Added additional safety details as requested by external review for IEC 61010-1 (#407)

jhiggins-cpr · web-flow · commit 07ab931e67b2 · 2025-06-11T11:47:06.000-04:00
* Clarified intended use per safety review feedback

* Specified torque when reinstalling the tray

* Improved alignment between A300 and AMP maintenance sections; further alignment is still possible

* Clarified charger details per safety review feedback

* Aligned common replacement items and added maintenance procedures for fuses

* Added post-maintenance checks

* Add board mount fuses

* Minor corrections based on feedback from JB

* Updated terminal speeds to be aligned with risk assessment and test data

* Updates based on review feedback
diff --git a/components/husky_a300/husky_a300_air_filter.mdx b/components/husky_a300/husky_a300_air_filter.mdx
@@ -1,4 +1,4 @@
-### Air Filter
+### Air Filter  {#air-filter-maintenance}
 
 Husky includes four 80 X 80 mm fans to cool the internal electronics.
 The air passes through the Husky's _Front Grille_, then through the _Air Filter_, before reaching the fans.
diff --git a/components/husky_a300/husky_a300_batteries.mdx b/components/husky_a300/husky_a300_batteries.mdx
@@ -113,7 +113,7 @@ We will configure the battery software addresses and CAN address before shipping
           />
         </figure>
       </center>
-  6.  reinstall the fuse holders's covers.
+  6.  Reinstall the fuse holders's covers.
       <center>
         <figure>
           <img
@@ -202,4 +202,10 @@ We will configure the battery software addresses and CAN address before shipping
 
   :::
 
+  :::note When Replacing A Battery
+
+  When replacing a battery, only use CPR item 025047 (Inventus S-24V20-U1 battery).
+
+  :::
+
 </details>
diff --git a/components/husky_a300/husky_a300_common_replacement_items.mdx b/components/husky_a300/husky_a300_common_replacement_items.mdx
@@ -1,20 +1,24 @@
 import ComponentBillOfMaterialsNote from "/components/maintenance/bill_of_materials_note.mdx";
 
-### Common Replacement Items
+### Common Replacement Items  {#common-replacement-items}
 
 <ComponentBillOfMaterialsNote />
 
-| Description       | What Subsystem Is This Used In?                                                                     | CPR Item | Manufacturer       | Manufacturer Item |
-| :---------------- | :-------------------------------------------------------------------------------------------------- | :------: | :----------------- | :---------------- |
-| Fuse, 10 A        | _System Interface Assembly_,<br/>and _System Interface Assembly's_ Standby Power Cable              | 018897   | Littelfuse         | 0297010.WXNV      |
-| Fuse, 20 A        | _System Interface Assembly_                                                                         | 032295   | Littelfuse         | 0297020.U         |
-| Fuse, 40 A        | _Power Distribution's_ Large VBAT Contactors                                                        | 023567   | Littelfuse         | 142.5631.5402     |
-| Fuse, 50 A        | _Power Distribution's_ Manual Charger                                                               | 029139   | Littelfuse         | 142.5631.5502     |
-| Fuse, 60 A        | _Batteries_,<br/>_Power Distribution's_ Mobility Contactors,<br/>_Power Distribution's_ Shunt Brake | 029140   | Littelfuse         | 142.5631.5602     |
-| Fuse, 150 A       | _Batteries_                                                                                         | 029145   | Littelfuse         | 142.5631.6152     |
-| Air Filter        | _Fans_                                                                                              | 032403   | Clearpath Robotics | -                 |
-| Tire              | _Mobility_                                                                                          | 000269   | Carlisle           | 5100201           |
-| Tire's Inner Tube | _Mobility_                                                                                          | 000435   | Carlisle           | 323790            |
+| Description       | What Subsystem Is This Used In?                                                                     | CPR Item | Manufacturer       | Manufacturer Item | Maintenance Procedure                                       |
+| :---------------- | :-------------------------------------------------------------------------------------------------- | :------: | :----------------- | :---------------- | :---------------------------------------------------------- |
+| Fuse, 3A          | _System Interface Assembly_ (F2, F3, F4, F5, F8)                                                    | -        | Littelfuse         | 0453003.MR        | [Replacing board mount fuses](#replacing-fuses-board-mount) |
+| Fuse, 5A          | _System Interface Assembly_ (F6, F10)                                                               | -        | Littelfuse         | 0454005.MR        | [Replacing board mount fuses](#replacing-fuses-board-mount) |
+| Fuse, 8A          | _System Interface Assembly_ (F7, F9)                                                                | -        | Littelfuse         | 0453008.MR        | [Replacing board mount fuses](#replacing-fuses-board-mount) |
+| Fuse, 10 A        | _System Interface Assembly_ (F52, F53, F54, F55, F56, F57, F58)                                     | -        | Littelfuse         | 0297010.WXT       | [Replacing blade mini fuses](#replacing-fuses-blade-mini)   |
+| Fuse, 10 A        | _System Interface Assembly_,<br/>and _System Interface Assembly's_ Standby Power Cable              | 018897   | Littelfuse         | 0297010.WXNV      | [Replacing blade mini fuses](#replacing-fuses-blade-mini)   |
+| Fuse, 20 A        | _System Interface Assembly_                                                                         | 032295   | Littelfuse         | 0297020.U         | [Replacing blade mini fuses](#replacing-fuses-blade-mini)   |
+| Fuse, 40 A        | _Power Distribution's_ Large VBAT Contactors                                                        | 023567   | Littelfuse         | 142.5631.5402     | [Replacing BF1 fuses](#replacing-fuses-bf1)                 |
+| Fuse, 50 A        | _Power Distribution's_ Manual Charger                                                               | 029139   | Littelfuse         | 142.5631.5502     | [Replacing BF1 fuses](#replacing-fuses-bf1)                 |
+| Fuse, 60 A        | _Batteries_,<br/>_Power Distribution's_ Mobility Contactors,<br/>_Power Distribution's_ Shunt Brake | 029140   | Littelfuse         | 142.5631.5602     | [Replacing BF1 fuses](#replacing-fuses-bf1)                 |
+| Fuse, 150 A       | _Batteries_                                                                                         | 029145   | Littelfuse         | 142.5631.6152     | [Replacing BF1 fuses](#replacing-fuses-bf1)                 |
+| Air Filter        | _Fans_                                                                                              | 032403   | Clearpath Robotics | -                 | [Air Filter Maintenance](#air-filter-maintenance)           |
+| Tire              | _Mobility_                                                                                          | 000269   | Carlisle           | 5100201           | [Tire Maintenance](#tire-maintenance)                       |
+| Tire's Inner Tube | _Mobility_                                                                                          | 000435   | Carlisle           | 323790            | [Tire Maintenance](#tire-maintenance)                       |
 
