................................................................................................48
6.1 System Overview..................................................................................................................................48
6.2 User input information.........................................................................................................................49
6.3 Global Path Planning............................................................................................................................ 50
6.4 Local path planning.............................................................................................................................. 51
6.5 task planning and action planning........................................................................................................51
6.6 obstacle detection................................................................................................................................52
3D laser vision..................................................................................................................................................53
6.6.1 navigation laser......................................................................................................................... 53
6.6.2 obstacle avoidance laser........................................................................................................... 58
6.7 positioning............................................................................................................................................60
6.8 Driver and Motor..................................................................................................................................61
7. Debugging.......................................................................................................................................................62
7.1 connect robots..................................................................................................................................... 62
7.2 map construction and editing.............................................................................................................. 63
1. Map construction........................................................................................................................................63
7.3 path navigation and obstacle stopping verification.............................................................................67
7.4 Establishment and configuration of fork action AP workstation.........................................................68
7.4.1 Workstation (AP).......................................................................................................................68
7.4.2 Special Workstation (CP, namely charging point).....................................................................69
7.4.3 working route............................................................................................................................69

7.5 navigate to the specified point and perform corresponding actions.................................................. 71
7.6 upper computer controls the lift of forklift..........................................................................................73
7.7 Recognition function............................................................................................................................ 74
7.7.1 pallet identification................................................................................................................... 74
7.7.2 cage identification.....................................................................................................................77
7.8 error codes........................................................................................................................................... 79
8. Application......................................................................................................................................................80
8.1 optional components for peripheral modules.....................................................................................80
9. Product maintenance.....................................................................................................................................81
9.1 maintenance instructions.....................................................................................................................81
9.2 periodic maintenance...........................................................................................................................81
9.2.1 vehicle body maintenance table............................................................................................... 81
9.2.2 configuration maintenance table................................................................................................86
9.2.3 lubrication parts table...............................................................................................................86
9.2.4 lubricating oil and grease.......................................................................................................... 87
9.3 List of common spare parts..................................................................................................................87
9.4 cleaning.................................................................................................................................................88
9.4.1 floor cleaning.............................................................................................................................88
9.4.2 robot cleaning............................................................................................................................89
1. External cleaning.....................................................................................................................................90
9.4.3 Laser Cleaning............................................................................................................................90
9.5 storage..........................................................................................................................................................91
9.5.1 robot storage.....................................................................................................................................91
9. 5.2 charger storage.........................................................................................................................91
10. Effective load specifications.........................................................................................................................92
11.Update software............................................................................................................................................93

1. Preface
1.1 reading tips
the CDD, robot, and forklift in this document are all abbreviations of SFL-CDD14.
Read the user guide carefully before using the robot.
Without authorization, CDD cannot be disassembled or assembled without authorization.
Please note the security warnings involved in the user guide.
If the robot has abnormal problems, please contact the manufacturer in time.
When using the robot, if you smell abnormal smell, please stop immediately, shut down and
take out the battery.
The user guide cannot replace the technical agreement.
1.2 prohibition of use
 it is forbidden to be used outdoors.
 It is forbidden to use in environments that have strong interference with navigation
equipment.
 It is forbidden to use it in an environment full of dust, dust and other places with explosion
risks.
 It is forbidden to be used in environments with high salt content (marine climate).
 It is forbidden to be used in extremely poor environments (extreme weather, frozen
warehouses, strong magnetic fields, etc.).
 It is forbidden to carry inflammable and explosive articles.
 It is forbidden to carry liquid articles.
 It is forbidden to run on uneven, obstructed, or ladder.
 Do not rotate in situ on the slope.
 No loading personnel.
 The shell is forbidden to run under load.
 It is forbidden to operate on the ground with oil and water.

2. Security
read this section before starting and running CDD.
Note
 the company is not responsible for any problems caused by damage, replacement or
modification of CDD or its accessories in any way.
 The company is not responsible for any damage to CDD, accessories or any other
equipment caused by customer programming errors or faults.
2.1 Security Message Type
this document contains the following security message types.
Warning
 indicates a potentially dangerous situation that may lead to death or serious
injury.
 Appropriate preventive measures should be taken to avoid damage or injury.
Be careful
 indicates potential dangerous conditions that may cause slight or moderate
injuries to personnel. Reminder to avoid unsafe behaviors.
 Appropriate preventive measures should be taken to avoid damage or injury.
Note
 indicates important information, including situations that may cause damage
to equipment or property.
2.2 General Safety precautions
this chapter contains general security considerations.
Precautions for robot tilting
 if the load is not properly placed or fixed, it may cause the load to drop or
the robot to tilt.
 Make sure that the load is properly fixed according to the specifications.
See 10 . Effective load specifications .

Precautions for machine injury
 the high-speed rotating part of the car body will cause personal injury, such
as universal wheel and driving wheel.
 Do not rely too much on the self-avoidance function of the vehicle, please
take the initiative to avoid the vehicle.
Operational precautions
 robots cannot observe downstairs and holes on the floor.
 Mark stairs and holes as forbidden areas on the map.
 Please update the map in time.
2.3 safety instructions
2.3.1 Personnel Qualification requirements
only qualified security personnel are allowed to install, debug, operate, and maintain CDD.
Mechanical installation and debugging
personnel who carry out mechanical installation and debugging should master professional
knowledge and experience in relevant fields, have sufficient experience, and be able
it is sufficient to evaluate whether the machine is in a safe operation State after using the
protective equipment.
Electrical installation and debugging
personnel who carry out electrical installation and debugging should master professional
knowledge and experience in relevant fields, have sufficient experience, and be able
it is sufficient to evaluate whether the machine is in a safe operation State after using the
protective equipment.
Operation and Maintenance
personnel carrying out Operation and maintenance should master professional knowledge and
experience in relevant fields, and be familiar with protective equipment on machines.
And the machine user guides the operation.

2.3.2 operational security
2.3.2.1 operating environment security
 the ground is flat, with no grooves, no damage, no hollowing, no water stains, oil stains,
glue and other pollutants.
 The ground is free of screws, rag gloves, cable and other foreign matters that are easy to get
stuck and twine the wheels.
 Do not operate in excessively open areas (greater than laser sensing distance), such as long
corridors.
 Robots with full load and low speed can only cross steps not higher than 0.5cm.
 Through the narrow channel, the outermost side of the robot needs to keep a 10cm gap
with the channel.
 The road sections in the work area should be protected or marked with warning signs to
remind other personnel of robots entering and leaving.
2.3.2.2 Operation Check
 the operator shall check the condition of the robot before enabling it to ensure safe use.
Check items include:
 whether the wheel fasteners are tightened.
 Whether the power system is normal.
 Whether the emergency stop function is normal.
 Whether the load handling device is damaged (such as bending, crack or abrasion).
 Whether the warning device is normal.
 Check whether the enclosure light is normal.
 Whether the HMI display is normal.
 Whether the function of the laser sensor is normal.
 Whether the battery is normal.
Whether the charging function is normal.

