Omron HD-1500 Platform - Page 211

Chapter 7: Operation
The pendant is equipped with high speed control feature which is configured with the speed
control rotary. It is the end user's responsibility to make sure that the speed is appropriate for
the task the AMR carries, and that the speed does not cause the AMR to move uncontrollably.
Use the pendant to drive the AMR manually and to create the scan used to make a map.
To use the pendant, follow these steps:
1.
Press one of the E-Stop buttons on the AMR.
2.
Locate the Operator Panel at the back of the platform, and remove the pendant con-
nector cap.
3.
Connect the pendant to the Operator Panel.
4.
Release the E-Stop button.
5.
Squeeze and hold the three-position enabling device ((E) in Figure 7-29. ) with medium
pressure (this will enable high power to the drive motors), and use the directional con-
trol stick ((C) in Figure 7-29. ) to drive the AMR. See: Table 7-2.
6.
Push the directional control stick forward or back to make the platform move in that dir-
ection. Push the directional control button to the left side to make the platform rotate in
place counterclockwise. Push the directional control button to the right side to make the
platform rotate in place clockwise. Diagonal positions of the directional control button
move the platform in an arc.
7.
Use the speed control switch ((A) in Figure 7-29. ) to control the speed of the AMR, and
achieve your desired velocity.
8.
To stop the AMR, you can release the three-position enabling device, squeeze it too
tightly or hold it loosely. This will disable the power, see: Table 7-2. You can also
release the directional control stick which will bring the AMR to a full stop, however,
does not disable power to the motors.
Use the pendant’s GOAL button ((B) in Figure 7-29. ) for marking positions while making a
map scan.
Pendant Power Indicator LED
The pendant has a power indicator LED ((D) in Figure 7-29. ) which gives visual indication of
the HD-1500 operating state.
The following table provides description of each color displayed by the pendant power indic-
ator LED.
Table 7-3. Pendant Power Indicator LED Description
LED Color Pattern AMR State
Red Solid AMR E-Stopped
Yellow Solid AMR transitioning
from E-Stop
Green Solid Motors enabled
Green Flashing Motors enabled
31500-000 Rev A HD-1500 Platform User's Manual 212