49 HD-1500 Platform User's Manual 31500-000 Rev A
2.8 Protective Stops Initiated by AMR Safety Lasers
2.8 Protective Stops Initiated by AMR Safety Lasers
Under certain conditions, the AMR safety systems might cause a protective stop.
For example, an AMR reacts to obstacles in its path by slowing and, if necessary, stopping
safely. It then either plans a new path around the obstacle or (if the obstacle has moved)
resumes its original path. The safety lasers initiate a protective stop any time they detect
unavoidable obstacles in the AMR's path.
During the protective stop, the AMR decelerates to a stop at the maximum allowed rate. It then
removes power to its motors and engages the brakes.
NOTE: A protective stop initiated by an intrusion into a safety laser's protection
field differs from pressing an E-Stop button. After you press an E-Stop button,
you must first resolve the problem and then manually resume AMR operation.
See: What to Do in an Emergency on page 32.
Other circumstances might cause a protective stop, such as:
l
User-supplied sensors connected to the Safety Controller.
After the AMR comes to a complete protective stop caused by laser protection zone intrusion,
it waits a minimum of two seconds before it resumes operation. No user intervention is neces-
sary and the AMR does the following:
1.
Verifies that there is adequate space to maneuver.
2.
Plans a local path deviation around the obstacle and resumes its operation.
This may cause the AMR to turn around, and move in a different direction. If no such path is
available, the AMR fails the current job, and waits for the Fleet Manager to assign a new job.
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