2.3.2.3 run on ramp
 run only on ramps that meet performance parameters. For more information, see 3.8
technical parameters
 The upper and lower ends of the ramp should be flat to prevent the load or robot from
touching the ground.
 It is forbidden to turn around, run diagonally or stop on the ramp.
When the tractor runs downhill with a trailer without braking, it should not brake urgently.
2.3.2.4 run in elevator or lift
 ensure that the elevator or lift can bear all the weight including the robot and its load.
 Make sure that any part of the robot is not in contact with the elevator or the car wall of the
elevator.
 Make sure that the robot does not move unexpectedly.
 Make sure the elevator meets GB 7588-2003 standard.
2.3.3 load safety
 CDD and its load must not exceed the allowable range of the road surface.
 The goods carried must have reliable fixing measures.
 The goods carried must be placed in the load center with certain anti-skid measures. Please
refer 10. Effective load specifications
 The weight of the goods carried by the upper-layer mechanism must be evenly distributed
and no partial load is allowed.
2.3.4 parking safety
 when the robot stops running, it should be turned off and the power supply should be cut
off.
 Do not dock on the ramp.
 Do not stop at the heat source or next to the fire source.
 Do not park in open pit, underground passage, elevator shaft or other similar areas.
 Do not park in fire exits, stairway or areas that hinder the passage of fire fighting equipment.
 Under special circumstances, safety measures should be taken for robots, such as wedges.
2.3.5 security avoidance scope
the minimum rotary diameter of the robot is 2360mm, please avoid it.

2.4 battery safety warning
 for your safety, please do not open or disassemble the battery privately.
 Battery maintenance and replacement must be carried out by professionals. If necessary,
please call our service hotline.
 If you need to replace the battery, please select the same type and model of forklift lithium
battery, or consult us first. It is strictly prohibited to mix lithium batteries of different
specifications from different manufacturers.
 Please use the special charger configured by our company to charge the battery, and do not
replace the Charger of other specifications or other companies to charge.
 When placing the battery system, there should be a safe distance around.
 It is strictly prohibited to discharge the battery too low!
 Avoid using this system in the following environments:
1. high, low and humid places beyond the provisions of technical indicators;
2. places with metal dust, corrosive substances, salt and combustible gases;
3. places with low air cleanliness.
2.5 risk assessment
risk assessment is one of the important steps for integrators to implement secure installation.
On-site debugging personnel are usually responsible for risk assessment.
Risk assessment involves not only CDD chassis , and also consider peripheral modules, path
planning, working environment, etc.
It is recommended to use the guidelines in ISO 12100, ISO 3691-4, ANSI B56.5 or other relevant
standards for risk assessment. Including but not limited:
 in the process of robot installation, development and use, teach.
 The robot device works normally.
In article 4 of ISO 3691-4, major dangers, dangerous situations and events requiring attention
are listed.
Risk assessment items shall be listed in the technical agreement.
2.6 residual risks
the potential major dangers are listed below. Please operate the robot with caution.
 The robot can set the reverse route, but if there is no sensor at the rear of the car, it will enter
the robot's running route when it goes backwards, which may cause the risk of being hit.

 The user accidentally touches the moving parts of the robot, which has the risk of being
clamped, pressed feet and hitting.
 There is a risk of impact and jam during load transportation.
2.7 Environmental Security
2.7.1 noise
CDD noise ≤ 75 dB(A), conforming to EN12053 standard.
2.7.2 scrap disposal
 CDD contains the following materials that affect environmental factors:
 plastic
 battery
hydraulic oil
handling requirements: CDD shall be handled by users and final scrap disposers in accordance
with the law of the People's Republic of China on the prevention and control of environmental
pollution caused by solid waste.

3. Product Introduction
3.1 Introduction
SFL-CDD14(Seer Fork Lift) is a laser SLAM small heap height automatic forklift with SRC core
controller inside, providing core map construction and positioning navigation functions, and
reserving abundant I/O, CAN, RS485 and other interfaces, thus helping users to quickly realize
various applications of automatic forklift.
This product is developed and designed by Shanghai Seer Intelligent Technology Corporation.
Shanghai Seer Intelligent Technology Corporation.©All rights reserved.
Some names and other possible names in this document do not contain registered trademark
symbols.®, they are all registered trademarks of Shanghai Seer Intelligent Technology
Corporation.: SEER intelligence, SEER, SRC.
3.2 Product Size

No. Definition SFL-CDD14（mm）
h1 Total height of car body (when the door frame retracts) 2060
h2 free lifting height 0
h3 height lifting 1600
h4 height of door frame when unfolded 2130
h5 height when fork is lowered 85~90
L1 body length (excluding fork tip) 1640
L2 distance from Fork surface to front 490
b1 car body width 989
s/e/l fork size: height/width/length 55/180/1150
b5 fork outer width 570/680
m1 distance between center and ground 30
Ast
width of right-angle stacking channel, tray 1000x
1200(1200 Cross Fork placement)
1887+200
Ast
Width of right-angle stacking channel, tray
800x 1200(1200 placed along the fork)
1824+200
Wa Minimum turning radius 1180+200
The parameters of the standard forklift will vary according to the actual equipment.

3.2.2 gyroscope coordinate system
the data of gyroscope in robot coordinate system can be used to detect slippage.
No. Definition SFL-CDD14
x
Refers to the x offset of the position where the controller is installed
on the coordinate system.
882mm
y
Refers to the y offset of the position where the controller is installed
203mm
z
Refers to the z offset of the position where the controller is installed
1055mm
yaw
Refers to the degree of the position where the controller is installed
relative to the yaw of the car coordinate system.
-90°
qx Refers to the quaternion x component (reserved, no need to fill in) /
qy refers to the quaternion y component (reserved, no need to fill in) /
qz refers to the quaternion z component (reserved, no need to fill in) /
qw refers to the quaternion w component (reserved, no need to fill in) /
faceUP the orientation of the controller. 2

3.3 Main tags
3.3.1 precautions

3.4 car body configuration
No. Name no. Name
1 Three-color lamp 13 Steering lamp
2 antenna 14 navigation laser
3 manual charging place 15 searchlight
4 in-Place switch 16
handheld interface
（Customizable）
5 3D pallet recognition camera 17 Spare hole location
6 obstacle avoidance laser 18 SRC switch
7 photoelectric sensor 19 power-on key switch
9 SRC external network port 20 manual automatic switching
10 HMI display screen 21 drive power-off button
11 emergency stop button 22 enclosure lamp
12 automatic charging brush board 23 obstacle avoidance laser

3.5 Operation panel
emergency stop button
 the emergency stop button is only used in emergencies and cannot be used to stop the robot.
 After the emergency stop button is pressed, the robot immediately stops all movements.
 The emergency stop can be started only when the cause of the fault is determined and the
fault is eliminated.
Precautions for robot emergency stop
 when using the scheduling system of our company, it is strictly prohibited to press the
emergency stop to move the robot, otherwise the robot task will go wrong.
Drive power-off button
 power off the drive after pressing it, and power up the drive after unplugging it to clear the
drive error.
Manual automatic switching switch
 manual: refers to the situation where external devices such as handles and hand
manipulators control robots (usually seen in large robots such as forklifts). The standard of
judgment is whether SRC enters the external control mode.
 Auto: When SRC is not controlled externally, it is considered as automatic mode.
a. Automatic navigation: any situation where navigation instructions are sent through API
(including Roboshop, scheduling, or other upper computer).
B. Remote control of upper computer: any situation controlled by API 2010 (including Roboshop
WASD, open-loop instructions issued by customers themselves, which is originally called
manual control).

3.6 HMI display screen
HMI display screen consists of display screen, PWR indicator light, CPU indicator light and COM
indicator light. The specific information is shown in the following figure.
HMI display screen is divided into three parts: general information, basic information, control
and alarm box.