 ### Critical Items
 
diff --git a/components/husky_a300/husky_a300_emergency_stop_distance.mdx b/components/husky_a300/husky_a300_emergency_stop_distance.mdx
@@ -2,7 +2,7 @@
 
 :::note
 
-We suggest a daily Pre-Operation Ispection that all the Emergency Stop buttons are funtioning.
+We suggest a daily Pre-Operation Inspection that all the Emergency Stop buttons are functioning.
 The Braking Inspection detailed here is to confirm that the stopping distance is within the expected range.
 We suggest you perform this inspection at least once per year, to confirm that the electrical braking systems components and connections have not worn to an unacceptable level.
 
diff --git a/components/husky_a300/husky_a300_intended_use.mdx b/components/husky_a300/husky_a300_intended_use.mdx
@@ -10,6 +10,8 @@ Husky A300 is intended for use in:
 - Environment temperatures between -20°C and +40°C.
 - Environments free of open water or other liquids deeper than 130 mm.
 - Environments free of grades greater than 15°.
+- Environments with pollution degree 1, 2, or 3 _(per IEC 61010-1)_.
+- Environments at altitudes less than 2000 m.
 
 The system is intended to be operated by trained personnel familiar with mobile robotic technology.
 It is intended to be monitored constantly by those personnel during operation.
diff --git a/components/husky_a300/husky_a300_lockout_tagout.mdx b/components/husky_a300/husky_a300_lockout_tagout.mdx
@@ -1,4 +1,6 @@
-### Lockout Tagout
+import Admonition from "@theme/Admonition";
+
+### Lockout Tagout  {#lockout-tagout}
 
 <center>
   <figure>
@@ -37,3 +39,37 @@ We cannot completely discharge these batteries without damaging them, but we can
     :::
 
