Omron LD-60 User Manual page 20

2.4 Environment
Both referenced standards state, sensing in the reverse direction of motion is not relied on as
part of the AMR's safety system. This is because it is used only by software-based obstacle
detection, the LD's reverse travel is limited to <300 mm/s.
If an LD platform is operated in a manner that exceeds this reverse speed limit, the safety sys-
tem will generate and report a fault signal. In normal, autonomous operation, this condition
triggers motion controllers to execute a controlled stop. However, if motion is disabled (E-Stop
button is pressed) and the brake release is overridden, the safety system cannot stop the LD
platformsince power to the motors has already been cut off. Once the fault condition is
resolved, the safety system will stop reporting safety fault to the motion controllers, and the
normal start-up process will initiate.
If this error is occurring, you may decrease the max speed parameter in question. In the Robot
Physical section and Absolute Movement Maximums sub-section of Robot Configuration, the
parameters AbsoluteMaxTransVel and AbsoluteMaxTransNegVel can be set to control the
maximum velocity of the robot. These parameters cannot be set higher than the forward and
reverse limit of the hardware platform currently being used. Lowering these parameters will
prevent the robot from moving at a speed that would cause an overspeed fault.
Following table displays overspeed fault conditions.
NOTE: The motion settings such as AbsoluteTransVelMax, that limit maximum
allowable velocities in the robot software (ARAM), have no effect on the safety
system.
Forward recom-
Model mended Speed
(mm/s)
LD-60 2050
LD-90 1525
LD- 1000
90x
LD- 1525
105CT
LD- 1000
130CT
LD- 2050
250
i
The forward limits indicate where the safety system will report a fault. These speeds may not
be achievable by the robot under its own power. The max forward speed, should always be set
to the defined maximum (or lower) speed, found in the default configuration shipped with the
robot.
20
Table 2-1. Overspeed Limits for Different LD Models
Reverse recom-
mended Speed
(mm/s)
250
175
100
175
100
175
LD Platform Peripherals Guide
Forward Reverse
Limit Limit
i
(mm/s) (mm/s)
2100 300
1575 225
1050 150
1575 225
1050 150
2100 225
i
13732-000 Rev J