3.6.1 main interface
after the display screen is turned on and connected to communication, the main interface can
be displayed.
If the communication is not connected, the PLC communication does not respond.

3.6.2 General Information Display
general information features
Type Icon Definition

Basic information Click to switch to the basic information interface
Control Click to switch to the control interface
IP Display the current IP value in real time
Battery current
Display the current information of current robot in
real time (charging is positive and discharging is
negative)
Logo Show the company logo
UI version Display the version of current interface in real time
RBK version Display the current RBK version in real time
Chinese-English
switch
Click to switch between Chinese and English
3.6.3 basic information interface
basic information features

Type icon definition
Navigation type
Indicates that the robot has
no task now.
Indicates that the robot is
free to navigate to the
coordinate point.
Indicates that the robot is
free to navigate to the site.
Indicates that the robot is a
path navigation to the site
Confirm
positioning
click to confirm the current
robot positioning.
RESET
Clear the robot Fork status
after clicking
Operation mode
indicates that the current
robot operation mode is
automatic.
Indicates that the current
robot operation mode is
manual.
Navigation status
robot navigation status is
none.
Indicates that the navigation
status of the robot is
pending.
status of the current robot is
paused.
arrival.

failed.
canceled.
status of the current robot is
timed out.
fork height
Indicates that the fork
height of the robot is
1.560m. Click to set the fork
height.
Driving speed
Indicates the speed of the
current robot.
angular velocity
Indicates the angular
velocity of the current robot.
target site
Indicates that the target site
to which the current robot is
going is none. Click the icon
to enter and navigate the
site.
current site
robot is located at site 1.
confidence Confidence ∈[0.00,1.00]

power
electricity quantity (%)∈
[0,100]
emergency stop
status
no emergency stop
Has been stopped urgently
blocking status
unblocked
blocked
error Codes
Warning exists, and the
corresponding alarm code is
displayed on the right
(based on the actual alarm
code)
an Error occurs and the
code).
Fatal exists, and the
code)
Note: For more information about error codes, see:
https://docs.seer-group.com/robokit_netprotocol/688125 .

3.6.4 control interface
function introduction of control interface
Control right
Click to reclaim the
control right of the robot
Click to release the control
right of the robot
Robot state
It is emergency stop state,
blocking state, warning
code, error warning code
and fatal warning code
from left to right
When the status is
triggered, the
corresponding icon will be
in the style as shown

below and will remain in
flashing state
DI
Not triggered
Triggered
DO
Not started. Click the
button to enable it
Enabled, click the button
to turn off it
3.6.5 alarm box interface
introduction to alarm box functions
In addition to charging, the alarm box will pop up and display the corresponding alarm
information if any one of the following information is triggered
Robot state
Indicates the robot is
blocked when it pops up

Indicates the robot is
charging (not pop up
when charging)
Indicates the robot has
error or warning when it
pops up
Indicates the robot is in
emergency stop state
when it pops up
3.7 acousto-optic system
3.7.1 enclosure lamp
normally on: Blue Light
3.7.2 three-color lamp
in automatic mode:
 when the forklift is in standby, the three-color light is displayed as yellow
 the three-color light is green when the forklift is performing the task.
 When the forklift returns an error, the three-color light is red, the buzzer will ring
3.7.3 steering lamp
in automatic mode:
 when the forklift turns to the left while performing the task, the turn signal on the left will be
on.
 When the forklift turns to the right while performing the task, the turn signal on the right will
be on.
 When the forklift runs backward while performing the task, the steering lights on both sides
will always be on at the same time.

3.7.4 Searchlight
SFL-CDD14 is equipped with a searchlight. When the forklift is in automatic mode, the
Searchlight will always be on.
3.8 technical parameters
Model parameters SFL-CDD14
Navigation laser
1(SICK nanoScan3 Core or P+F OMD30M-R2000-B23-
V1V1D-HD-1L )
obstacle avoidance laser
2 (in front of the radium LR-1BS2H car), 1 (behind the
radium LR-1BS2H car)
driver form single steering wheel
Size
length * width * height 1640mm*989mm*2060mm
weight (including battery) 680kg
color
shell color blue + Gray/custom color
Network interface
wireless Network Wi-Fi 802.11 a/ B /g/n/ac
Battery
capacity 24V 180Ah lithium iron phosphate battery
battery life 10h
charging time 0-80%:2H
charging Method manual/automatic
battery charge and discharge
cycle times
> 2500 times

Operation panel
HMI display screen √
emergency stop button √
buzzer ×
power Indicator √
Audio and enclosure lights
speaker √
three-color lamp √
searchlight √
Performance parameters
maximum load 1400kg
driving speed: full load/no
load
1.2/1.5m/s
lifting speed: full load/no load 115/170mm/s
downgrade: full load/no load 160/125mm/s
climbing performance: full
load/no load 1
3/5%
positioning Accuracy 2 ± 10mm，± 0.5°
navigation speed Full load/no load 0.8/1.2m/s
map area (single) ≤ 200000m²
Function
basic features 3 √
Wifi roaming function √
automatic charging function 4 〇
pallet recognition function 5 〇

laser reflector navigation
function
〇
3D obstacle avoidance
function 5
〇
Environment
ambient temperature and
humidity range
0℃ ~ 50℃ (humidity 10-90%, no compression
condensation)
IP level 6 IP20
√ Supported
× not supported
〇 optional
1. The road surface is smooth and clean without obvious ups and downs. Slope 5% = arctan(0.05)
≈ 2.8 °. Robots cannot stop or turn at ramps, steps, and gaps. They can only pass through
the ramps, steps, and gaps vertically.
2. Positioning accuracy usually refers to the repeated accuracy of the robot navigating to the
target site. Under the condition that the environment scanned by the robot laser radar is
relatively stable, the repeated accuracy of the robot navigating from a fixed direction to the
target site can reach the expected value. When the robot runs along the planned path, it fits the
path as much as possible, but does not guarantee repeatability. That is, the robot can ensure
the point accuracy, but not the path fitting accuracy. The minimum site spacing supported by
CDD is 1cm. Therefore, robots cannot be used as linear guides.
3. Basic functions include map editing, model editing, positioning module, navigation module,
basic motion model (differential), API interface, etc.
4. It needs to be used with the automatic charging pile of SEER.
5. 3D camera needs to be installed in peripheral extension to realize this function.
6. CDD is designed for indoor transportation only and is not recommended for outdoor
environment.

3.9 software functions
 map editing
 model editing
 positioning module
 navigation Module
 API
 visualized operations
 multi-machine scheduling
 Wi-Fi roaming
 automatic charging function
 laser reflector navigation function
 3D obstacle avoidance function
 shelf identification function
3.10 network requirements and configurations
network requirements
 wireless network protocol: IEEE 802.11 a/B/g/n
 broadband speed value: ≥100mbits
 signal strength requirements: ≥-60dBm
 network latency requirements: average latency ≤ 100ms

4. Start using
4.1 Articles with box
 CDD robot body
 manual charger/automatic charging pile (one piece or two pieces)
4.2 Robot boot
1. Turn the power-on part to the right with the key to power up.
2. Pull up the power-off switch of the driver and turn it on。

3. Press the SRC switch button until the indicator light is always on, and release the boot button
to complete the boot process. At this time, the enclosure light and laser light are on。
4.3 shutdown of robot
1. Make sure that the robot has no tasks and is in the stopped state.
2. Press and hold the SRC button on/off for 3-4 seconds before releasing, and wait for a few
seconds for the green light of the SRC button to go out;
3. Turn the key at the power on position to the power off position to complete the shutdown.
4. Press the drive power off switch to turn it off.
Note: If the machine is shut down due to transportation, maintenance or repair, the robot
battery switch must be turned off.

