A-3 Side Laser Configuration - Omron HD-1500 Platform User Manual

A-3 Side Laser Configuration

Configuring the Side Lasers is generally performed by importing the factory-supplied configuration into
the AMR's current configuration or by adjusting parameters using MobilePlanner. Refer to the Fleet
Operations Workspace Core User's Manual (Cat. No. I635) for more information.
Use the information below to manually configure a Side Laser.
You must enable Laser_5 and Laser_6 using MobilePlanner.
The first set of parameters to adjust are in the Robot Physical section. Laser_5 parameters are asso-
ciated with the front, right Side Laser and Laser_6 parameters are associated with the rear, left Side
Laser. These parameter details are provided below.
• LaserAutoConnect
This should be enabled and indicates to the system that the laser exists and it should be connected
at start-up.
• LaserX, LaserY, and LaserZ.
These values indicate the physical location of the laser on the AMR. These distances are measured
to the sensing plane of each laser, which is about 20 mm from the top of the sensor housing.
LaserX is the x-axis (front-to-rear) distance in mm of the laser center to the AMR's center of rotation.
LaserY is the y-axis (side-to-side) distance in mm of the laser center to the AMR's center of rotation.
• LaserZ is the z-axis (vertical) distance in mm of the laser center to the floor.
• LaserIgnore
This value indicates the sensor scanning radial range and can be used to specify the range in de-
grees for unused (ignored) segments of the Side Laser scanning field. Readings inside these angles
will be ignored. The format for the angles is startangle1: stopangle1, startangle2: stopangle2. Exam-
ple values would be -20:-180, 45:180. You must also consider the scanning field orientation and
whether the laser is tilted when calculating the ignored field segment. This area should be modified
so that the laser does not sense parts of the AMR. Zones entered here will be excluded from the
scanning area.
Default settings when the Side Laser is mounted on the AMR are as follows.
• Laser_5: -135° to 90°
• Laser_6: 90° to 135°
The Side Laser has a maximum scanning field that spans 270° of arc. However, the usable portion
of this scanning arc depends on factors such as the physical location of the Side Laser on the AMR,
or whether the scanning field is blocked by the payload structure or the AMR structure. Use the
LaserIgnore parameter to identify and exclude the ignored segment of the scanned field, so that the
AMR does not process data for objects detected in the ignored field segment.
The following considerations apply to the calculation of the ignored field segment.
• The degrees of arc is based on the AMR's coordinate system, and not on the Side Laser's angular
range. You specify the arc values in the ranges of 0° to +180° and 0° to -180°.
• 0 degrees specifies the AMR's forward direction of travel.
• The value for an ignored segment cannot span +180° and -180°. To ignore a ten degree segment
between +175° and -175°, you must specify two ranges: -175° to -180°, and 180° to 175°. Speci-
fying the range of -175° to 175° results in the AMR Controller ignoring a 350° segment, counter-
clockwise from 175° to -175°.
HD-1500 Platform User's Manual (I645)
Appendices
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