Omron LD-60 User Manual page 13

queuing of jobs for the AIVs
l
remote I/O, if you are using it
l
MobilePlanner (licensed)
In order to have your AIV perform autonomous mobile activities, you need to make a map of
its operating space, and configure its operating parameters. The MobilePlanner software is
used to make this map and perform this configuration.
Refer to the separate Mobile Robot Software Suite User's Guide for details on how to map a work-
ing space and prepare the virtual elements, goals, routes, and tasks for your application. In par-
ticular, refer to:
Working With Map Files > Editing a Map File > Using the Drawing Tools >
Adding Goals and Docks
The MobilePlanner software requires a license to run. You will need at least one license for
MobilePlanner for each fleet of AIVs or for a single AIV installation. Once you generate a map
for an area, it can be shared between multiple AIVs in one fleet.
MobilePlanner, Operator Mode
The MobilePlanner Operator Mode is used to monitor one or more AIV's activities and have
them perform mobile tasks in the mapped space. When MobilePlanner is started without a
license dongle, it automatically starts in this mode. Refer to the separate Mobile Robot Software
Suite User's Guide for details.
Mobile Adept Robot Controller (MARC)
At the lowest level, a microcontroller running MARC firmware handles the details of LD plat-
form mobility, including maintaining the platform's drive speed and heading, as well as
acquiring sensor readings, such as from the encoders and gyroscope, and managing the plat-
form's emergency stop systems, bumper, and joystick. The MARC firmware computes and
reports the platform's odometry (X, Y, and heading) and a variety of other low-level operating
conditions to ARAM.
Touchscreen Support
Whenever the Mobile Software suite is downloaded, it includes support software for the
optional touchscreen.
Call/Door Box Support
Call/Door boxes have one software component on the boxes and another on either the Enter-
prise Manager 1100 or on the single robot, when there is no Enterprise Manager 1100.
ARCL Protocol
ARCL is a function of ARAM and ARAMCentral, which is included as part of this suite.
The Advanced Robotics Command Language, or ARCL, is a simple text-based command and
response server for integrating an AIV (or fleet of AIVs) with an external automation system.
ARCL allows you to operate and monitor the AIV, its accessories, and its payload devices over
the network, with or without MobilePlanner.
LD Platform User's Guide, 11970-000 Rev E
Chapter 1: Introduction
Page 13 of 142