Ramps - Omron MD-900 User Manual

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Ramps

The AMR can operate on ramps, but special considerations and precautions must be taken. Use the
following information to understand limitations and other preventative measures that must be followed
when the AMR operates on ramps.
• Using the brake release button while the AMR is positioned on a slope of greater
than 3% will cause the AMR to roll down. You must not use the brake release button
to move the AMR manually when it is positioned on a slope of greater than 3%, un-
less necessary precautions have been taken to prevent uncontrolled rolling of the
AMR.
• Use caution when stopping the AMR on a ramp. The use of the brake release will
cause direct rolling of AMR down the ramp. Powering OFF the AMR on a ramp
should be avoided if possible to minimize the use of brake release on a ramp.
Additional Information
Contact your local OMRON representative for advanced ramp traversal optimization techni-
ques.
General considerations:
• The maximum slope that the AMR can travel on is 5 degrees / 8.75%.
• Do not exceed the default acceleration and deceleration settings of 500 mm/s
values can cause motor overcurrent conditions if the AMR stops or starts on a ramp.
• Do not exceed 1000 mm/s linear speed while operating on a ramp.
• The AMR must be traveling less than 500 mm/s as it approaches a ramp.
• The AMR must be aligned with centerline of a ramp during its approach and before it reaches the
ramp.
• Observe the step traversal limits when the AMR transitions from a level surface to a ramp. Refer to
2-3-1 AMR Environmental Specifications on page 2-13 for more information.
• The floor's coefficient of friction on a ramp must be a minimum of 0.8 at all times to avoid traction
problems.
• The allowable location of the payload center of gravity is constrained if the AMR operates on a
ramp. Refer to 2-2-4 Payload Center of Gravity on page 2-7 for more information.
• Maximize AMR localization while operating on a ramp by installing physical and logical barriers.
• A ramp that is used by an AMR is considered a Hazard Zone and should be indicated in the facility
accordingly.
• Ramps must have a minimum length of 1200 mm to prevent AMR immobilization.
• Ramps must be at least 1800 mm wide.
Operational Considerations:
• Avoid prolonged operation on ramps. Limit the AMR's operation on ramps to under 5 minutes.
• Avoid powering OFF the AMR on a ramp.
• Avoid stopping or turning on a ramp.
• The AMR will automatically apply mechanical brakes when it stops on a ramp.
• The ramp entrance and exit areas, as well as the ramp area itself, must be free of obstacles when
the AMR operating in these areas.
AMR (Autonomous Mobile Robot) MD-series Platform User's Manual (I681)
WARNING
4 Operation
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. Exceeding these
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