Mapping Tasks; Acceleration, Deceleration, And Rotation Limits - Omron HD-1500 Platform User Manual

Mapping Tasks

Mapping includes the following tasks:
Installing the automated charging station before you create a map file. The docking tar-
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get's trapezoidal front will be helpful in locating it on the map.
Driving the platform with the pendant to make a floor plan scan. OMRON recommends
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that you drive the platform near the docking target so the docking target can be placed
in the correct location of the map.
Loading the scan into the MobilePlanner software on your PC to create and edit a digit-
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ized map.
Adding job-related features such as routes, goals, and docks (targets) to your map. In
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particular, refer to:
See the Fleet Operations Workspace Core User's Manual (Cat. No. I635) for more inform-
ation.
Transferring the working map to the Fleet Manager, or back to the platform, if you have
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only one AMR, to perform autonomous mobile actions.
The Fleet Manager automatically uploads the new map to each AMR in your fleet as
soon as the AMR becomes idle.
Saving map collections and deploy your AMR in any of your workspaces by selecting
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the appropriate map file.

4.3 Acceleration, Deceleration, and Rotation Limits

For safety, an AMR has default limits on its maximum linear and rotational acceleration, decel-
eration, and speed. You can change the parameters that control these limits. However, chan-
ging the limits might affect the AMR's stability, depending on the center of gravity (CG) of the
combined HD-1500 and its payload.
!
If your payload's center of gravity is not within the guidelines given in the Center of Gravity
(CG) on page 143, you will need to adjust the Absolute Movement Maximums parameters in
the MobilePlanner software.
For payload applications where you cannot easily reduce the size and weight of the payload or
if the AMR's CG is not within the recommended limits, contact your OMRON representative.
31500-000 Rev A
NOTE: To create a better floor plan scan, drive the platform around the
workspace multiple times, and from various directions. Also, begin and
end your mapping process at the same location for the most accurate out-
come.
Working With Map Files > Editing a Map File >
Using the Drawing Tools > Adding Goals and Docks
CAUTION: PROPERTY DAMAGE RISK
If you change AbsoluteMaxTransVel parameter, you should commission the
AMR before putting it into service.
HD-1500 Platform User's Manual
Chapter 4: Configuration
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