Omron LD-90 - Page 168

168 LD-60/90 Platform User's Manual 11970-000 Rev M
Term Definition
allows electronic control units and devices to communicate with
each other.
cart A frame mounted on four casters, that attaches to an
LDPlatformCart Transporter. Increases the payload capacity,
and allows the payload to be decoupled from the mobile robot.
CAT5 Category 5 Ethernet cable
CG Center of Gravity
cost An arbitrary numeric value assigned to map grids, lines, routes,
etc. to determine the cumulative, net effect of a robot’s actions.
Breaks maps into discrete squares called grids. Squares with
walls, etc. have an infinite cost, and free squares, by default,
have a value of 0.1. By design, mobile robots always seek to
execute their assigned tasks and goals at the lowest possible
cost.
Cost-Based Path Planning A method of planning optimal, "least expensive" paths from
“point a” to “point b” for the robot to follow.
coupled A robot configuration in which the cart transporter and the cart
are attached to one another via coupling plates, and the cart
moves with the transporter.
coupling laser A laser mounted in the cart transporter's coupling plate for align-
ing the transporter and cart during coupling.
debuginfo file A zip file downloaded from SetNetGo that contains detailed
information about the status of the system, used by Omron
engineers for troubleshooting.
dongle A small hardware device attached to a computer that contains
the credentials (e.g., license key) required to run a specific pro-
gram. Without a dongle, MobilePlanner will only open in Oper-
ator Mode. A dongle is also used in each mobile robot core to
enable the use of the ARAMsoftware.
DROPOFF A job segment typically used where an AMR's payload is trans-
ferred from the robot to the goal. See "PICKUP".
duty cycle The percentage of time that the robot system can be con-
tinuously operated, without experiencing overheating.
E-Stop Emergency Stop
EM Fleet Manager
emergency stop A function that overrides robot controls and removes power
from the robot and stops robot motion. An emergency stop (E-
Stop) button is typically a red push-button on a yellow back-
ground.
encoder A device on each wheel of the mobile robot that tells the nav-
igation system how far, and in what direction, the wheel has
turned.