Omron HD-1500 Platform - Supplemental Information; Laser Setup

133 HD-1500 Platform User's Manual 31500-000 Rev A
4.4 Supplemental Information
Table 4-2. lists the Absolute Movement Maximums parameter limits and defaults. All *Accel
and *Decel parameters have a significant impact. If the payload is asymmetric, you might need
to adjust the value of AbsoluteMaxRotVel parameter.
Table 4-2. Absolute Movement Maximum Parameters
Parameter Default Min Max
AbsoluteMaxTransVel 1800 1 1800
AbsoluteMaxTransNegVel -1800 -1800 -1
AbsoluteMaxTransAccel 900 1 1500
AbsoluteMaxTransDecel 1300 1300 2000
AbsoluteMaxRotVel 60 1 60
AbsoluteMaxRotAccel 150 1 200
AbsoluteMaxRotDecel 150 150 200
After you determine your parameter values, set them as follows:
1.
Open the MobilePlanner software, Config tab.
2.
Navigate to:
Robot Physical > Absolute Movement Maximums
3.
Check the box for Show Expert Parameters (top right of screen) to see or modify these
parameters.
4.
Adjust the parameter values according to Table 4-2.
Increasing the AMR's physical length or width by adding an overhanging payload requires
that you:
l
Increase the dimension of the AMR's safety zones. Contact your OMRON representative
for more information on modifying the safety zones.
l
Repeat the safety commissioning. See: E-Stop Commissioning on page 253.
4.4 Supplemental Information
Laser Setup
The default parameter settings for lasers should be appropriate for most installations.
However, the following important considerations apply:
l
Config File—When shipped, an AMR includes a model-specific Config File specifying
the default parameter values for the AMR model-specific features. SetNetGo provides a
Restore option to revert the HD-1500 to its default configuration. Although a few para-
meters concerning the location of the safety scanning lasers are included in the ARAM
Config File, the safety scanning laser configuration, and safety parameters are not stored
in the SNG Restore option.
You can obtain the default Config File from your OMRON representative if you acci-
dentally lose or overwrite it. You can also download the default configuration file from