5.1 Manual charging of robot
CDD ex-factory battery can be used for 4-5 hours, and then it needs to be charged. Please use
the original charger. The specific charging steps are as follows:
1. Remove the charging port baffle.

2. Connect the charger to the manual charging port and power socket of the robot.

3. Turn on the power of the manual charger, turn on the switch, and the charging information
will be on. Note: the charging socket requires the national standard 16A and needs to be
grounded.

4. Observe the HMI screen. When the charging icon is displayed, the charging is successful.

Note
 it is recommended to turn off the robot when charging with the charger.
 If you use the same charger to charge two robots in turn, wait for one minute after the first
robot is charged, and then charge the second robot to ensure that the charger can correctly
identify the second robot.
 Please use the original charger.
5.2 robot automatic charging
Note: For the use and configuration of charging piles, please refer to SFL charging pile User's
Guide.

5.3 performance curve of battery products
5.3.1 discharge curves with different magnification
5.3.2 discharge curves at different temperatures

5.3.3 Cycle performance (1.0C/1.0C recharge) curve
5.4 battery system parameters
this product selects safe and high-quality lithium iron phosphate lithium ion battery core,
adopts modular integration technology, matches the special battery management system, and
makes lean manufacturing and comprehensive control to ensure the safety and longevity of the
product.
No. Project indicator remarks
Monomer battery parameters:
1 Battery core type
power Type
square battery
core
2 material System
lithium iron
phosphate battery
3 Nominal Voltage 3.20V
4 Charging cutoff voltage 3.65V
5 discharge termination voltage 2.5V
6
Maximum operating
temperature range
Charging 0℃~55℃
discharge -20℃~60℃
7 optimal operating charging 15℃~35℃

temperature range discharge 15℃~35℃
8
storage
Temperature
within 1 month -40℃~45℃
within 6 months -20℃~35℃
Battery pack system parameters
No. Project value remarks
1 Recommended capacity (SOC) 10% to 95%
2 charging temperature range 0℃ ~ + 55℃
3 discharge temperature range -20℃ ~ + 55℃
Natural cooling,
temperature ≤
10℃
4 cycle Life
2500 times or 5
years (whichever
comes first)
standard loop
5. 5 battery management system parameters
No. Project value description
1 Working power supply 12V
DC/DC power supply
inside battery box
2
working Energy
consumption
<3W
without relay power
consumption
3 operating temperature -40℃~85℃
4 protection level IP20
battery Box guarantees
protection level
5
CAN communication
function
External two-way
master all the way,
charge all the way
6 CAN baud rate 125K
7
485 communication
function
Route 1 external display screen

8
monomer voltage
sampling
Precision ± 5mv, range
2~5V
9 current sampling -750A~+750A
10 temperature sampling -40℃~85℃
11 SOC estimation accuracy Refer to QC/T 897-2011
12
Battery pack safety
management
Level -2 warning and
level -1 shutdown
Secondary alert policy
13
thermal management of
battery pack
supported
14 contactor control With
15 charging Control with
5.6Battery safety performance
No. Project standard test method
1
Acupuncture
performance
No explosion
no fire
After the battery is
charged, it is put aside for
1 hour at 20℃ ± 5℃. Use a
steel nail of 3mm ~ 8mm to
run through quickly from
the direction
perpendicular to the
battery plate (the steel pin
stays in the battery)
2 extrusion test
No explosion
no fire
1 hour at 20℃ ± 5℃. Test
according to the following
conditions. The
experiment should be

carried out under the
condition of adequate
environmental protection.
a) extrusion direction:
press pressure
perpendicular to the
direction of battery plate.
B) extrusion area: the outer
surface perpendicular to
the pressure direction. c)
extrusion degree: until the
battery shell breaks or the
inside is short-circuited.
3 heating test
no explosion
no fire
1 hour at 20℃ ± 5℃.
Under the condition of
85℃ ± 2℃, put aside for
120min.
4
short circuit
performance
no explosion
no fire
1 hour at 20℃ ± 5℃. Short
circuit the battery through
the outside for 10min
external line resistance
should be less than 10m.
5 overcharge performance
No explosion
no fire
1 hour at 20℃ ± 5℃. Then
at the same temperature,
charge according to the
following two charging
methods (either is
enough).

1. Charge with 150A
current until the
battery voltage reaches
5V or the charging time
reaches 90min (one of
the conditions is
limited to reach and
stop the test).
2. Stop the test when the
current voltage reaches
10V with 9I3(A).
6
overdischarge
performance
no explosion
no fire
Under the condition of
20℃ ± 5℃, the battery is
discharged at 100(A)
current until the voltage
reaches 0V.
5.7 battery storage
 long-term storage of battery assembly should choose a shaded and ventilated place, away
from inflammable and explosive dangerous goods, avoid exposure to the Sun, in case of high
temperature protection caused by long-term sunshine.
 The storage time is more than 3 months. It is recommended to charge AC to 50% of the state
of charge and store it in a dry warehouse at normal temperature. The contact parts of the
battery assembly should be moisture-proof, waterproof and dustproof to avoid corrosion
and short circuit.

6. Navigation and control system
6.1 System Overview
the navigation and control system controls the robot to navigate to another destination in the
constructed map according to the task instructions issued by the user, or controls the motor,
audio, DO or robot status according to the current state of the robot. The following figure shows
the structure of the navigation and control system. The modules designed in the navigation and
control system are as follows:
 global Path Planning
generate the shortest path to the target point based on the planning of the target point and map
file, and split the total task into subtasks of each line.
 Task Planning
the task planner generates a task queue based on the subtask instructions of the current line
and the model file information. Then call the path navigation module or the action execution
module to execute.
 Local path planning
based on the attributes of the current path, positioning, and sensors, the robot is controlled to
walk according to the current path. If an obstacle is encountered, the robot blocks the error.
 Action Planning
based on action instructions and sensor information, the robot mechanism is controlled to
perform specified actions.
 Location
the positioning module is based on laser SLAM navigation, two-dimensional code navigation, or
odometer navigation, providing real-time accurate location information for robots in different
environments.
 Sensor

A variety of sensors (accelerometers, gyroscope, encoders, 3D cameras, infrared, DI signals, etc.)
provide real-time state query for robots. This information can be used for point judgment,
obstacle judgment, deceleration judgment, etc.
 Executing Agency
Structure Diagram of robot navigation and control system
the user sends a task instruction to the robot through the network. The robot will automatically
generate a path to the target point according to the configurable content, positioning and
sensor, and use the actuator to complete the corresponding task actions.
6.2 User input information
in order for the robot to automatically navigate, the user must provide the following information:
 the map where the robot is located needs to be scanned by RoboShop software, and the
working points and lines should be set on the map.
 Configure the robot model file
 determine the current position of the robot
 send robot target points

On the map, the robot is represented by a translucent rectangular frame, and the points and
lines are also displayed on the map. The robot model file defines the mechanism attributes such
as laser and motor. After the robot has a map, a point location, a route, a model file, and a
current location, it can plan a route to the target point.
When the robot receives the map, model file, current position and target point position, the
robot will plan a route as short as possible from the current position to the target point.
6.3 Global Path Planning
global path planning refers to the robot generating a path to the target point. Global path
planning is only planned at the beginning of the task. Global path planning does not consider
obstacles on the line, but considers the deviation distance of the robot's offline path.
The blue circle is the target point, and the blue line is the line planned by the robot.

