Omron HD-1500 Platform - Page 298

299 HD-1500 Platform User's Manual 31500-000 Rev A
11.1 Default Safety Zones
Table 11-1. Translational and Rotational Velocity for Each Safety Zone Pair
RotVel (deg/s) →
TransVel (mm/s) ↓
20 40
115
275
580
890
1228
1530
1800
1
2
3
4
13, 27
17, 31
21, 35
12, 26
14, 28
18, 32
15, 29
19, 33
23, 37
16, 30
5
6
7
20, 34
24, 38
22, 36
25, 39
3
6
9
12
41
18
21
24
27
30
11
51
54
57
60
8, 9
10
45
48
11
7
33
36
39
42
15
Special Zone Pairs
Zone pairs 7, 8, 9, 10, and 41 are used in special conditions:
l
Zone pair 7 is used for protection from over-speed conditions, and will not be applied
during normal operation of the AMR.
l
Zone pairs 8, 9, and 10 are applied when the AMR is rotating in place.
l
Zone pair 41 is applied at speeds below 20 mm/s and 3 deg/s. The purpose of this zone
is to allow the AMR to be driven away from obstacles that have come to close to the
AMR. The AMR will sound its buzzers when using this zone for 2 seconds or longer.