Configuring External I/O - Omron LD-60 User Manual

5.5 MobilePlanner Configuration
c. Give the sector a name (and optional description).
Use the outline of the sector to specify a safe distance from the door, so the AMR doesn't
get hit by the door opening or closing. Make sure that it includes the entire swing of the
door, and the Door area itself.
You will have to estimate how large to make the DoorSwingSector, because it must be
created before the Door area is added to the map. Add half the length of the AMR to
both the length and width of the DoorSwingSector, to ensure that the AMR will be clear
of the door when it opens or closes.
3. Create a Door area where the physical door is on the map.
a. MobilePlanner > Map > Draw
b. Advanced Areas > Door
c. Select the two Door goals in the FirstEnter and SecondEnter fields drop-downs.
d. Enter the output that you configured previously for this door in DoorOutput.
If you entered an Alias for that output, enter it here.
e. Enter a value, in seconds, in WaitTime, to specify how long the AMR should
wait at an entry goal before driving through the door, to be sure the door has
fully opened.
This is the time from when the AMR arrives at the entry goal to when the door is
fully-opened, and it will vary depending on your door. You should time this, and
add a few seconds as a buffer, to ensure that the door is out of the way. The
default is 10 seconds.
f. Select the DoorSwingSector from the drop-down in the SwingSector field.
The MobilePlanner software will not let you finish creating a Door area if it does not
have two Door goals, an output, and a DoorSwingSector.
4. If multiple AMRs might try to use a door at the same time, create a single-robot sector
surrounding the Door area, DoorSwingSector, and both Door goals for the door.
Hints and Tips for Door Areas, Door Goals
Because the Door goals and DoorSwingSector have to be in place before you can create a Door
area, it may be visually easier for you to create a MovementParameters area where you want
the Door area to be. This can help in seeing where you should place the Door goals and the
DoorSwingSector. After these are created, you can edit the MovementParameters area, and
simply change it to a Door area. You would then enter the appropriate parameters, which
include the two Door goals and the DoorSwingSector, before saving the edit.
Another idea, if you are not familiar with dealing with your map yet, is to drive the AMR to
the location where you want the Door goal, and click the Goal at Robot icon to place a goal
there. You can then edit that goal, to change its type to Door goal.

Configuring External I/O

NOTE: The Show Expert + Parameters box must be checked to see or modify I/O
parameters.
76 LD Platform Peripherals Guide 13732-000 Rev J