Omron LD-105CT User Manual page 18

1.3 Software Overview
queuing of jobs for the AMRs
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remote I/O, if you are using it
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MobilePlanner (licensed)
In order to have your AMR 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 FLOW Core User's Guide for details on how to map a working space and
prepare the virtual elements, goals, routes, and tasks for your application. In particular, 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 AMRs. Once you generate a map for an area, it can be shared
between multiple AMRs in one fleet.
MobilePlanner, Operator Mode
The MobilePlanner Operator Mode is used to monitor one or more AMR's activities and have
them perform mobile tasks in the mapped space. When MobilePlanner is started without its
license dongle, it automatically starts in this mode. Refer to the separate FLOW Core 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
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 box and another on either the Enterprise
Manager or on the single AMR, when there is no Enterprise Manager.
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 AMR (or fleet of AMRs) with an external automation sys-
tem.
18 LD Cart Transporter User's Manual 14766-000 Rev H