Omron LD-60 User Manual page 110

6.5 Making a Map of Your Environment
b. Click Save on Robot, then select the IP address of either the AMR or the EM, if
your AMR is part of a fleet.
3. If you are not satisfied with how the lights appeared on the map, click Config on the
Scan Processing Tools toolbar to open the configuration dialog box. This gives you
access to the Light Analysis parameters, which you can change as needed:
3d:MinLightHeight
l
3d:MaxLightHeight
l
3d:MaxLightLength
l
3d:DrawingMaxSize
l
In the preceding image, the light length was 2.5 meters, so the default light length of 2
meters was too restrictive and needed to be changed.
Lights at Multiple Heights
The scan contains the necessary data for all of the lights in the environment. When you create
a map from the scan, you specify a height range for the lights you want included in that map.
If your environment has lights at multiple heights, you will need to create multiple maps from
your one scan, using different light heights. You will then insert the appropriate map sections
into the initial map, which will add the lights from the adjusted light height range. This needs
to be done for as many different light heights as you have in the environment.
Creating a Revised Map
These steps are performed after saving the initial map, which included lights within the initial
height range you specified.
NOTE: Do not click Finish on the Scan Processing Tools toolbar.
1. Click Config and change the 3d:MinLightHeight and 3d:MaxLightHeight parameters to
bound the next light height in your environment.
2. Click Apply, and say Yes to the pop-up.
Applying the changes will cause only the light map to reprocess.
3. If you are satisfied with the appearance of the lights in this height range, save the new
map with a different file name.
NOTE: Check that the lights are where you think they should be, and
their general dimensions are accurate.
4. Repeat these steps for as many different light heights as are needed.
Inserting a Map
1. Open the initial map file.
2. Select File > Insert Map.
3. Select the map file you want to insert.
110 LD Platform Peripherals Guide 13732-000 Rev J