6.4 Local path planning
the robot will conduct local path navigation in real time during driving. When encountering
obstacles, robots can avoid obstacles. Local path navigation also plans the running speed of the
robot to ensure smooth running speed of the robot. When the robot is outside the line, the
navigation fails and the robot is not in the path.
The robot detects virtual obstacles on the line, and local route navigation avoids obstacles and
stops.
6.5 task planning and action planning
when a robot receives a task instruction, it splits the instruction into an action sequence. For
example, if the task assigned to the jacking vehicle is to identify and pick up the goods, the task
planning will divide the issued instructions into three parts: 1. Identify the position of the goods;
2. Navigate to the position of the goods; 3. Perform the pick-up action. This task instruction is
executed only after each action is executed successfully.
Action planning is to plan the robot's own equipment to perform each action. For example, 1.
Identify the location of the goods. The action planning will call the camera to identify the
location of the goods based on appropriate identification files. 2. Navigate to the cargo location,
and the action planning will call local path navigation to let the robot move to the destination. 3.
When the pickup action is performed, the robot will rotate the pickup motor to load the goods.
Under the control of RoboShop, each navigation instruction of the robot can be attached with a
task instruction. In the scheduling mode, the robot can attach a task instruction to each line.

6.6 obstacle detection
the obstacle detection function of the robot is realized by the following three sensors:
 navigation laser
 obstacle avoidance laser
 3D laser (this function is optional)
The following figure shows how the robot sees the environment and how it performs in the
robot system.
Human Visual
Laser Vision

3D laser vision
6.6.1 navigation laser
configure a P+F OMD30M-R2000-B23-V1V1D-HD-1L SFL-CDD. The main functions are as follows:
 scan map
 positioning and navigation
 identify Obstacles
6.6.1.1 detection range

`
Model no. Definition parameter
SFL-CDD14
R detection distance 30m
Y scanning angle 275°
H detection height 2045±5mm
6.6.1.2 detection blind area
due to the characteristics of laser sensors, objects below or above the laser detection height
cannot be detected.
6.6.1.3 actions after detecting obstacles
when CDD leaves the factory, the default deceleration (ObsDecDist) and stop (ObsStopDist)
areas have been set.
 In the deceleration area (default value: 3m), the laser detects obstacles and the robot
decelerates.
 In the stop area (default value: 1m), the laser detects obstacles and the robot stops.
 In Roboshop parameter configuration, you can modify this parameter.

Precautions for robot parameter configuration
 if the ObsStopDist is set to 0, collision detection is disabled. Collision may occur at this time.
Please pay attention to safety!
6.6.1.4 laser characteristics and limits
noise
the noise of laser is caused by the principle of laser measurement. During laser ranging, a light
spot is emitted, and the light spot is usually fixed at the divergence angle. Therefore, the farther
the measurement distance is, the larger the light spot is formed in the distance. If a light spot is
emitted and at the same time half of it shines on the front object and half of it shines on the
back object, and the returned energy is very high, the distance measured here will be
problematic, and the usual laser noise will be generated.
Therefore, usually when the reflectivity of the background object is relatively high and the
foreground object is close to the background object, laser noise is easily generated at the edge of the
foreground object. As shown in the following figure:

Effective distance
the effective distance of Pegasus laser during normal operation is 0.1M ~ 40m, so when the laser
is very close to the object, the data of the laser may not be accurate, so the laser should not be
particularly close to the wall or other objects during use (at least 10cm space needs to be
reserved).
Reflectivity
the reflectivity of laser is usually related to the energy intensity returned by laser, so it will have
higher reflectivity for objects with high reflectivity (reflector) and lower reflectivity for ordinary
objects. Generally, we normalize the reflectivity to 0~255.0 is the lowest reflectivity and 255 is
the highest reflectivity. The reflectivity of general objects is less than 150, and that of special
diamond-grade reflector is more than 200. The reflectivity of a certain laser point can be known
through the color of the laser point on the Roboshop, as shown in the following figure:

Therefore, if the environment is filled with objects with high reflectivity, it may affect the
relevant applications that need to identify the reflector.
Black object
for black objects with reflectivity of 10%, the effective measuring distance of laser is 0.1M ~ 10m.
For black objects with lower reflectivity, the laser may not recognize or the measured distance is
inaccurate. Therefore, if the environment is full of black objects with low reflectivity, robots may
not be able to build accurate environmental maps, thus failing to navigate stably and accurately.
Specular reflection object
since laser measurement is to calculate the distance according to the received and reflected
laser, various objects of different materials will have different effects on laser measurement. For
the surface of natural objects, as long as the diffuse reflection is uniform, the noise of laser
irradiation on the surface of the object is relatively small and the measurement accuracy is
relatively high. For objects with smooth surface, mainly specular reflection, the measurement
noise will be relatively large and the measurement accuracy will decrease. Therefore, if the
environment is full of specular reflection objects, robots may not be able to build accurate
environmental maps, thus failing to navigate stably and accurately.
Interference between lasers
generally, the laser is usually designed to protect against multi-laser interference to avoid
mutual interference. However, laser manufacturers recommend using the following installation
method to completely avoid mutual interference between them when using multi-laser. By
increasing the inclination angle of laser installation to eliminate the interference between laser,
for the application of laser SLAM, the inclination angle should be upward rather than downward.

Influence of strong light
generally, the ambient light immunity of indoor laser is about 40klux ~ 80klux, and generally the
indoor light intensity is less than this value. Therefore, indoor light will not affect the laser, but
direct sunlight should be avoided as much as possible. For outdoor applications, please select
outdoor dedicated laser, such as the sikweed series.
Influence of environmental changes on laser SLAM
the principle of laser SLAM is to construct a point cloud map of the environment by scanning the
outline of the environment by laser radar, and then to conduct positioning and navigation
according to the matching between the constructed point cloud map and the real-time point
cloud scanned by laser. Therefore, if the environment contour changes greatly (>30%) after
the map is constructed, the robot may not be able to achieve the expected high precision. If the
environment contour changes greatly (>60%), the robot may deviate from the path or even
lose its positioning. Therefore, to use laser SLAM in scenarios where the environment often
changes greatly, consider adding other auxiliary measures, such as enabling online SLAM,
deploying reflector or two-dimensional code, etc.
6.6.2 obstacle avoidance laser
SFL-CDD14 2 sets in front of the car SICK nanoScan3 Core , the rear of the car is equipped with a
radium LR-1BS2H (can be replaced as needed model ), as obstacle avoidance laser, in order to
achieve the height plane of obstacle avoidance laser installation, the robot will slow down and
stop when encountering obstacles, thus improving the safety of the robot in the process of
movement. Note: Radium laser cannot be used for positioning, and the useForLocalization must
be selected and removed in the robot model file.