 </details>
+
+<Admonition type="danger" title="Safe Maintenance Practices">
+  Follow the guidance below while performing maintenance to ensure that the system is
+  in a safe state following any maintenance work on the robot.
+
+  1. Clean up all tools and ensure that no tools or installation materials have been left inside the robot.
+  1. Ensure that all cables have been tightened to the specified torque values and that there are no loose or unconnected cables.
+  1. Reinstall any fuse covers that were removed.
+  1. Restore all terminal boots to their original position prior to maintenance.
+
+  Once all parts have been reinstalled and maintenance is completed, perform the following system checks:
+  1. Power on the robot.
+  1. Place the robot up on blocks and confirm that each source of an emergency stop can be used to trigger the emergency stop condition by:
+     1. confirming that the joystick can be used to make the wheels spin
+     1. engaging the stop condition
+     1. confirming that the corner lights go into a flashing red light pattern
+     1. confirming that the joystick can no longer make the wheels spin
+     1. disengaging the stop condition
+     1. pressing the restart button
+     1. confirming that the corner lights return to the normal driving pattern
+     1. confirming that the joystick can be used to make the wheels spin again.
+     :::note
+     Perform this check of emergency stop functionality individually for each of:
+     1. _Front Emergency Stop Button_
+     1. _Rear Emergency Stop Button_
+     1. _Rear Charge Port Door_
+     1. _Wireless Emergency Stop Button_ (if present)
+     1. _Additional Emergency Stop Buttons_ (if present)
+     :::
+  1. Connect the manual charger and charge the robot for at least 5 minutes. Confirm that the state of charge is increasing
+     and that there are no unexpected sounds or smells.
+  1. With the robot in an open area at least 10 m in diameter and away from other people, connect the joystick and drive the
+     robot for at least 30 seconds to confirm it is performing as expected.
+</Admonition>
diff --git a/components/husky_a300/husky_a300_replacing_fuses_bf1.mdx b/components/husky_a300/husky_a300_replacing_fuses_bf1.mdx
@@ -0,0 +1,22 @@
+### Replacing BF1 Fuses  {#replacing-fuses-bf1}
+
+1. Perform the [Lockout-Tagout Procedure](#lockout-tagout).
+1. Locate the fuse to be replaced. Follow the maintenance procedures for the corresponding
+   subassembly to access the fuse.
+   :::safety-caution
+   **Treat all circuits, cables, and fuses inside the robot as potentially live.** <br/><br/>
+   Some connections inside the robot are live even after Lockout Tagout.
+   Refer to the details of the subassembly maintenance procedures to
+   determine if the fuse is connected to a live connection.
+   :::
+1. Remove the fuse cover.
+1. Remove the nuts holding the fuse in place.
+1. Remove the fuse from the fuse holder.
+1. Install the replacement fuse into the fuse holder.
+   :::note
+   Ensure that you are replacing the fuse with the same part number and rating. Refer to
+   [Common Replacement Items](#common-replacement-items) for a list of fuses.
+   :::
+1. Reinstall both nuts onto the fuse holder and tighten to 3 N·m unless otherwise specified
+   in the subassembly maintenance procedures.
+1. Reinstall the fuse cover.
diff --git a/components/husky_a300/husky_a300_replacing_fuses_board_mount.mdx b/components/husky_a300/husky_a300_replacing_fuses_board_mount.mdx
@@ -0,0 +1,18 @@
+### Replacing Board Mount Fuses  {#replacing-fuses-board-mount}
+
+1. Perform the [Lockout-Tagout Procedure](#lockout-tagout).
+1. Locate the fuse to be replaced. Follow the maintenance procedures for the corresponding
+   subassembly to access the fuse.
+   :::safety-caution
+   **Treat all circuits, cables, and fuses inside the robot as potentially live.** <br/><br/>
+   Some connections inside the robot are live even after Lockout Tagout.
+   Refer to the details of the subassembly maintenance procedures to
+   determine if the fuse is connected to a live connection.
+   :::
+1. Use tweezers to pull up on the old fuse to remove it from the fuse holder.
+1. Slide the replacement fuse into the fuse holder and push firmly until the fuse is installed fully.
+   :::note
+   Ensure that you are replacing the fuse with the same part number and rating. Refer to
+   [Common Replacement Items](#common-replacement-items) for a list of fuses.
+   :::
+   
diff --git a/components/husky_a300/husky_a300_replacing_fuses_mini_blade.mdx b/components/husky_a300/husky_a300_replacing_fuses_mini_blade.mdx
@@ -0,0 +1,18 @@
+### Replacing Mini Blade Fuses  {#replacing-fuses-blade-mini}
+
+1. Perform the [Lockout-Tagout Procedure](#lockout-tagout).
+1. Locate the fuse to be replaced. Follow the maintenance procedures for the corresponding
+   subassembly to access the fuse.
+   :::safety-caution
+   **Treat all circuits, cables, and fuses inside the robot as potentially live.** <br/><br/>
+   Some connections inside the robot are live even after Lockout Tagout.
+   Refer to the details of the subassembly maintenance procedures to
+   determine if the fuse is connected to a live connection.
+   :::
+1. Pull up on the old fuse to remove it from the fuse holder.
+1. Slide the replacement fuse into the fuse holder and push firmly until the fuse is installed fully.
+   :::note
+   Ensure that you are replacing the fuse with the same part number and rating. Refer to
+   [Common Replacement Items](#common-replacement-items) for a list of fuses.
+   :::
+   
diff --git a/components/husky_a300/husky_a300_technical_specifications.mdx b/components/husky_a300/husky_a300_technical_specifications.mdx
@@ -270,6 +270,10 @@
       <td>Environment, Operating Temperature<sup>5</sup></td>
       <td colspan="3"><center>-20°C to +40°C <br/></center></td>
     </tr>
+    <tr>
+      <td>Environment, Charging Temperature</td>
+      <td colspan="3"><center>0°C to +40°C <br/></center></td>
+    </tr>
     <tr>
       <td>Environment, Operating Humidity</td>
       <td colspan="3"><center>0% to 85% relative humidity, non-condensing</center></td>
diff --git a/components/husky_a300/husky_a300_top_plate.mdx b/components/husky_a300/husky_a300_top_plate.mdx
@@ -20,6 +20,14 @@ To remove Husky's _Top Plate_:
 6.  If applicable, remove any of your custom cables from the _Top Plate's_ connector openings. 
 7.  Lift the _Top Plate_ off of the robot.
 
