Side Laser Configuration - Omron MD Series User Manual

A-2 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 Scanner_5 and Scanner_6 using MobilePlanner.
Scanner_5 parameters are associated with the front, right Side Laser and Scanner_6 parameters are
associated with the rear, left Side Laser.
All of the parameters to adjust are in the Sensors section under 2DLidar. Parameter details are provid-
ed below.
• Enabled
This should be enabled and indicates to the system that the laser exists and it should be connected
at start-up.
• X, Y, and Z
These values indicate the physical coordinate 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 hous-
ing. These parameters are located in the SensorPosition area.
X is the x-axis (front-to-rear) distance in mm of the laser center to the AMR's center of rotation.
Y is the y-axis (side-to-side) distance in mm of the laser center to the AMR's center of rotation.
Z is the z-axis (vertical) distance in mm of the laser center to the floor.
• RotationX, RotationY, and RotationZ
These values indicate the physical rotational location of the laser on the AMR. These parameters
are located in the SensorPosition area.
• IgnoreInsideOf
This indicates the method by which unused internal segments of the Side Laser scanning field can
be ignored. The possible options are None, Internal, Polygon and Range. Contact your local OM-
RON representative for more information.
• IgnoreOutsideOf
This indicates the method by which unused external segments of the Side Laser scanning field can
be ignored. The possible options are None, Polygon and Range. Contact your local OMRON repre-
sentative for more information.
• HeightIgnoreMode
This indicates the method by which the range of Z values below IgnoreBelowHeight and a range of
Z values above IgnoreAboveHeight can be ignored. The possible options are None, Normal and
Custom. Contact your local OMRON representative for more information.
AMR (Autonomous Mobile Robot) MD-series Platform User's Manual (I681)
Appendices
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