Chapter 9: High Accuracy Positioning System
Define Goals
An AMR with front and rear sensors needs 500 mm of tape for alignment.
Each marker needs its own goal. A suggested goal location is 400 mm from the tape, near the
start of the tape, with an orientation of 30° from the angle of the tape. This allows the AMR to
approach the tape at normal speed without overshooting it. If you use a sharper angle, aimed
more directly at the tape, you need to reduce the AMR‘s ApproachSpeed to prevent overshoot.
See the preceding figure and Robot Operation on page 147. Goal 1 would apply to Marker 1,
Goal 2 to Marker 2.
For multiple markers, all goals should be placed at the same location. Each goal will contain
the tasks associated with one marker.
9.6 HAPS Software Configuration
The HAPS parameters are configured using the MobilePlanner software.
Robot Physical
1. Go to:
MobilePlanner > Config > Robot Physical
2. Check the Show Parameters check box.
3. For GuideSensor_Front:
a. Check the AutoConnect check box.
b. Set the Port parameter value to /dev/ttyUSB9.
4. For GuideSensor_Rear, when a second sensor is present:
a. Check the AutoConnect check box.
b. Set the Port parameter value to /dev/ttyUSB10.
Robot Operation
1. Go to:
MobilePlanner > Config > Robot Operation
2. Check the Show Parameters check box.
3. Select the FollowGuide entry in the Sections pane.
l
ApproachSpeed is the speed, in mm/sec, to drive when approaching the tape
from the goal.
l
FollowingSpeed is the speed, in mm/sec, to drive while following the tape.
l
ReverseFollowingSpeed is the speed, in mm/sec, while following the tape in
reverse. Maximum is 300 mm/second. This only applies for a second sensor.
l
SlowCaptureSpeed is the speed, in mm/sec, to drive after deceleration when
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LD Platform Peripherals Guide
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