Input And Output Control; Wireless Antennas; Localization Sensors; Interlock Switches - Omron HD-1500 Platform User Manual

1 Overview
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Input and Output Control

The input and output terminals in the User Access Panel are directly connected to an internally mount-
ed NX102 controller. This controller can be programmed to utilize these inputs and outputs for specific
applications.
Use Sysmac Studio and MobilePlanner to create custom programs. The USER LAN connector in the
User Access Panel is provided for connecting to the NX102. Refer to 3-5-2 User Access Panel Con-
nections on page 3-15 for more information.
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Wireless Antennas

Two wireless antennas are factory-installed on the top of the AMR to provide optimal range. These
wireless antennas are tamper resistant and low profile. They can also be relocated if a payload struc-
ture obscures them.
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Localization Sensors

Each drive wheel is equipped with an encoder that sends information to the navigation system about
distance traveled and direction. The AMR Controller has gyroscopic inertial sensing to track the AMR's
rotation. There are also sensors on each motor that are used by the safety system to collect redundant
speed information.
This sensor data is combined with information from the Safety Laser Scanners, Low Lasers, and op-
tional Side Lasers to calculate its position in the map for localization functions.
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Interlock Switches

The AMR is equipped with the interlock switches located on the battery door and the side skins. The
interlock switches are continuously monitored and ensure that the battery door and the side skins are
properly attached to the AMR. This is to ensure that the internal components are isolated and protect-
ed from unauthorized and unsafe access.
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HD-1500 Platform User's Manual (I645)