Omron LD

23180-000 Rev A Mobile Robot LD, LD-CT Assembly Instructions 29
6 Side Lasers
6.1 Introduction
Side lasers are optional for users building their own AMR from the LD Platform, and come pre-
installed on the LD Cart Transporter models. This chapter covers installation on base LD
models only.
Side Lasers scan in a vertical plane near the path of the robot, allowing the AMR to detect obstacles at other
heights that the AMR must avoid. Side lasers can be added to an AMR to provide additional obstacle
detection. They may be installed in varying locations based on need, but they must be oriented such that
their scanning plane is perpendicular to the ground and aligned with the direction of robot travel. They
should be mounted as the furthest point to the left and right of the AMR.
Side-mount lasers are not part of the AMR’s hardware-based, safety-rated protection system. They provide
information that is used by the robot software to mitigate risk and may improve AMR operation. It is the
user’s responsibility to ensure that the AMR’s path is free of obstacles above the plane of the safety
scanning laser that could interfere with any part of the completed AMR system
Positive Obstacles
Positive obstacles are those which would block the robot’s path, such as tables and desks.
Detecting positive obstacles is the primary and recommended use for side lasers. Side lasers have a
resolution of 3 degrees.
Negative Obstacles
Negative obstacles are voids in the driving area of the robot, such as downward stairs, loading docks, or
missing floor tiles.
Negative obstacle detection with side lasers should not be used as the primary method for avoiding
negative obstacles. It is intended to be used as a secondary method of detection, with the primary method
being traditional safety techniques to aid avoiding negative obstacles.
Primary methods include blocking off areas with missing floor tiles, staging safety equipment near areas
missing floor tiles, and restricting traffic to dangerous areas.
Negative obstacle detection on the robot is implemented in software only and does not consist of CAT
3/PLd safety lasers. A test plan should be developed and executed prior to adding new functionality to
equipment that currently exists in a production environment. Perform testing with each specific application
and configuration to ensure the robot’s safety. Test detection after changing parameters for each different
expected obstacle. With customer payloads and laser positioning, dynamic testing must be done for each
design at field application speed to ensure robot safety.
6.2 Installation
Components
The side lasers come as a kit with the following components:
• 2x lasers