Omron LD-90 - Other Sensors; Start up; Procedure; Pendant

122 LD-60/90 Platform User's Manual 11970-000 Rev M
7.7 Start up
Other Sensors
Encoders and Gyroscope
Each wheel has an encoder that tells the navigation system how far the wheel has turned, and
in which direction. Each wheel also has a Hall sensor.
The core has an internal gyroscope to track the platform's rotation.
The platform uses a combination of rotation and distance traveled to back up the navigation
laser during localization. These limit the area on the platform's map that the platform needs to
search.
Bumper
A bumper, with a low-sensing laser, is mounted at the front of the platform, in case the
obstacle-avoidance systems fail to detect an obstacle. The AMR comes to a complete stop when
the bumpers are hit with a force of at least 67 N.
You can add optional user (payload structure) bumpers using the User Bumper connector on
the rear upper core, in the payload bay. There are six pins for front left, center, and right
sensors, and rear right, center, and left sensors. The core provides the connector, but the pay-
load bumpers are user-supplied.
NOTE: The User Bumpers connector is not safety-rated.
7.7 Start up
Procedure
Press and hold the power ON button for half a second, then release. It takes about a minute for
all the systems to start up and make their various interconnections. If the platform doesn't
start up, try power OFF, check your connections, and then power ON.
Startup is complete when the light discs stop indicating boot (two blue light segments, moving
in opposite directions from 6 o'clock to 12 o'clock and back).
By default, the core, navigation laser, and some auxiliary power start automatically when you
press ON. To change that behavior, or to assign AUX power to your own accessories, modify
their related parameters in MobilePlanner software. You can also control power from a client
connected with the core.
Pendant
The Pendant plugs into the left side of the platform, under the small access panel at the upper-
right corner of the platform. See Location of Parts on the Platform on page 125. This is intern-
ally connected to the Pendant port located on the rear side of the core in the payload bay.
IMPORTANT: We recommend locking the Pendant up when not in use, to pre-
vent an unauthorized person from operating an AMR.