Chapter 7: Operation
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The screen will display any event or condition that causes an ARAM restart or AMR
shutdown, and give the cause of the restart or shutdown.
E-Stop Buttons
The HD-1500 platform has five E-Stop buttons. Two on each side, and one on the Operator
Panel. An E-Stop button is colored red and latches (locks) when pressed. Twist the button to
release the E-Stop button.
When you press the E-Stop button, the AMR decelerates to a controlled stop, then disables its
motors and engages the brakes. The motor controller is equipped with OSSD (Output Signal
Switching Device) inputs to accommodate STO (Safe Torque Off) feature. The STO is an integ-
rated safety function of the motor controller that discontinues all power to the motor, during
the safety stop.
Figure 7-16. Motor Enable Pop-up Dialog
In normal use, there are three main reasons to activate the E-Stop button:
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Interrupting or stopping the AMR to keep it from performing its currently scheduled
task (if you do not have access to MobilePlanner).
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Stopping the AMR for safety reasons.
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Stopping the AMR to use the Operator Panel's Brake Release button.
NOTE: After releasing an E-Stop button you must then enable motor power by
pressing the ON button on the Operator Panel. The AMR will not enable the
motor power automatically after release of an E-Stop.
There is a two-second delay between when the ON button is pressed, and the
platform resumes its activity. During the two seconds, the platform scans its
path for potential obstacles, and will resume its commanded motion if there is
adequate space to maneuver.
Disengaging the E-Stop Button
To disengage an E-Stop button and enable the motors, twist the E-Stop button in the direction
of its embossed arrows to release it. The AMR's drive motors remain disabled until you use
one of the following enabling methods:
31500-000 Rev A HD-1500 Platform User's Manual 196
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