Configuring For An Overhanging Payload; Supplemental Information; Laser Setup - Omron LD-60 User Manual

4.1 Configuring for an Overhanging Payload
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.

4.1 Configuring for an Overhanging Payload

When configuring a robot with an overhanging payload, certain additional precautions and
settings must be made to ensure safety and proper function. To prevent potential danger in the
case of a safety zone intrusion or emergency stop button press, the robot's deceleration must be
dictated by the user-settable parameter Configuration: Robot Physical: Absolute Movement
Maximums: AbsoluteMaxTransDecel. Additionally, the size of the robot's default safety zones
are programmed directly into the laser hardware and are dependent on the following set of
factors:
Using the robot within its specified payload and center-of-gravity limits
l
Using the robot on surfaces that adhere to the robot's specified floor flatness, levelness,
l
slope, cleanliness
The floor coefficient of friction with robot drive wheels
l
The AbsoluteMaxTransDecel setting
l
The footprint of the robot without any overhangs
l
If any of these items change, the user is responsible for verifying that the robot will stop at any
speed before hitting a dark colored target representative of the smallest potential obstacle in
their environment. Introducing overhanging payloads or reducing the AbsoluteMaxTransDecel
will directly affect safety zone sizes. Users must increase safety-zone sizes and re-test stopping
ability at all speeds if either of these two parameters are changed. Users should not expect the
robot to stop safely if these factors are changed without also increasing the size of the safety
zones.

4.4 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
62
Parameter
AbsoluteMaxTransVel (LD-60)
AbsoluteMaxTransVel (LD-90)
AbsoluteMaxTransNegVel (LD-60)
AbsoluteMaxTransNegVel (LD-90)
AbsoluteMaxTransAccel
AbsoluteMaxTransDecel
AbsoluteMaxRotVel
AbsoluteMaxRotAccel
AbsoluteMaxRotDecel
LD-60/90 Platform User's Manual
Default Min Max
1800 1 2500
1350 1 2500
a
-280 -2500 -1
a
-210 -2500 -1
1000 1 2000
2000 1 2000
180 1 180
360 1 360
360 1 360
11970-000 Rev M