Mapping Tasks; Acceleration, Deceleration, And Rotation Limits - Omron LD-60 User Manual

Maps contain a variety of goals, routes, and tasks that comprise the destinations and activities
of the AMR in the workspace.
Refer to the FLOW Core User's Guide.

Mapping Tasks

Install the automated docking station before you create a map file. Its distinctive front
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angle will be helpful in locating it on the map.
Drive the platform with the Pendant to make a floor plan scan. We recommend that you
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drive it to and position it onto its automated docking station to prepare for the next
steps.
Load that floor plan scan into the MobilePlanner software on your PC to make and edit
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a map.
Add goals and docks to your map. In particular, refer to:
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Transfer 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 will automatically download the new map to each AMR in your
fleet as soon as the AMR becomes idle.
Save map collections and deploy your AMR in any of your working spaces by selecting
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the appropriate map file.

4.3 Acceleration, Deceleration, and Rotation Limits

!
Reducing the absolute max allowable linear and rotational acceleration, deceleration, and
speed will affect the size of the allowable CG envelope, but could do so in non-obvious ways.
For use-cases where the payload can't be decreased, or the CG can't be brought within the
recommended limits, our Field Service department can work with your system designer to
input your needs into our models.
Contact your local Omron Support for details.
From the MobilePlanner software, Config:
Robot Physical > Absolute Movement Maximums
Check the Show Expert + Parameters 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, you might need to adjust the AbsoluteMaxRotVel.
The limits and defaults for these parameters are listed in the following table.
11970-000 Rev M
Working With Map Files > Editing a Map File >
Using the Drawing Tools > Adding Goals and Docks
in the FLOW Core User's Guide.
CAUTION: PROPERTY DAMAGE RISK
If you change AbsoluteMaxTransVel, you should commission the AMR before
putting it into service.
LD-60/90 Platform User's Manual
Chapter 4: Configuration
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