6.6.2.1 Detection range
Model no. Definition parameter
SFL-CDD14
r Detection distance 10m
γ1
scanning angle
235°
γ2 170°
h1
detection height
85±5mm
h2 145±5mm

6.6.2.2 detection blind area
due to the characteristics of laser sensors, objects below or above the laser detection height
cannot be detected.
6.6.2.3 actions after detecting obstacles
when CDD leaves the factory, the default deceleration (ObsDecDist) and stop (ObsStopDist)
areas have been set.
 In the deceleration area (default value: 3m), the laser detects obstacles and the robot
decelerates.
 In the stop area (default value: 1m), the laser detects obstacles and the robot stops.
 In Roboshop parameter configuration, you can modify this parameter.
Precautions for robot parameter configuration
 if the ObsStopDist is set to 0, collision detection is disabled. Collision may occur at this time.
Please pay attention to safety!
6.7 positioning
the purpose of the positioning process is to determine the current position of the robot. The
robot has three inputs to determine its current position:
 the initial position of the robot, which serves as the positioning reference point.

 IMU and encoder data, used to determine the distance and speed of the robot starting from
the initial position.
 Laser scanning data, by comparing the position data of the wall on the map to determine the
approximate position of the robot.
The particle filter determines the approximate position of the robot on the map through the
above data..
IMU and encoder
the data of inertial measurement unit (IMU) and motor encoder can be used to calculate the
distance and speed of the robot from the initial position. The two sets of data are combined to
obtain a more accurate position.
Laser and Particle filter
the robot controller uses particle filter algorithm to confirm the best match by comparing the
laser input data with the wall on the map. Since the laser input data only compares the
estimated position obtained by the robot based on IMU and encoder data, the initial position
needs to be confirmed.
To ensure that robots can accurately locate by particle filter, we need to confirm when building
a map:
 the map must have unique and identifiable static landmarks and be easy to identify.
Landmarks need a permanent structure, and robots can use it to determine their own
direction, such as corners, doors, pillars and shelves.
 The robot must be able to detect static landmarks marked on the map so that it can
approach its current position.
 Make sure the current position of the robot is correct.
6.8 Driver and Motor
The robot constantly adjusts the output of the motor based on the information collected by
the sensors. So the robot can modify its speed as it climbs a hill or carries a load

7. Debugging
7.1 connect robots
to operate a robot, you need to use the latest version Roboshop
1. Use a network cable to connect the computer to the network port of the robot.
2. Set the Ethernet IP of the computer to 192.168.192.xxx(xxx must be greater than 200) CIDR
block, subnet mask 255.255.255.0, and the gateway can be omitted.
3. Open the Roboshop and click refresh on the home page or manually enter IP address
192.168.192.5 to add the robot.
4. Find the robot whose IP address is 192.168.192.5 in the robot list on the [Home Page] and click
the [start connection] button to connect.

5. When the robot's "confidence", "network delay", "map", "name", "remarks (if any)"
information is displayed on the robot tab, the connection is successful.
7.2 map construction and editing
preset conditions: the robot is connected, the robot model is configured and synchronized.
1. Map construction
a. Open the Roboshop Pro, connect the robot successfully, and double-click the robot to enter
the map and control interface.
Click [map build] in the toolbar of the module, and all methods of [map build] will pop up.

B. Click [map construction] --> [SLAM], do not modify any parameters in the pop-up Interface
(generally, you do not need to modify the parameters of the interface), and click [OK].
c. Use the keyboard buttons W (forward), A (left turn), S (backward), D (right turn) to control the
robot, so that the robot can move in the scene. After finishing the scan, click the [finish scan]
button in the upper right corner.

d. Wait until the drawing is completed, and then click save in the upper-right corner.
e. Select the desired path and enter the desired name in the pop-up interface to save the map.

f. After saving, a dialog box will pop up asking whether to open it. Select [push map and open] to
open the map you just built and synchronize the map. You can use it directly. The map
construction is completed.
Note: If you select [open], the newly built map will be opened, and a dialog box with
inconsistent map data will pop up. Select [push map], [pull map], or [cancel] as needed].

7.3 path navigation and obstacle stopping verification
preset condition: at least two sites exist on the map and are connected through the Bessel curve.
Robot route navigation: click path navigation in the module toolbar, and then click a site. For
example, click LM2, the robot will route navigation to the target point (LM2) along the route, and
the direction of the robot to the point is the same as that of the site, as shown in the following
figure.
Note: If there are obstacles in the route, the robot will stop in front of the obstacles during
navigation, and will not continue to run until the obstacles disappear, and the blocking reason
will be displayed in the status bar.

7.4 Establishment and configuration of fork action AP workstation
a. Use robots to build maps in areas where robots need to work.
B. Set up AP points on shelves and place them in daily work positions.
c. Configure the workstation.
7.4.1 Workstation (AP)

The AP point is the work site, that is, the forklift has actions here, such as picking up goods,
releasing goods, identifying forks and picking up pallets, etc. Because the fork of the forklift is
the tail, the route of the forklift to the AP point to pick up and release the goods is: LM --> AP
backward, AP --> LM forward.
7.4.2 Special Workstation (CP, namely charging point)
The CP point is the charging point, that is, the charging position of the forklift. The charging is
controlled by roboshop or dispatching system, and the direction of the route is forward forward,
backward or backward, to prevent the forklift from rotating and adjusting the direction.
Note: the points on the main road should not have directions as far as possible, but when the
storage location (here refers to the AP point where recognition action needs to be performed) or
charging point is near the main road and needs to enter the storage location directly from the
main road, when the distance from the main road to the storage location is far away, the front
point can be placed between the AP point and the main road, otherwise, the front point can
only be placed on the Main.
7.4.3 working route
note: when entering and exiting the AP point, the attribute on the route should be set to LM --
> AP backward, AP --> LM forward, and check carefully after drawing to prevent accidents
in use.

The working modes of forklift are divided into two types: recognition mode and non-recognition
mode. According to the working mode of the forklift and the size of the site space, there are also
errors in the corresponding routes. The following is an example to illustrate.
7.4.3.1 with identification and rich space
when the working mode of the forklift is belt identification and the site space is rich, the route of
the forklift is drawn as "Broken Road", that is, the forklift enters and exits as two independent
routes and is fixed in one direction (pay attention to the gap between the goods and the shelves
when walking the arc to prevent collision).
The following figure shows the operation:
The route for the forklift to enter the storage location is set to be one-way entry only. After the
delivery is completed, the forklift will drive out of the storage location along another route. The
point position needs to be adjusted according to the actual position. Note that the site position
and route can overlap. The connection between the points should be clearly distinguished.
Special attention should be paid when drawing to prevent dangerous accidents.
7.4.3.2 without identification and rich space
when the working mode of the forklift is without identification and the site space is rich, the
forklift can adopt the way of Arc in and out of the warehouse.
As shown in the following figure:

