Omron LD-250 - Page 23

Mobile Robot LD-250 Assembly Instructions, Rev. A
Page 23 of 77
OMRON does not intend the LD-250 for use in uncontrolled areas without risk analysis. For
example, in areas open to general public access. Use of the LD-250 in such areas requires
that you deploy additional safety measures not described in this guide. For assistance,
contact your local OMRON Support.
3.5.1.3 Clearances when Operating
Side Clearances
The LD-250 is designed to operate in environments that contain doors, passageways, or
other constrained areas that are wide enough for it to traverse.
However, you must maintain adequate side clearance (free space) on both sides of the AMR
so that it cannot trap a person against a wall or other fixed object. Consult the applicable
Autonomous Vehicle and Robotics operating standards for your locale.
An AMR must often maneuver close to machinery, conveyors, or other fixed objects. In such
cases, operating standards usually allow an exception to side clearance requirements.
For more information, see: Side Clearance on page 114 (LD-250 Platform User’s Guide, Rev-
B), and refer to the Fleet Operations Workspace Core User's Guide for information about
software parameters that you can use to control the LD-250's front and side clearance
zones.
Clearances During Rotation
The LD-250 generally travels in a forward direction and cannot do path planning in the
reverse direction. It reverses only if you create a MobilePlanner macro task that requires it
to move in reverse. Otherwise, the LD-250 only reverses onto its docking station to
recharge. To change direction, the LD-250 rotates on its center of rotation (turns in place).
However, when the LD-250 rotates, obstacles in its path do not trigger a safety system
event.
The LD-250's Light Discs display a distinct turn signal pattern when it rotates. For more
information, refer to Indications Provided by Light Discs Light Outputs on page 127 (LD-250
Platform User’s Guide, Rev-B).
Docking Clearances
You should set a 1.5 m distance between docking goals and physical docks to allow sufficient
room to maneuver around other AMRs when docking.