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0°
+90°
-90°
-180°
+180°
•
LaserTh
is the angular difference between the forward direction of the laser and the AMR's X-axis.
Adjust this parameter if the Side Laser's 0° reference is not at the AMR's forward direction when
mounted.
•
LaserType
should be set to tim551 unless otherwise requested.
•
LaserPortType
should be set to tcp.
•
LaserPorts
should be set to 169.254.20.30 for Laser_5 and 169.254.20.31 for Laser_6.
•
LaserIsTilted
should be selected to designate that the lasers are side-mounted and will scan verti-
cally.
•
LaserIsTiltedNegativeSensor
should be disabled.
•
TiltedFlipped
designates that the laser is inverted and will scan vertically. Make this selection only
for Laser_6.
•
Cumulative
parameters may need to be modified in select cases. These can be found in the
La-
ser_5 Tilted
and
Laser_6 Tilted
section in MobilePlanner.
Sensor readings are often held on the map so that the AMR remembers an obstacle even when it
cannot be actively seen. The length of time that the AMR will remember these readings is
MaxSe-
condstoKeepCumlative
. In dynamic environments where the AMR will be encountering many obsta-
cles, but many open paths for the AMR exist, this value should be about five seconds. If your envi-
ronment has a restricted number of possible AMR paths, this number should stay relatively large,
such as thirty seconds, so that the AMR does not rediscover the same obstacle multiple times. Con-
tact your OMRON representative if you have difficulty adjusting these parameters for your environ-
ment.
•
FloorAllowedHeight
,
FloorAllowedAngle
,
CeilingAllowedHeight
, and
CeilingAllowedAngle
parame-
ters, in conjunction with the values of the
LaserZ
and
LaserTh
parameters, allow the AMR to filter
out the readings from the ceiling and the floor so that they are not detected as obstacles. The
CeilingAllowedHeight
(in mm) must be larger than the overall height of the AMR (including the
payload structure). The
FloorAllowedHeight
and
FloorAllowedAngle
parameters should only be
adjusted if the lasers detect too many false positives from the floor. Before adjusting these floor
parameters, you should physically adjust your laser to make sure its orientation and position
matches the configuration set in the
LaserZ
and
LaserTh
parameters.
After each laser is configured, ensure that the laser designated to be on the left side is physically
mounted on the left side of the AMR. Confirmation can be made by turning OFF one of the lasers us-
ing the
LaserAutoConnect
parameter and then checking the laser readings in MobilePlanner.
Appendices
A-12
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: ......