4-15 Emergency Stop; Emergency Stop Recovery Procedure - Omron HD-1500 Platform User Manual

4 Operation

4-15 Emergency Stop

When an emergency stop is triggered, the AMR decelerates to a controlled stop, de-energizes the
safety outputs, and then disables its motors and engages the brakes.
The emergency stop circuit is classified as a Category 1 stop.
There are two typical reasons to activate an emergency stop during normal operation.
• Stopping the AMR for safety reasons.
• Manually interrupting or stopping the AMR to keep it from performing its currently scheduled task if
you do not have access to MobilePlanner.
Additional Information
Follow your site-specific emergency and safety procedures after initiating an emergency stop
function.
Activating an emergency stop by pressing one of the E-STOP buttons requires manual deactivation of
the E-STOP button and manual reset of the AMR through the ON button for the AMR to restart its op-
eration. The AMR will not automatically recover from an emergency stop. Refer to 4-15-1 Emergency
Stop Recovery Procedure on page 4-32 for more information.
Two additional safety outputs are also available for controlling user-supplied equipment during an
emergency stop. These outputs are located at the SCPU connector in the User Access Panel. They
are energized with +24 VDC during normal operation and turn OFF when an emergency stop event
occurs. Refer to 3-5-2 User Access Panel Connections on page 3-15 for more information.
An emergency stop differs from a protective stop. Refer to 4-16 Protective Stops on page 4-34 for
more information.
Indicator lights on the AMR and the pendant provide the emergency stop state. Stop flags are also
displayed on the Operator Panel. Refer to the following sections for more information.
• 4-18 Light Discs and Optional Beacon States on page 4-36
• 4-19 Light Strips and Optional Beacon States on page 4-39
• 4-20 Pendant Operation on page 4-42
• 4-12-1 Main Screen on page 4-27
• 2-8-1 Safety Functions on page 2-15
4-15-1

Emergency Stop Recovery Procedure

Enabling motor power, either at the start-up or after an E-STOP button is released, must be done
through a manual action at the system and only after the operator has confirmed that it is safe to re-
turn the AMR to operation. Enabling the motor power is not automatic and must be an additional ac-
tion after releasing an E-STOP button.
The AMR's drive motors remain disabled until you follow the procedure below: This procedure cannot
be used if the AMR is engaged with the Docking Target or has a critical driving fault present.
Use the following procedure to recover from an emergency stop event.
1
Make sure that all surrounding areas are clear before you release the E-STOP button so that
the AMR has room to maneuver.
2
Rotate the E-STOP button to release it.
4-32
HD-1500 Platform User's Manual (I645)