Omron MD-900 User Manual page 139

Engage Task
The Engage task calls a macro when the AMR arrives at the goal, so the AMR can be sent on a series
of tasks such as a FollowGuide task to go to a marker.
If successive goals are at the same location and each has the Engage task on it, the AMR can be sent
on multiple tasks without returning to the goal location. This allows you to have the AMR go to multiple
markers without ever leaving the tape to return to the goal location.
Make the following considerations when using the Engage task.
• Each marker needs its own goal.
• Each of the goals needs to be at the same location.
• Each of the goals needs to have the Engage task.
• Each of the Engage tasks will have a different Engage macro.
If the next goal assigned to that AMR is at the same location as the previous goal and it has an En-
gage task, the AMR will not drive back to the goal when the Engage macro finishes. It will instead exe-
cute the Engage macro associated with the new goal.
The parameters associated with the Engage task are provided below.
• EngageMacro
A macro (generally containing the FollowGuide task) that instructs how to arrive at the correct spot
on the tape.
• DisengageMacro
A macro that determines how the AMR will remove itself from the tape safely from that marker posi-
tion. If no macro is given, the AMR will go to autonomous mode automatically.
• UseGoalPosition
Determines how close goals need to be for them to be considered as the same location. A tolerance
larger than the distance between the goals will indicate that the goals are at the same location. After
entering True for this value, you will be given a choice of distance. The defaults are generally suita-
ble.
This is the goal position (not the position) that will result after the FollowGuide or Engage tasks.
• FaultEngageMacro
Determines how the AMR will manage failures when engaging.
• FaultDisengageMacro
Determines how the AMR will manage failures when disengaging.
• EngageOnlyIfFromGoal
This should be set to False or blank when using FollowGuide.
• lockModeduringMacro
Boolean value to decide if the AMR mode will be locked during the engage process.
• whenEngagedSupress
Selection to suppress the goal driving so that the AMR does not drive back to the goal location be-
tween goals.
Do not set this to suppress macros as they are needed to use the Engage macro of each succes-
sive goal.
AMR (Autonomous Mobile Robot) MD-series Platform User's Manual (I681)
3 Installation
3
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