4-16 Protective Stops; Amr Response During Protective Stops - Omron HD-1500 Platform User Manual

4 Operation

4-16 Protective Stops

When a protective stop is triggered, the AMR decelerates to a stop at the maximum allowed rate. It
then removes power to its motors and engages the brakes. After the AMR comes to a complete stop,
it waits a minimum of two seconds before it resumes operation. No user intervention is necessary to
recover from a protective stop.
The protective stop circuit is classified as a Category 1 stop.
Protective stops can be triggered by one of the following items.
• Safety Laser Scanners: The Safety Laser Scanners initiate a protective stop any time they detect
unavoidable obstacles in the AMR's path. For example, an AMR reacts to obstacles in its path by
slowing and if necessary, stopping safely. It then either plans a new path around the obstacle or, if
the obstacle has moved, resumes its original path. If no such path is available, the AMR fails the
current job.
• Pendant: The three-position device completely depressed or not depressed will initiate a protective
stop.
• User-supplied protective stop devices connected to the SCPU connector in the User Access Panel
can initiate a protective stop. Refer to 3-5-2 User Access Panel Connections on page 3-15 for more
information.
A protective stop differs from an emergency stop. Refer to 4-15 Emergency Stop on page 4-32 for
more information.
Two additional safety outputs are also available for controlling user-supplied equipment during a pro-
tective stop. The state of these safety outputs as well as the AMR response during a protective stop is
dependent on several factors. Refer to the following sections for more information.
• 4-16-1 AMR Response During Protective Stops on page 4-34
• 2-8-1 Safety Functions on page 2-15
4-16-1

AMR Response During Protective Stops

The AMR response during a protective stop depends on the AMR driving state. Use the information
below to understand how the AMR responds when a protective stop is triggered.
AMR State
Driving
Driving
Driving
Stopped
Stopped
Stopped
4-34
USER_PROTEC-
ESTOP_USER
TIVE_STOP
input
LOW HIGH
HIGH HIGH
N/A LOW
LOW HIGH
HIGH HIGH
N/A LOW
AMR Response
input
Protective Stop Au-
tomatic Reset
No Change
Protective Stop Au-
tomatic Reset
STO Active, Brakes
engaged
No change
STO Active, Brakes
engaged
HD-1500 Platform User's Manual (I645)
USER_SAFF-
ETY_OUT
LOW
HIGH
LOW
HIGH
HIGH
LOW