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4-16 Protective Stops
When a protective stop is triggered, the AMR decelerates to a stop at the maximum allowed rate. It
then removes power to its motors and engages the brakes. After the AMR comes to a complete stop,
it waits a minimum of two seconds before it resumes operation. No user intervention is necessary to
recover from a protective stop.
The protective stop circuit is classified as a Category 1 stop.
Protective stops can be triggered by one of the following items.
• Safety Laser Scanners: The Safety Laser Scanners initiate a protective stop any time they detect
unavoidable obstacles in the AMR's path. For example, an AMR reacts to obstacles in its path by
slowing and if necessary, stopping safely. It then either plans a new path around the obstacle or, if
the obstacle has moved, resumes its original path. If no such path is available, the AMR fails the
current job.
• Pendant: The three-position device completely depressed or not depressed will initiate a protective
stop.
• User-supplied protective stop devices connected to the SCPU connector in the User Access Panel
can initiate a protective stop. Refer to
3-5-2 User Access Panel Connections
on page 3-15 for more
information.
A protective stop differs from an emergency stop. Refer to
more information.
Two additional safety outputs are also available for controlling user-supplied equipment during a pro-
tective stop. The state of these safety outputs as well as the AMR response during a protective stop is
dependent on several factors. Refer to the following sections for more information.
•
4-16-1 AMR Response During Protective Stops
•
4-16-1
AMR Response During Protective Stops
The AMR response during a protective stop depends on the AMR driving state. Use the information
below to understand how the AMR responds when a protective stop is triggered.
AMR State
USER_PROTEC-
TIVE_STOP
input
ESTOP_USER
input
AMR Response
USER_SAFF-
ETY_OUT
Driving
LOW
HIGH
Protective Stop Au-
tomatic Reset
LOW
Driving
HIGH
HIGH
No Change
HIGH
Driving
N/A
LOW
Protective Stop Au-
tomatic Reset
LOW
Stopped
LOW
HIGH
STO Active, Brakes
engaged
HIGH
Stopped
HIGH
HIGH
No change
HIGH
Stopped
N/A
LOW
STO Active, Brakes
engaged
LOW
4 Operation
4-34
HD-1500 Platform User's Manual (I645)
Summary of Contents for HD-1500 Platform
Page 1: ...HD 1500 Platform User s Manual I645 E 03 ...
Page 6: ...Manual Information 4 HD 1500 Platform User s Manual I645 ...
Page 38: ...Revision History 36 HD 1500 Platform User s Manual I645 ...
Page 206: ...5 Troubleshooting 5 14 HD 1500 Platform User s Manual I645 ...
Page 236: ...6 Maintenance 6 30 HD 1500 Platform User s Manual I645 ...
Page 250: ...Appendices A 14 HD 1500 Platform User s Manual I645 ...
Page 251: ...I Index I 1 HD 1500 Platform User s Manual I645 I ...
Page 254: ...Index I 4 HD 1500 Platform User s Manual I645 ...
Page 255: ......