Other Sensors - Omron LD-250 Assembly Instructions Manual

4.2.5 Manual Driving
You can drive the AMR manually with an attached pendant or remotely through
MobilePlanner (teleoperation). The following considerations apply:
• Pendant Driving - During manual driving by pendant (see Driving by Pendant on page
139 (LD-250 Platform User's Guide, Rev-B)) the rear sensor does not operate. Take
care when driving the AMR in reverse. The safety scanning laser's protective fields
are still equivalently active during manual driving with the pendant. Note that the
forward facing laser scanner is still active in software, but it will not make use of a
hardware safety field when the robot is travelling in reverse. For this reason, the
robot is not permitted to travel in reverse at speeds greater than 225 mm/s.
• Driving Remotely - If you use MobilePlanner to drive the AMR remotely (either with
the on-screen virtual pendant or through the computer keyboard) the rear sensor
operates normally.
IMPORTANT: When driving through the computer keyboard, if you press and hold the
reverse key the AMR will persistently attempt to move in reverse. This might cause it to
reverse into a person or obstacle. Using the keyboard or MobilePlanner interface to drive a
robot is not advisable unless you are at the robot system and aware of its surroundings.
4.2.6 Payload Overhangs
If your payload overhangs the LD-250's default footprint, there are several adjustments you
must make to AMR operating parameters to stay within safe operation limits. (See: Payload
Dimensions and Design on page 80 (LD-250 Platform User's Guide, Rev-B).) In particular, see:
Overhanging Payloads and the AMR Swing Radius on page 194 (LD-250 Platform User's
Guide, Rev-B).
4.3

Other Sensors

4.3.1 Encoders and Gyroscope
Each motor has two redundant wheel encoders that enable an accurate estimation of the
AMR's speed. Wheel encoders also provide the LD-250's navigation system with odometry
information (how far each wheel has traveled, and in which direction.) In addition, the LD-
250 Core contains an internal gyroscope to track the LD-250's rotational velocity.
Mobile Robot LD-250 Assembly Instructions, Rev. A
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