7.4.3.3 the space of the site is small (it is the same with or without
identification)
when the space of the site is small and the distance between the storage locations is not
allowed to be driven by the forklift arc, the route drawing can only adopt the right angle mode.
As shown in the following figure:
7.5 navigate to the specified point and perform corresponding actions
forklift pickup is divided into two modes: recognition mode and non-recognition mode.
 Recognition mode: the mode of using 3D recognition camera to recognize the position and
height of the shelf in the environment to realize the function of picking up goods; The AP

point on the map needs to set a front point in front of the shelf, and it is not necessary to set
the AP point accurately. Note: For more information, see 7.7 Recognition function
 non-recognition mode: the mode of realizing the robot's pick-up function through the preset
path in the map; The AP point on the map is the location of the robot's pick-up, and a front
point is needed to set an entry height, and the AP point position needs to be accurately set.
Preset condition: confirm that the robot positioning status is normal, and the path between the
target point and the current point of the robot is smooth.
a. Unrecognized mode Load/Unload: click path navigation in the toolbar of the module, and
click

left-click, select [execute action AP35] in the pop-up dialog box, select [recgnize] in the pop-up
dialog box, enter the Start Height (front Height) and End Height (final Height) in the pop-up
dialog box, and then select the Load/Unload option. The robot goes to the front point of AP35 to
perform the Start Height action, and then enters AP35 to perform the End Height action and
perform the corresponding Load/Unload action;
b. Recognition mode Load/Unload: click path navigation in the toolbar of the module, and click
left at the target point.
Key, select [execute action AP35] in the displayed dialog box, and select [recgnize] in the
displayed dialog box]
option, the robot will automatically go to the front point of AP35 to identify, raise the fork to the
height of the shelf, and then enter and lift;
7.6 upper computer controls the lift of forklift
The upper computer controls the lift and fall of the robot fork: confirm that the robot is in a
normal position, and click the P button in the lower right corner of the Roboshop.
a. Click [lift fork] to raise the robot fork from its current position to its highest height;
b. Click [drop fork] to reduce the robot fork from its current position to the lowest height;
c. Click [stop], the robot will stop the moving (rising or falling) fork mechanism;

d. Enter a specified height such as 1m in [set fork height], and the fork mechanism will rise to 1m;
7.7 Recognition function
after the forklift is equipped with 3D camera, it can carry out the recognition action before the
fork picks up the goods, so as to adjust the position between the fork teeth and the goods for
more accurate operation. The following two recognition modes are introduced: pallet
recognition and cage recognition. The following example uses the image camera.
7.7.1 pallet identification
specific operations and parameter settings
reference https://shimo.im/docs/ZzkLVrp0o8fBKN3Q/ instructions on obstacle avoidance and
pallet identification of Tuyang camera
1. forklift identification pallet needs to set the pallet data in advance. The steps are
[identification file] -- [pull all] -- Select [p001] in [pallet] on the left to modify or right-click
"copy and add" to create a pallet, then modify the pallet parameters, -- however, [push all]
push the modified pallet identification file to the robot.
2

2．Set three sites in the map: LM1,LM2, and ap3. Connect in sequence, set LM2 --> AP3 to
reverse, click AP3 [change execution object] to "fork", [identify model file] to "p001.pallet"
(the specific file is selected according to the actual request), then save and push the map.
3．Click path navigation, move to AP3, click the left key, select action AP3, select Recognize in
the pop-up action box, and click Load to send the command.

7.7.2 cage identification
specific operations and parameter settings
reference https://shimo.im/docs/jJLOpLRfnYguimmA/ AprilTag QR code recognition
instructions
1. Forklift identification cage needs to set up the cage data in advance. The steps are
[identification file] -- [pull all] -- Select [t001] in [tag] on the left to modify or right click "copy and
add" to create a cage, then modify the cage parameters, -- however, [push all] push the
modified cage identification file to the robot.
2. Set three sites in the map: LM1,LM2, and ap3. Connect in sequence, set LM2 --> AP3 to
reverse, click AP3 [change execution object] to "fork", [identify model file] to "p001.pallet" (the
specific file is selected according to the actual request), then save and push the map.

3. Click the path navigation, move to AP3, click the left key, select the action AP3, select
Recognize in the pop-up action box, and click Load to send the command.

7.8 error codes
when the robot reports an error, you can find the corresponding error cause in the document
based on the error code in the Roboshop.
In roboshop, Open help-User Manual-alarm code

8. Application
8.1 optional components for peripheral modules
Optional part name model location purpose
3D laser (Obstacle
avoidance)
Livox Mid-70 or Mid
360
the middle position of
the front part of the
forklift,
specify the height range,
installation orientation:
Ground
detect obstacles on non-
laser scanning surface of
forklift moving direction
3D camera (Pallet
identification)
Percipio FM851-E2
any position in the
front/rear, installation
orientation: fork tooth
direction
identify the pallet to
ensure accurate docking
of the forklift
3D camera (QR code
identification)
rear position of forklift,
installation orientation:
QR code area
the two-dimensional
code is identified for
secondary positioning to
ensure accurate docking
of forklifts.

9. Product maintenance
9.1 maintenance instructions
before carrying out maintenance or fault handling activities, please read this chapter, this
manual and related manuals carefully to fully understand the safety maintenance and fault
handling process.
Only through safety and other related training and authorized personnel can the robot system
be maintained. Other related trainings include robot system training and maintenance training
conducted by manufacturers, distributors and local importers.
Operators shall participate in safety training according to the regulations of various countries.
Precautions for using robot parts
 only approved parts are allowed.
 If unauthorized use of unauthorized parts, the company will not assume any responsibility.
The company is not responsible for any damage to robots, accessories or any other
equipment caused by the use of unauthorized components.
 Precautions for robot maintenance
 maintain strictly according to the description of this manual. Do not dismantle or change
any parts not described in this manual without authorization. Wrong removal, modification
of components or wrong maintenance may lead to abnormal operation of the robot system
and serious safety problems.
 When you need to enter the robot workspace in an emergency, stop the system.
 Please carry out maintenance and repair activities in the designated maintenance area.
Before any maintenance, make sure to remove the robot from the system and turn off the
power supply of the robot, so as to prevent the robot from suddenly moving after receiving
system instructions.
9.2 periodic maintenance
9.2.1 vehicle body maintenance table
Maintenance
parts
maintenance
site
information
1 day 1 week 1 month 3 months 6 months 1 year 3 years
Body System
check the cover
plate (left and
√

right)
view battery
box fasteners
√
check the
frame for
cracks
√
check whether
the car body is
firmly installed
√
Motor
check whether
the connection
is loose
√
cleaning motor √
check whether
the installation
bolt is firm
√
check for
abnormal
bearing noise
√
check
insulation
resistance
√
check
commutator
and carbon
brush
√
Driver system
check for leaks √
check the oil
level
√
check noise √
oil Change √

Wheel part
remove ropes
and sundries
from the
wheels
√
check the wear
condition of
drive wheel
and Bolt
√
check whether
the universal
wheel and axle
are flexible and
tight
√
check the wear
condition of
universal wheel
√
check whether
the supporting
wheel can
rotate and
whether the
connecting
parts are
fastened.
√
Check the wear
condition of
the supporting
wheel
√
remove and
lubricate the
wheel body
bearing
√
Brake part cleaning brake √

part
check the wear
condition of
brake friction
plate
√
check the
braking
condition
under the
condition of
loose brake
√
Electric
Control
Board
cleaning and
installation
inspection
√
fasten the
cable plug
√
check contact √
check the
action of the
contactor
√
Battery
check the
electrolyte
level (the liquid
level should be
10-15mm
above the polar
plate)
√
check whether
the joint
between
battery forklift
and charger is
tight
√

check whether
each battery
and its
insulation
sheath are
displaced
√
check
electrolyte
specific gravity
and
temperature
√
cleaning
battery
√
Hydraulic
system
check whether
pipelines and
joints leak
√
check the wear
condition of
the pipeline
√
check whether
the oil tank
leaks.
√
Check the oil
quantity
√
oil Change √
Oil Cylinder
check for leaks √
check the
installation
status
√
Door frame
check for
damage and
cracks
√

