Omron HD-1500 Platform - USER_PROTECTIVE_STOP Input Behavior

Chapter 6: Connectivity
The E-Stop button you install on the payload structure must be within 600 mm of reach. It
must not be installed in a location that affects operator's safety in order to reach the E-Stop but-
ton.
Each of the HD-1500’s emergency stop inputs has a direct connection to the Safety Controller
and is not chained to any other device or input.
!
CAUTION: PERSONALINJURYORPROPERTYDAMAGERISK
If you are using a user-supplied E-Stop, you must run the Safety Com-
missioning to verify the E-Stop’s functionality before putting the AMR into ser-
vice.
USER_PROTECTIVE_STOP input Behavior
Generally the two USER_PROTECTIVE_STOP input signals act like two E-STOP channels as
they hault the AMR's motion or prevent the AMR from operating. Similar to the E-STOP chan-
nels both USER_PROTECTIVE_STOP input channels are normally high.
There are two main differences between the E-Stop behavior and the USER_PROTECTIVE_
STOP input behavior:
l
The USER_PROTECTIVE_STOP input is conditioned based on whether the AMR is
moving or stopped.
l
The USER_PROTECTIVE_STOP input has a different relationship with the USER_
ESTOPPED_A and USER_ESTOPPED_B.
The USER_ESTOPPED signals indicate to the operator whether the AMR is E-Stopped
or not, and are intended to drive the safety relays. Therefore, they are normally high.
When the AMR is moving:
l
If either one of the USER_PROTECTIVE_STOP input signals goes low, the AMR will do
a normal protective stop, and remain E-Stopped until these signals are reasserted high.
o
Both USER_ESTOPPED signals go low.
l
If neither of the USER_PROTECTIVE_STOP input signals goes low, the AMR will con-
tinue with its normal operation.
o
Both USER_ESTOPPED signals remain high.
When the AMR is not moving:
l
If either one of the two USER_PROTECTIVE_STOP input signals goes low, the AMR
will disable the motor controllers, and engage the drive wheel brakes.
o
USER_ESTOPPED signals remain high.
NOTE: This behavior is the key difference between the USER_PROTECTIVE_
STOP input and the E-Stop input.
l
If neither of the USER_PROTECTIVE_STOP input signals goes low, the AMR will con-
tinue with its normal operation.
o
USER_ESTOPPED signals remain high.
31500-000 Rev A HD-1500 Platform User's Manual 162