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Reducing the value of the AbsoluteMaxTransDecel parameter requires that you:
Increase the dimension of the AMR's safety zones. This is necessary to compensate for
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the increased stopping time. See: Typical Operation on page 117 and Modify the Safety
Zones on page 197.
Repeat the safety commissioning. See: E-Stop Commissioning on page 177.
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The same considerations apply if you increase the AMR's physical length or width by adding
an overhanging payload.
4.4 Supplemental Information
Laser Setup
The default parameter settings for lasers should be appropriate for most installations.
However, the following important considerations apply:
Config File—When shipped, an AMR includes a model-specific config file specifying the
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default parameter values for its lasers and for other model-specific features. SetNetGo
provides a Restore option to revert the LD-250 to its default configuration
You can obtain the default config file from your local Omron Support if you accidentally
lose or overwrite it. Use MobilePlanner or the SetNetGo Web interface to preserve a copy
of the original file. See: Download a Debuginfo File for Support on page 24.
Safety Zone Configuration—Use the OS32C configuration tool to configure and modify
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safety zones. Before making any modifications, connect to the laser to export and save
the original file.
Typically, you modify the safety zones:
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The parameter groups that control laser settings are:
Laser_1 Settings are for the main scanning laser, used for localization.
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Laser_2 Settings are for the low front laser (TiM).
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Laser_3 Tilted and Laser_4 Tilted are for the optional side lasers (TiM).
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The position for these lasers is application-specific. You must specify the X, Y, Z,
coordinates and the rotation of these lasers, relative to the center of rotation of the AMR
and the floor.
Laser_5 Settings are for the optional rear-facing laser.
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You do not necessarily need to use lasers 3, 4, and 5 for these specific purposes, these are the
Omron-recommended uses, so the default configurations for these lasers apply to these typical
applications.
20472-000 Rev B
If your payload overhangs the AMR's default dimensions.
You reduce the value of AbsoluteMaxTransDecel.
If operating on a floor surface that has poor traction to the extent that the AMR
cannot stop reliably within the default zones.
LD-250 Platform User's Guide
Chapter 4: Configuration
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