Omron LD-250 Assembly Instructions Manual page 35

• Have complete understanding of the potential directions of movement that an AMR
might take, such as rotating in place and reversing.
• Know not to stand in or move toward the immediate vicinity of a working AMR.
• Understand the significance of the warning buzzer.
• Do not leave or place obstacles where the AMR might not detect the obstacle.
To mitigate the possibility of an accident, adhere to the recommendations in the following
sections.
4.2.2 Warning Buzzer When Reversing or Rotating
Make sure that the warning buzzer is configured to operate at least when the AMR is
docking or moving in a commanded reverse direction. (The AMR will not reverse
autonomously.)
4.2.3 Docking to Recharge
When docking, the AMR reverses onto the docking station. Its rear sensors are inactive
during this maneuver.
Clearly mark the floor area around docking stations as No Step areas. For example, use
yellow stripes on the floor to delineate the area. Inform and train any persons operating the
AMR to avoid walking into these areas when an AMR is approaching to dock.
4.2.4 Using Move or GotoStraight in MobilePlanner
A Move task is a commanded operation that can cause the AMR to reverse if you specify a
negative value. While the AMR is reversing, the rear sensor is operational. You might need
to adjust the value of the FrontClearance parameter to add a margin of safety.
The default clearance is 200 mm. You can reduce this value if you want to approach an
object more closely. However, when moving in a reverse direction lower values of
FrontClearance will increase the risk of colliding with a person or object that might move
into the AMR's path.
Similarly, the GotoStraight command might cause the AMR to reverse to a specified goal if
the goal is behind the AMR's heading. During GotoStraight travel, the rear sensor is active
and you should consider adjusting the value of the FrontClearance parameter.
The GoToStraight parameter provides a FailSeconds attribute that enables you to make the
AMR wait X seconds for the obstacle to move. If the obstacle is no longer detected within
the elapsed time, the AMR either proceeds or fails depending on the value of other
GoToStraight attributes.
Mobile Robot LD-250 Assembly Instructions, Rev. A
Page 35 of 77