Supplemental Information; Laser Setup - Omron LD-105CT User Manual

4.5 Supplemental Information
From the MobilePlanner software, Config:
Robot Physical > Absolute Movement Maximums
Show Expert + Parameters needs to be checked to see or modify these parameters.
The first four parameters and AbsoluteMaxRotVel are not likely to have significant impact on
the AMR's stability. The Accel and Decel parameters will have a major impact. In certain
cases, if the payload is lopsided, the AbsoluteMaxRotVel may need to be adjusted.
The limits and defaults for these parameters are listed in the following table.
a: Although the Min value, in software, is -2500, the hardware safety system on the platform will
generate a fault if the velocity is anything from -300 to -2500 mm/s.

4.5 Supplemental Information

Laser Setup

For most installations, the defaults for the lasers should be appropriate, and will not require
any user adjustment. Laser setup and configuration for optional or additional lasers is covered
in the LD Platform Peripherals Guide, Chapter 7.
The specific parameters for these lasers will come in the model config file that ships on the
unit, or can be provided on request if needed.
Laser_1 Settings are for the main scanning laser (S300), used both for safety and loc-
l
alization.
Laser_2 Settings are for the low front laser (TiM).
l
Laser_3 Tilted and Laser_4 Tilted are for the side lasers (TiM).
l
Laser_5 Settings are for the coupling laser (TiM).
l
Laser_6 Settings are the rear-facing laser (TiM).
l
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Parameter
AbsoluteMaxTransVel (LD-105CT)
AbsoluteMaxTransVel (LD-130CT)
AbsoluteMaxTransNegVel (LD-105CT) -210
AbsoluteMaxTransNegVel (LD-130CT) -140
AbsoluteMaxTransAccel
AbsoluteMaxTransDecel
AbsoluteMaxRotVel
AbsoluteMaxRotAccel
AbsoluteMaxRotDecel
LD Cart Transporter User's Manual
Default Min Max
1350 1 2500
900 1 2500
a
-2500 -1
a
-2500 -1
1000 1 2000
2000 1 2000
180 1 180
360 1 360
360 1 360
14766-000 Rev H