30 LD-60/90 Platform User's Manual 11970-000 Rev M
2.4 Environment
Obstacles
If the AMR will be entering high-traffic areas, the user must take appropriate precautions to
alert people in those areas that a AMR will enter. If the traffic consists of other machines, the
user must adjust the AMR‘s and/or the other machine’s parameters to reduce the risk of a col-
lision.
Safety Scanning Laser Emergency Stop
If an obstacle enters the AMR’s immediate path, the safety scanning laser will trigger an emer-
gency stop. After the AMR has come to a complete stop, it will wait a minimum of two
seconds before resuming commanded motion, with no human intervention necessary.
l
If the obstacle is still in the AMR’s path, and there is adequate room, it will first attempt
to safely path plan and maneuver around the obstacle.
l
If the AMR can’t simply maneuver around the obstacle, it will search for another path
to reach its goal.
l
If it cannot find another path, it will react based on the configuration settings. Refer to
the FLOW Core User's Manual (Cat. No. I635) for more information.
Safety System Overspeed Faults
A CPLD Channel 1 or 2 fault, is a system fault, reported by independent safety system to the
firmware controlling the robot.
Safety standards EN1525 and ANSI B56.5 state that sensing in the reverse direction of motion
is not relied on as part of the AMR's safety system. This is because it is used only by software-
based obstacle detection, the LD's reverse travel is limited to <300 mm/s
If an AMR exceeds the reverse speed limit, the safety system will report a fault. During normal
operation, the AMR will perform a controlled stop. This fault may also occur when moving
the AMR manually using its brake-release function. In this the case the safety system cannot
stop the LD Platform because motor power is disabled. Normal operation can continue when
the fault is cleared.
If this error is occurring, you may decrease the max speed parameter in question. In the Robot
Physical section and Absolute Movement Maximums sub-section of Robot Configuration, the
parameters AbsoluteMaxTransVel and AbsoluteMaxTransNegVel can be set to control the
maximum velocity of the robot. These parameters cannot be set higher than the forward and
reverse limit of the hardware platform currently being used. Lowering these parameters will
prevent the robot from moving at a speed that would cause an overspeed fault.
Following table displays overspeed fault conditions.
NOTE: The motion settings such as AbsoluteTransVelMax, that limit maximum
allowable velocities in the robot software (ARAM), have no effect on the safety
system.
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