Omron MD Series User Manual page 93

Safety Function
Enabling device on
Pendant
Safety Laser Scan-
ner detection
Overspeed protec-
tion
AMR (Autonomous Mobile Robot) MD-series Platform User's Manual (I681)
Safety Reset
Stop Type Type
Emergency Manual When the enabling device
Stop Reset is not depressed or com-
pletely depressed, an
emergency stop (control-
led stop) will occur. In this
case, the power to the
AMR motors remains ON
in order to achieve a con-
trolled stop. Once the
controlled stop is ach-
ieved, the power to the
motors is disconnected.
Protective Auto- If an obstacle intrudes in-
Stop matic to the safety zones, the
Reset Safety Laser Scanner will
trigger a protective stop
(category 1 stop
this is also a controlled
stop, the power to the
AMR motors remains ON
in order to achieve a con-
trolled stop. Once the
controlled stop is ach-
ieved, the power to the
motors is disconnected. If
the safety zone intrusion
is cleared of the obstacle,
the AMR will automatical-
ly restart and resume op-
eration after a delay of 2.5
seconds.
Protective Manual This function monitors for
Stop Reset overspeed and speed in-
consistency. The AMR lin-
ear speed is limited to
2200 mm/s (both forward
and backward). If the cal-
culated speed exceeds
this speed limits, the AMR
protective stop is trig-
gered.
Description PL
e
d
*1
). Since
d
2 Specifications
Category PFHd
3 6.62E-08
3 5.68E-07
3 4.85E-07
2-17
2