Omron LD-250 - Configure Side Lasers; High-Accuracy Positioning System (HAPS)

190 LD-250 Platform User's Guide 20472-000 Rev B
9.9 High-Accuracy Positioning System (HAPS)
Install the lasers as follows:
1.
Remove necessary components to access the LD-250 Core.
2.
Connect the J8 cable into the Aux Sensors port on the LD-250 Core.
3.
Mechanically mount the lasers to your payload
4.
Route the cable to the lasers, using cable ties to keep it clear of moving parts. Allow
enough slack for removing the payload. (The connectors are labeled left, right, and foot.)
5. Connect the cable to the lasers.
Configure Side Lasers
To configure Side Lasers:
1.
Open MobilePlanner and connect to the AMR.
2.
Open the Robot Physical tab and check the Show Expert Parameters option.
3.
Under the section titled Laser_3, do the following:
a.
Enable the LaserAutoConnect option.
b.
Select LaserType tim3XX.
c.
Select LaserPortType serial
d.
Select LaserPort /dev/ttyUSB6
e.
Select LaserPowerOutput Vertical_Laser_Power
4.
[Optional] Set LaserIsTilted to true if you use the lasers for vertical obstacle detection.
5.
Save the configuration and wait for the AMR to reboot.
6.
Open the workspace map and verify the laser readings.
7.
Enter the laser coordinates as measured for the corresponding laser.
8. Repeat Step 3 to Step 7 for the second laser, Laser_4 using /dev/ttyUSB5 for the Laser-
Port.
Configure the laser's coordinates as described for the rear-facing laser in the LDPlatform Peri-
pherals User's Guide.
9.9 High-Accuracy Positioning System (HAPS)
The High-Accuracy Positioning System (HAPS) is a sensor that detects magnetic tape applied
to the floor. This allows an AMR to align itself at a specific location with better accuracy and
repeatability that by its laser alone. You might want to use HAPS at locations where AMRs
must position themselves accurately every time, and often very close to a machine such as a
conveyor.
For information about installing and configuring HAPS, see: LDPlatform Peripherals User's
Guide.