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2x laser guards
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Wiring harness
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Assembly kit, with mounting plate
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The side laser kit is P/N 13456-100, and can be added to existing payload structures.
Mounting
Side lasers need to be mounted on your AMR payload structure, one on each side. They must be mounted
far enough out so that their laser beams don't hit any part of the AMR.
Connections
The harness should be connected after the physical mounting procedure is completed.
The lasers connect to the Aux Sensor connector located on the upper front of the platform core using the
supplied W-cable. This allows you to use one port for both side lasers and the low front laser.
6.3
Configuration
The parameters for the side lasers are set using the MobilePlanner software.
The first set of parameters are in:
Robot Physical > Laser_3 and Robot Physical > Laser_4.
Configuring the side lasers is generally performed by importing the factory-supplied configuration into the
AMR's current configuration. Contact Omron for assistance.
For Laser_3 (right) and Laser_4 (left), the relevant parameters are:
LaserAutoConnect: Should be checked to turn on the laser.
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This parameter will not be shown unless Show Expert + Parameters is checked.
This tells the system that the laser exists, and should be connected at startup.
The other parameters will be hidden unless this parameter is checked.
LaserX, LaserY, LaserZ: The location of the laser on the robot.
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Measure to the sensing plane of each laser, which is about 20 mm from the top of the sensor
housing.
LaserX is mm, front-back, of the laser center from the robot's idealized center of rotation.
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LaserY is mm, left-right, of the laser center from the robot's idealized center of rotation.
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LaserZ is mm, from the floor to the center of the laser.
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LaserIgnore: By default, the sensor scans an area of 270 degrees.
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This area should be modified so that the laser does not sense parts of the AMR. Zones entered here
will be excluded from the search area.
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