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Chapter 11: Modify the Safety Zones
This section describes how to modify the Omron OS32C safety laser's integrated safety zones.
Your LD-250's OS32C safety laser is pre-programmed with safety zones sized for its shape and
kinematics. If your payload overhangs the AMR's default dimensions or you change the value
of AbsoluteMaxTransDecel, you must adjust the AMR's safety zones accordingly.
Omron intends this information as a general guideline only, and not as a substitute for assess-
ing each application built on the AMR with regard to the applicable standards for a specific
locale.
!
11.1 Default Safety Zones
The LD-250 has 8 safety zones (1-8).
IMPORTANT: The safety zone speed for the LD-250 is the value of the
SpeedZoneSize parameter, which defaults to 225 mm/s. At any speed below 225
mm/s, the safety scanning laser does not operate to detect obstacles. Therefore,
zone 0 (zero) has no physical dimension.
20472-000 Rev B
WARNING: PERSONAL INJURY OR PROPERTY DAMAGE RISK Omron
Robotics and Safety Technologies, Inc. is not responsible for any risks incurred
by modifying safety zone sizes or other OS32C laser settings.
Make certain that the AMR cannot collide with any obstacles that trigger its
ESTOP circuit via the laser's safety outputs when traveling at high speed. Test
all safety zone modifications in a location representative of the actual work
environment before using the AMR in production.
LD-250 Platform User's Guide
Chapter 11: Modify the Safety Zones
197
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