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Mobile Robot HD Safety Manual
31500-100 RevA
2.5 User's Responsibilities
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Any time the AMR moves at a linear speed below 20 mm/s, or a rotational speed of less
than 3 deg/sec for longer than 2 seconds. This is done to alert the users of a very slowly
moving AMR which is not configured with hardware-based safety zones by default.
NOTE:
The software-based obstacle protection is used regardless of the
AMR speed.
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For 2 seconds prior to starting motion any time it has stopped moving for at least 10
seconds. This includes the first motion after start-up.
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For 2 seconds when an emergency stop or a protective stop from hardware-based safety
zones is triggered.
NOTE:
These parameters are only available with the Fleet Operations Work-
space 1.1 and later.
!
CAUTION:
PERSONAL INJURY RISK
Changing buzzer parameter values might make the AMR unsafe and affect its
compliance to safety standards. Refer to the applicable safety standards for
your locale before you change any parameter values.
Speakers
The HD-1500 is equipped with two speakers, located at the front of the AMR.
When speakers are used as a means of notifying personnel of an approaching AMR, you must
routinely verify that they are still functioning normally. Verify that the speakers are audible,
and the sound level is at the same level as needed during the operation.
Mechanical Brakes
Perform annual inspection of the mechanical brakes for proper function. Follow these steps to
verify that the mechanical brakes engage and disengage properly.
Before you begin, make sure it is safe to manually move the AMR to an open area with level
floor.
1. Connect the pendant to the AMR, and drive forward approximately 2 m in order to
align the casters in the direction of motion.
2. Next, release the three-position enabling device to ensure that the AMR is in protective
stop mode.
3. Then, press and hold the brake release button, and push the AMR straight forward. One
or two people should be able to push an unloaded or lightly loaded platform. For a
heavily loaded platform, you may need more people.
You will hear a click sound when the brake release button is pressed. The AMR should
roll smoothly at this point. contact your OMRON representative if the AMR does not
move.
4. Next, release the brake release button and then try to push the AMR forward with the