Chapter 2: Safety
2.9 Safety System Overspeed Faults
The HD-1500 has an independent safety system that uses a Machine Automation Controller
(Safety Controller) to redundantly monitor its velocity. This device makes sure that the AMR
always operates within the speed limits.
If the AMR operates outside the specified velocity limit, its Safety Controller reports a Channel
1 or Channel 2 system fault to its operating firmware and begins an emergency stop (E-Stop)
sequence. The fault causes the AMR's motion controllers to execute a controlled stop (stop cat-
egory 1).
If motion is already disabled (for example, an E-Stop button is engaged) and you override the
brake release, the safety system cannot stop the AMR. This is because power to the drive
motors is already disabled. After you resolve the error condition, the safety system stops report-
ing the safety fault to the motion controllers. At this point the safety system allows for the nor-
mal start-up process to begin but it does not automatically restart the AMR's operations.
Additional Information: Motion control configuration parameters in the ARAM
software (such as AbsoluteMaxTransVel parameter) limit the maximum allowable
velocities. Use MobilePlanner to modify the value of these parameters. See: Fleet
Operations Workspace Core User's Manual (Cat. No. I635).
2.10 Laser Safety
The safety scanning lasers, optional side lasers, and Low Lasers are all Class 1 lasers. The
Class 1 laser, which is an invisible laser radiation, is safe under all conditions of normal use.
However, the maximum permissible exposure cannot be exceeded when viewing the laser
with the naked eye. OMRON recommends that you avoid long-term viewing of the laser.
31500-000 Rev A HD-1500 Platform User's Manual 50
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