22 LD-250 Platform User's Guide 20472-000 Rev B
1.3 Software Overview
MobilePlanner Administrator Mode
MobilePlanner is part of the Fleet Operations Workspace software and runs on the user's PC,
or as a portable tablet version (on Android and iOS tablets). It provides a tabbed graphical
user interface on the PC and a touchscreen interface on tablets. Depending on your level of
access (controlled by your account) the graphical interface provides many options, including:
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Manage AMR fleet jobs.
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Create and edit workspace maps.
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Access the AMR through the SetNetGo Web interface.
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Commission and configure an AMR and modify its configuration by changing ARAM
parameters.
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Run custom ARCL commands (See ARCL Protocol on page 23).
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Manually drive an AMR.
Operator access or View access restricts the tasks that you can do when using MobilePlanner.
Before you assign tasks to an AMR, you use MobilePlanner to create and edit a digitized map
of its work space. During this procedure, you use the joystick to drive the AMR around the
workspace. In mapping mode, the main navigation laser scans features of the workspace, such
as walls, columns, doorways and corners. After you create the map, you open it in MobilePlan-
ner and edit it to add or remove features. For example, if there is an area of the map where you
want the AMR to follow a specific path, you can draw a PreferredLine feature on the map.
You then use MobilePlanner to configure ARAM operating parameters that control the AMR's
operation in the mapped workspace. For example, you might assign a preferred charging dock
to the AMR by specifying the unique map identifier for that docking station. If you have more
than one AMR, you share the map and configuration with identically-equipped AMRs in your
fleet.
Refer to the separate Fleet Operations Workspace Core User's Guide for instructions about map-
ping a workspace and preparing the virtual elements, goals, routes, and tasks for your applic-
ation. In particular, refer to the descriptions of the following software options:
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Working With Map Files - Editing a Map File
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Using the Drawing Tools - Adding Goals and Docks
MobilePlanner Operator Mode
MobilePlanner also operates in a restricted Operator mode that permits only limited access to
user interface features and functions.
MobilePlanner’s Operator Mode allows you to monitor one or more AMR's activities and
assign tasks in the mapped space. For more information, see: Fleet Operations Workspace Core
User's Guide.
Mobile Autonomous Robot Controller (MARC)
The LD-250 Core contains a digital signal processor (DSP)that runs the MARC firmware. This
firmware controls low-level AMR functions, including:
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