Payload Movement And Transfer; Configurable Warning Buzzer; Multi-Vehicle Avoidance - Omron LD User Manual

Payload Movement and Transfer

Monitoring and confirmation of the status of robot payload movement and transfer to or from
facility equipment is the end-user's responsibility.
Payload transfer problems must trigger a robot E-Stop, preventing the robot from moving until
an Operator has resolved the problem and confirmed that the system is safe to use. This hand-
ling of payload transfer problems is the end-user's responsibility.
Providing an interlock between the robot and facility equipment is the user's responsibility.

Configurable Warning Buzzer

The LD Cart Transporters have a configurable warning buzzer. It is the user's responsibility to
configure this buzzer as appropriate for the facility in which the robot will be operating.The
buzzer will sound whenever the robot is moving backwards or is turning. Other situations are
configurable.
The buzzer is configured with MobilePlanner, using the following parameters:
NOTE: These parameters are only available with the Mobile Robot Software Suite
5.0 and later.
DriveWarningEnable
l
NOTE: If this parameter is set to False, the remaining parameters will not be
displayed.
DoNoWarnDrivingForwards
l
Default: False
DoNotWarnTurningInPlace
l
Default: False
DriveWarningLoudMilliseconds
l
Default: 500. If DriveWarningQuietMilliseconds is 0, this parameter is irrelevant.
DriveWarningQuietMilliseconds
l
Default: 500. This is the length of time between warnings that the buzzer is silent. Set-
ting this to 0 will cause a continuous warning.

Multi-Vehicle Avoidance

When multiple vehicles are operating in the same operating space, they must be connected to
an Enterprise Manager 1100 (EM) via WiFi. The EM helps prevent collisions by sharing
vehicles' dynamic X, Y, Theta, size, and path-planning information with each other. Vehicles
then factor this data into their obstacle avoidance. This is not an interlocked method of
LD Cart Transporter User's Guide, 14766-000 Rev B
Chapter 2: Safety
WARNING: Disabling the DriveWarningEnable parameter violates the
JIS D 6802 standard. It is strongly recommended that you leave this set
to True.
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