14
Mobile Robot HD Safety Manual
31500-100 RevA
2.3 Unprotected Areas
The HD-1500 travels at a low speed when docking:
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When traveling between 0 to 20 mm/s (or angular speed of less than 3 deg/s), there are
no hardware-based safety laser protection zones. The HD-1500 beeps any time it moves
at a linear speed below 20 mm/s, or an angular speed of less than 3 deg/sec for longer
than 2 seconds. The AMR respects its software-based obstacle-avoidance clearances at
all speeds, but it will not use a hardware-based safety laser protection zone at speeds
below 20 mm/s or 3 deg/sec. This is done intentionally to allow operators to manually
drive the AMR away from any obstacles that are too close to the AMR. It also allows
the operators to back the AMR when needed.
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At speeds between 20 to 115 mm/s (or angular speed of less than 12 deg/s), the AMR's
hardware-based laser protection zones exclude the area where the charging paddle
enters the laser channel. The safety zones of the two safety scanning lasers are identical,
and therefore, the unprotected areas are present at both front and rear ends of the AMR.
The operator must take necessary precautions to ensure that the operator's hands or
other body parts do not get stuck in between the charging pad and the platform when
docking.
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At speeds above 115 mm/s, the hardware-based laser protective zones are fully active
and there are no unprotected areas.
The following table lists the hardware-based safety laser protection zones for the speeds men-
tioned in the preceding paragraph:
Table 2-1. Hardware-Based Safety Laser Protective Zones
Linear speed
(mm/s)
Angular speed
(deg/s)
Hardware-based safety laser
protective Zones
0≥ and < 20
0≥ and <3
No protective zones.
20≥ and <115
3≥ and <12
Two unprotected areas. Area
where the charging paddle enters
the laser channel (both at front
and rear of the AMR).
≥115
≥12
No unprotected areas.
!
CAUTION:
PERSONAL INJURY OR PROPERTY DAMAGE RISK
Although the AMR respects its software-based obstacle-avoidance clearances at
all speeds, the user must be aware of the location of the E-Stop buttons at all
times, and keep out of the unprotected areas.
!
CAUTION:
PERSONAL INJURY OR PROPERTY DAMAGE RISK
It is the end user's responsibility to ensure that the area within the radius of
2 m from the center of the HD-1500 is kept clear, when the AMR is traveling at
less than 115 mm/s.