+:::note
+
+When reinstalling the _Top Plate_:
+
+* Torque the tray's 4 screws to 3 N·m.
+
+:::
+
 :::danger
 
 Do not drag the _Top Plate_ on the robot, because it may damage the bulb seal around the Husky's chassis.
diff --git a/docs_robots/legacy/ros1_robots/outdoor_robots/husky/maintenance_husky.mdx b/docs_robots/legacy/ros1_robots/outdoor_robots/husky/maintenance_husky.mdx
@@ -35,7 +35,7 @@ import Support from "/components/support.mdx";
 | Connector, Mini-fit-jr     | 022207   | Molex                   | 39-01-2065            | Digi-Key    | WM23702-ND       |
 | Contact Crimp, Mini-fit-jr | 022207   | Molex                   | 40-13-0852            | Digi-Key    | WM24935-ND       |
 | Fuse, 3 A                  | 020411   | Littelfuse              | 0287003.PXCN          | Digi-Key    | F4193-ND         |
-| Fuse, 5 A                  | 006745   | Littlefuse              | 0287005.PXCN          | Digi-Key    | F4197-ND         |
+| Fuse, 5 A                  | 006745   | Littelfuse              | 0287005.PXCN          | Digi-Key    | F4197-ND         |
 | Fuse, 7.5 A                | 025899   | Littelfuse              | 028707.5PXCN          | Digi-Key    | F4198-ND         |
 | Fuse, 20 A                 | 025898   | Littelfuse              | 0287020.PXCN          | Digi-Key    | F4201-ND         |
 | Fuse, 30 A                 | 025896   | Littelfuse              | 0299030.ZXNV          | Digi-Key    | F1036-ND         |
diff --git a/docs_robots/outdoor_robots/husky/a200/maintenance_husky.mdx b/docs_robots/outdoor_robots/husky/a200/maintenance_husky.mdx
@@ -35,7 +35,7 @@ import Support from "/components/support.mdx";
 | Connector, Mini-fit-jr     | 022207   | Molex                   | 39-01-2065            | Digi-Key    | WM23702-ND       |
 | Contact Crimp, Mini-fit-jr | 022207   | Molex                   | 40-13-0852            | Digi-Key    | WM24935-ND       |
 | Fuse, 3 A                  | 020411   | Littelfuse              | 0287003.PXCN          | Digi-Key    | F4193-ND         |
-| Fuse, 5 A                  | 006745   | Littlefuse              | 0287005.PXCN          | Digi-Key    | F4197-ND         |
+| Fuse, 5 A                  | 006745   | Littelfuse              | 0287005.PXCN          | Digi-Key    | F4197-ND         |
 | Fuse, 7.5 A                | 025899   | Littelfuse              | 028707.5PXCN          | Digi-Key    | F4198-ND         |
 | Fuse, 20 A                 | 025898   | Littelfuse              | 0287020.PXCN          | Digi-Key    | F4201-ND         |
 | Fuse, 30 A                 | 025896   | Littelfuse              | 0299030.ZXNV          | Digi-Key    | F1036-ND         |
diff --git a/docs_robots/outdoor_robots/husky/a300/maintenance_husky.mdx b/docs_robots/outdoor_robots/husky/a300/maintenance_husky.mdx
diff --git a/docs_robots/outdoor_robots/husky/a300/user_manual_husky.mdx b/docs_robots/outdoor_robots/husky/a300/user_manual_husky.mdx
diff --git a/docs_robots/solutions/husky_a300_amp/husky_a300_amp.mdx b/docs_robots/solutions/husky_a300_amp/husky_a300_amp.mdx
diff --git a/docs_robots/solutions/husky_a300_observer/husky_a300_observer.mdx b/docs_robots/solutions/husky_a300_observer/husky_a300_observer.mdx

Original file line number	Diff line number	Diff line change
`@@ -1,4 +1,4 @@`
`1`		`-### Air Filter`
	`1`	`+### Air Filter {#air-filter-maintenance}`
`2`	`2`
`3`	`3`	`Husky includes four 80 X 80 mm fans to cool the internal electronics.`
`4`	`4`	`The air passes through the Husky's _Front Grille_, then through the _Air Filter_, before reaching the fans.`