Omron LD-250 - Obstacles; Emergency Stops that Are Initiated by AMR Safety Lasers

Chapter 2: Safety
Docking Clearances
You should set a 1.5 m (4.9 ft) distance between docking goals and physical docks to allow suf-
ficient room to maneuver around other AMRs when docking.
Obstacles
Before an AMR enters a high-traffic areas, you must take appropriate precautions to alert
people working in those areas:
l The LD-250 provides active warning features such as a warning buzzer, speech syn-
thesis, and warning indicator lights.
l The LD-250 Core provides user ports that enable you to add warning indicators to your
payload structure. See: Indications Provided by Light Discs Light Outputs on page 127.
If high-traffic areas include other moving vehicles such as fork-lift trucks or autonomous mov-
ing machines, consider adjusting the AMR's operating parameters to reduce the risk of a col-
lision. You can do this by:
l
Editing the workspace map to include map features that restrict the AMR's local oper-
ation such as restricted entry zones, slow speed zones, or preferred lines.
l
Editing the AMR's operating parameters to restrict its global operation, such as redu-
cing its maximum speed or minimum approach distance.
For more information, see: Fleet Operations Workspace Core User's Guide.
Emergency Stops that are Initiated by AMR Safety Lasers
Under certain conditions, the AMR safety systems might cause an emergency 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 laser initiates an emergency stop that occurs any time the
laser detects unavoidable obstacles that are immediately in the AMR's path, but only when the
AMR is moving faster than 300 mm/sec.
During the emergency stop, a controlled deceleration slows the AMR up to the maximum
allowable rate and then applies the brakes.
NOTE: An emergency stop initiated by an intrusion into the safety laser's pro-
tection field differs from pressing an E-Stop button. After you press an E-Stop but-
ton, you must first resolve the problem and then manually resume AMR
operation. See: What to Do in an Emergency on page 30.
Other circumstances might cause an emergency stop, such as:
l
Pushing the AMR in reverse faster than 300 mm/s might cause an over-speed fault that
requires manual intervention to clear.
l
User-supplied sensors connected to the LD-250 Core's User Interface port. User Interface
(Brake and E-Stop) on page 103.
After the AMR comes to a complete emergency 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:
20472-000 Rev B LD-250 Platform User's Guide 39