Omron LD Platform User Manual page 13

queuing of jobs for the AIVs
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remote I/O, if you are using it
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MobilePlanner (licensed)
Before your AIV can perform autonomous mobile activities, you need to make a map of its
operating space, and configure its operating parameters. MobilePlanner software has the tools
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. You will need at least one license for
MobilePlanner for each fleet of AIVs or for a single AIV installation. After generating the map,
the Enterprise Manager appliance shares the map between multiple AIVs in one fleet.
MobilePlanner, Operator Mode
MobilePlanner's Operator Mode allows you to monitor one or more AIV's activities and have
them perform mobile tasks in the mapped space. If you start MobilePlanner without a license
dongle, it automatically starts in Operator 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 platform
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 platform's emer-
gency stop systems, bumper, and joystick. The MARC firmware computes and reports the plat-
form's odometry (X, Y, and heading) and a variety of other low-level operating conditions to
ARAM.
Touchscreen Support
Mobile Software suite 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 AIV, when there is no Enterprise Manager 1100.
ARCL Protocol
The Advanced Robotics Command Language (ARCL) is a function of ARAM and ARAMCen-
tral, which is included as part of this suite.
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.
11970-000 Rev H1 LD Platform OEM User's Guide
Chapter 1: Introduction
13