Chapter 7: Side Lasers; Positive Obstacles; Negative Obstacles; Installation - Omron LD-60 User Manual

NOTE: There are two types of side laser installations. One is attaching them dir-
ectly to the user-designed payload, which is what this chapter covers. If you
have a Cart Transporter, the side lasers are covered in that manual.
Side lasers can be added to an AMR to provide additional obstacle detection. The OS32C
safety scanning laser scans at 190 mm (7.48 in.) from the floor. Any obstacle that does not
cross that plane will not be seen. Side Lasers scan in a vertical plane near the path of the
robot, allowing the AMR to detect obstacles at other heights that the AMR must avoid. These
are available as an option for users building their own payload structures.

Positive Obstacles

Positive obstacles are those which would block the robot's path, such as tables and desks.
Detecting positive obstacles is the primary and recommended use for side lasers.

Negative Obstacles

Negative obstacles are voids in the driving area of the robot, such as downward stairs, loading
docks, or missing floor tiles.
Negative obstacle detection with side lasers should not be used as the primary method for
avoiding negative obstacles. It is intended to be used as a secondary method of detection, with
the primary method being traditional safety techniques to aid avoiding negative obstacles.
Primary methods include blocking off areas with missing floor tiles, staging safety equipment
near areas missing floor tiles, and restricting traffic to dangerous areas.
Negative obstacle detection on the robot is implemented in software only and does not consist
of CAT 3/PLd safety lasers. A test plan should be developed and executed prior to adding new
functionality to equipment that currently exists in a production environment. Perform testing
with each specific application and configuration to ensure the robot's safety. Test detection
after changing parameters for each different expected obstacle. With customer payloads and
laser positioning, dynamic testing must be done for each design at field application speed to
ensure robot safety.

7.1 Installation

Use the following information on installing side lasers.

Components

The side lasers come as a kit with the following components:
2x lasers
l
2x laser guards
l
Wiring harness
l
Assembly kit, with mounting plate
l
13732-000 Rev J

Chapter 7: Side Lasers

LD Platform Peripherals Guide 117