Acceleration, Deceleration, And Rotation Limits - Omron LD-60 User Manual

You can drive the platform with the joystick. We recommend that you drive it to and position
it onto its automated docking station in preparation for the next steps. (Installation of the auto-
mated docking station was covered in the previous chapter.)
Maps are developed with the MobilePlanner software. You can add a variety of virtual ele-
ments that act to modify the behavior of an AIV. Virtual elements include forbidden lines and
areas, speed zones, preferred-direction zones, and more, all working to help you configure your
workspace for efficient and safe performance of your mobile application. You can also create
your own virtual elements for application-specific AIV-workspace interactions.
Maps contain a variety of goals, routes, and tasks that comprise the destinations and activities
of the AIV in the workspace.

4.3 Acceleration, Deceleration, and Rotation Limits

Reducing the absolute max allowable linear and rotational acceleration, deceleration, and
speed will affect the size of the allowable CG envelope, but it may do so in non-obvious ways.
For use-cases where the payload can't be decreased, or the CG can't be brought within the
recommended limits, our Field Service department can work with your system designer to
input your needs into our models.
Contact Omron Adept Technologies, Inc. for details. See Support on page 14.
If your payload's center of gravity is not within the guidelines given in the Center of Gravity
on page 54, you will need to adjust the Absolute Movement Maximums parameters in the
MobilePlanner software.
From the MobilePlanner software, Config:
Robot Physical > Absolute Movement Maximums
Show Expert + Parameters needs to be checked to see or modify these parameters.
The first two parameters and AbsoluteMaxRotVel are not likely to have significant impact on
the AIV's stability. The Accel and Decel parameters will have a major impact. In certain cases,
if the payload is lopsided, the AbsoluteMaxRotVel may need to be adjusted.
The limits and defaults for these parameters are listed in the following table.
Chapter 4: Configuration
CAUTION: If you change AbsoluteMaxTransVel, you should commission the
robot before putting it into service.
Parameter
AbsoluteMaxTransVel (LD-60) 1800
AbsoluteMaxTransVel (LD-90) 1300
AbsoluteMaxTransNegVel
AbsoluteMaxTransAccel
AbsoluteMaxTransDecel
AbsoluteMaxRotVel
LD Platform User's Guide, 11970-000 Rev E
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Default Min Max
1 2500
1 2500
-250 -2500 -1
500 1 2000
500 1 2000
100 1 180