Workspace - Omron HD-1500 Platform User Manual

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Workspace

The workspace must be flat, level, free of clutter and debris, and have adequately wide doorways and
corridors to allow navigation by an AMR.
Floors must provide good traction, typical of good walking conditions. Rough or uneven floors can af-
fect safety of the AMR's operation as the lasers' sensing plane is not always parallel to the floor.
Take measures to avoid the following items in the workspace.
• Transparent doors, walls, or barriers.
• Floors with access panels removed.
• Cables, hoses, etc.
• Highly reflective objects.
If an obstacle has protrusions outside of the plane of the AMR's Safety Laser Scanners, or indents in
this plane, then the AMR will underestimate the obstacle's size. This will reduce the effectiveness of
the AMR's protective clearances, or in extreme cases, lead to collisions. Optional Side Lasers may be
required to detect obstacles with these features. The AMR's Low Lasers mitigate the risk presented by
protrusions near the floor that are below the plane of the safety scanning lasers. Optional Side Lasers
may also be required if an overhang or protrusion might cause the AMR to encounter obstacles that
are not visible to the Safety Laser Scanners or the Low Lasers.
Any steps in the AMR's path must have a smooth, rounded profile. Avoid steps or ledges taller than
the AMR's specified step-traversal ability that do not have adequate physical barriers. The AMR might
not be able to traverse the step height specified when traveling at less than the recommended speeds.
Make the following considerations when traversing steps or gaps.
• A maximum speed of 500 mm/s forward and 400 mm/s in reverse must be used.
• Frequent encounters with steps and gaps will shorten the lifespan of the drivetrain components.
The AMR can cause serious injury to personnel or damage to itself or other equip-
ment if it drives off of a ledge, such as a loading dock, or down stairs.
• Abrupt appearance of objects or persons in the path of the AMR could result in per-
sonal injury or property damage. You must make sure that the operating environ-
ment of the AMR is adequately controlled.
• Do not expose the AMR to rain or moisture.
• An AMR can be unsafe if operated under environmental conditions other than those
specified in this manual.
• Dust, dirt, grease, and water (or other liquids) can affect wheel traction, as well as
operation of the drive wheels. If the drive wheels slip, it can potentially affect operat-
ing duration, stopping distance, and navigation accuracy.
HD-1500 Platform User's Manual (I645)
DANGER
WARNING
WARNING
4 Operation
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