Other Sensors; Start Up; Procedure; Pendant Controls And Operation Description - Omron HD-1500 Platform User Manual

7.7 Start up
scanning laser to see. The low lasers are positioned 60.5 mm above the floor, and can detect
objects that are at least 60.5 mm tall.
The low lasers also detects obstacles that might be significantly wider at the base, such as a
column plinth, where the safety scanning laser might detect only the upper portion of the
column.

Other Sensors

Encoders and Gyroscope
Each wheel has an encoder that tells the navigation system how far the wheel has turned, and
in which direction.
The AMR Controller has internal inertial sensing to track the platform's rotation.
The HD-1500 combines the information from these sensors and from the safety scanning lasers
to perform localization.
The HD-1500 has an additional rotation sensor on the motor, used by the safety system, that
acts as a redundant sensor to measure speed.

7.7 Start up

Procedure

Press and hold the power ON button for half a second, then release. It takes about a minute for
all the systems to start up and make their various interconnections. If the platform does not
start up, try power OFF, check all connections, and then power ON. If it still does not start up
you should check the battery's state of charge, and make sure there is sufficient charge for plat-
form to start up.
Start up is complete when the light discs stop indicating booting (two blue light segments,
moving in opposite directions from 6 o'clock to 12 o'clock and back).
By default, the AMR Controller, navigation lasers, and some auxiliary power start auto-
matically when you press ON.

Pendant Controls and Operation Description

The pendant plugs into the right side of the Operator Panel, See Maintenance on page 214.
The HD-1500 pendant is a three-position enabling device. See the following table for descrip-
tion of each position:
Three-Position Enabling Device Position
three-position enabling device ((E) in Table 7-2. ) pressed
lightly or not pressed at all
three-position enabling device pressed with medium pressure
three-position enabling device pressed with high pressure
209
Table 7-2. Pendant Three-Position Enabling Device Position Description
HD-1500 Platform User's Manual
Description
power is off
power is on
power is off
31500-000 Rev A