check the roller
movement
√
whether the
lifting chain
and pin are
damaged and
the sprocket is
worn
√
check the fork
for signs of
fracture
√
9.2.2 配置维护表
Parts maintenance method maintenance cycle
shell
check for cracks.
Check the installation status.
Once a month, change as
needed.
Universal wheel
check the abrasion of surface
lines.
Once a month, change as
needed.
Laser
check the surface for scratches
and cracks.
Once a week, change as
needed.
Emergency stop button
check whether it can be
pressed normally and rotated
to rebound
once every three months,
change as needed.
Safety Label
check whether it is worn or
clearly visible.
Change every six months as
needed.
9.2.3 lubrication parts table
Lubrication part
Interval (h) Category of
lubricating oil and
grease
500 1000 3000
wheel bearing
(including steering)
L A

hydraulic system H 0 B
drive gear box H 0 C
lifting chain L D
lifting System
bearing
L G
L = lubrication, H = inspection, 0 = Oil Change
9.2.4 lubricating oil and grease
Grease category
Specifications
Use parts
＞-15℃ ＜-15℃
A Grease
3# lithium-based grease dripping point
170
Bearings and
bushings
B hydraulic oil
YB-32
(Foreign ISO-
LHM46)
YC-32
(Foreign ISOVG46)
hydraulic system
C transmission oil
85W/90
(Room temperature
SAE20W)
75W/75
(SAE75W abroad)
gear box
D lubricating Oil
CC30
(Room temperature
SAE20W)
CC15W
(Low temperature
SAE10W)
chain and
pipeline
G grease
3# lithium-based grease dripping point
170
lifting System
bearing
9.3 List of common spare parts
No. Name no. Name
1 Steering bearing 2
Phenolic resin shaft sleeve
(lower)
3 skeleton Oil Seal (lower) 4 proximity switch

5 lower floating block 6 steering motor assembly
7 floating Rod 8 shock Absorber
9 upper floating block 10
phenolic resin shaft sleeve
(upper)
11
skeleton Oil Seal
(upper)
12
electromagnetic brake
(with gear)
13 drive Motor Assembly 14 drive wheel
15 steering encoder 16 universal balance wheel
17
balance wheel shaft
sleeve
18 load wheel dust ring
19 dustproof retaining ring 20
universal balance wheel
frame
21 lifting contactor 22 oil-free bearing
23 load axle 24 load wheel frame 2
25 load wheel sleeve 26 deep groove ball bearing
27 load wheel 28 plastic cover
29
cover plate welding
(left)
30 cover plate welding (right)
31 emergency stop switch 32 status long light
33 state round light 34 blue light
35 steering lamp 36 servo steering motor
37 servo Motor Reducer 38 hydraulic station
9.4 cleaning
9.4.1 floor cleaning
the driving wheel, load-bearing wheel and balance wheel of the robot are all made of PU
(polyurethane) material. If they run for a long time, they will inevitably leave traces on the
ground.

Epoxy floor-severe traces
Anti-static ground-slight traces
Floor cleaning requirements:
 check the ground condition every day to clean up dust, foreign matter and liquid pollution in
time to prevent the robot from slipping.
 Clean up the traces left by the universal wheel on the ground in time to avoid heavy traces.
 Do not wax the ground on the robot's running path, otherwise the robot's wheels may slip or
be tainted.
9.4.2 robot cleaning
it is recommended to conduct routine cleaning at least every week, which is very important to
ensure its reliability. Please take care to remove the power socket before cleaning to avoid
damage to the electrical system caused by short circuit.

1. External cleaning
 remove the attachments on the wheels every day to keep flexible rotation.
 After the cleaning is completed, lubricating oil should be added to the specified parts of the
forklift to be lubricated according to the lubrication parts table.
2. Cleaning electrical components
 use compressed air to clean the motor dust. Do not wipe the dust in the circuit with wet
cloth. Be careful!
 Electrical components cannot be flushed with a high-pressure flushing device.
 Do not destroy the electrical components on the circuit board. To maintain the position of
electrical components and avoid short circuit.
3. Before assembling the car body, clean the dust and sundries in the car body with an air gun.
After cleaning, check the car body, and there should be no residue, dirt and other
undesirable phenomena.
4. After the car body is assembled (without shell), check whether there are any residues such as
screws, cut copper wires, wire skins and so on in the car body. If found, it must be cleaned up.
No residues are allowed in the car body.
5. Check whether the wiring inside the car body is neat, and there should be no dust or dirt on
the line. If any, wipe it clean with alcohol.
6. Install the shell and wipe it clean with a dry rag.
7. If the dry cloth is still dirty after cleaning, dip in a little alcohol to clean the surface until it is
completely clean.
9.4.3 Laser Cleaning
Precautions for laser cleaning
 non-cleaning or non-local cleaning of laser may lead to the following problems:
1. the robot cannot detect the logo/tray shelf.
2. The robot enters the emergency stop state without a clear reason.
Please clean the laser according to the following instructions, otherwise it may cause damage to
the laser lens or function failure:
 keep the laser glass surface clean and clean the dust regularly.
 Please use special cleaning cloth.
 Do not dry the laser glass surface. Please use wet soft cloth for cleaning, and add a little
detergent if necessary.
 Do not use corrosive solvent detergent, such as acetone.

9.5 storage
9.5.1 robot storage
if it needs to be stored for a long time, please take the following measures for the following parts:
battery:
 recharge the battery, and then maintain it according to the daily maintenance method of the
battery.
 Charge maintenance is performed every 3 months.
Hydraulic system:
 when the forklift has been stored for more than one year, replace the hydraulic oil of the
hydraulic system. Please refer to the maintenance section and lubrication parts table.
Driver system:
 when the storage time is more than a week, the driving wheel should be fixed, or it can be
suspended to prevent it from moving. Meanwhile, the goods should be unloaded.
Precautions for reusing forklift after storage:
 after storage for a period of time, before reuse, use function and safety check should be
carried out as daily maintenance and safety check.
 When the storage time exceeds 3 months, preventive maintenance can be carried out
according to the requirements of this manual (interval) of 500 hours.
9. 5.2 charger storage
 when the charger is not in use, it should be placed in the packing box.
 The limit temperature of the warehouse should be -20~70 ℃, the normal temperature should
be -20~50 ℃, the relative humidity should be 5~90%, and there should be no harmful gases,
inflammables, explosives, corrosive chemicals and strong mechanical vibration, impact and
magnetic field influence in the warehouse.
 The packing box should be placed at least 20cm high from the ground, 50cm away from the
wall, heat source and air vent. The charger can be stored for two years under such storage
conditions, and must be retested after more than two years.
 The charger must be powered on every three months, and the power-on time should be no
less than 0.5 hours.

10. Effective load specifications
the following figure illustrates the centroid specifications for safe operation under full load
(1400kg). (c represents the load center with a distance of 600mm)

11.Update software
1. open roboshop software, select the car body to be upgraded, and click advanced
configuration.
2．Click upgrade/backup to select the file to be loaded.
3. Click to start the upgrade. After the upgrade, the selected car will be powered off and
restarted.
Note: If the upgrade fails, please try to upload it again or contact our after-sales service.

Appendix I SFL-CDD14 hydraulic schematic diagram

6435187deba362003c3b65e6.pdf

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