Omron LD-90 - Define Goals; HAPS Software Configuration; Robot Physical; Robot Operation

Chapter 9: High Accuracy Positioning System
Define Goals
An AMR with front and rear sensors needs 500 mm of tape for alignment.
Each marker needs its own goal. A suggested goal location is 400 mm from the tape, near the
start of the tape, with an orientation of 30° from the angle of the tape. This allows the AMR to
approach the tape at normal speed without overshooting it. If you use a sharper angle, aimed
more directly at the tape, you need to reduce the AMR‘s ApproachSpeed to prevent overshoot.
See the preceding figure and Robot Operation on page 147. Goal 1 would apply to Marker 1,
Goal 2 to Marker 2.
For multiple markers, all goals should be placed at the same location. Each goal will contain
the tasks associated with one marker.
9.6 HAPSSoftware Configuration
The HAPS parameters are configured using the MobilePlanner software.
Robot Physical
1.
Go to:
MobilePlanner >Config >Robot Physical
2.
Check the Show Expert +Parameters check box.
3.
For GuideSensor_Front:
a.
Check the AutoConnect check box.
b.
Set the Port parameter value to /dev/ttyUSB9.
4.
For GuideSensor_Rear, when a second sensor is present:
a.
Check the AutoConnect check box.
b.
Set the Port parameter value to /dev/ttyUSB10.
Robot Operation
1.
Go to:
MobilePlanner >Config >Robot Operation
2.
Check the Show Expert +Parameters check box.
3.
Select the FollowGuide entry in the Sections pane.
l
ApproachSpeed is the speed, in mm/sec, to drive when approaching the tape
from the goal.
l FollowingSpeed is the speed, in mm/sec, to drive while following the tape.
l
ReverseFollowingSpeed is the speed, in mm/sec, while following the tape in
reverse. Maximum is 300 mm/second. This only applies for a second sensor.
l
SlowCaptureSpeed is the speed, in mm/sec, to drive after deceleration when
13732-000 Rev J LDPlatform Peripherals Guide 147