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LD Platform Peripherals Guide
13732-000 Rev J
9.6 HAPS Software Configuration
finding the end of a marker. This should be slow, such as 20 mm/sec.
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followingAccel is the acceleration to use. 0 means default.
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followingDecel is the deceleration to use. 0 means default.
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FrontClearance is the minimum distance to an obstacle in front of the AMR
before the AMR will stop. It should leave room to path plan away.
This needs to be small enough so the AMR does not stop too soon when
approaching a conveyor or other fixed object that you want it to approach
closely.
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SideClearance is the minimum distance to an obstacle on either side of the AMR
before the AMR will stop. It should leave room to path plan away.
This needs to be small enough so the AMR doesn’t stop too soon when approach-
ing a conveyor or other fixed object that you want it to approach closely.
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AvoidLocationDependentObstacles will avoid map obstacles like forbidden lines
and areas, if True.
Goals/Tasks
The two tasks relevant to the HAPS option are FollowGuide and Engage.
NOTE:
In this context, a goal is a goal on the AMR’s map. It is used as a start-
ing point for tasks that will drive the AMR along the tape, stopping at markers
along the tape. There will be no goals on the tape itself.
The FollowGuide task has the following parameters:
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successCriteria
This will usually be captureMarker, to stop at a marker. It is possible to use either end
of the tape, if two sensors are present, but markers offer more flexibility.
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markerNumber
Which marker on the tape the AMR will stop at.
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markerLength
Physical length of the marker. 300 mm is typical.
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acquireTrackAfterMarker
Where the AMR will enter the tape, relative to the markers on the tape. This is determ-
ined by the location and angle of the goal, relative to the tape and markers. Normally,
this will be 0, meaning the AMR will enter the tape before any markers.
The Engage task calls a macro when the AMR arrives at the goal, so the AMR can be sent on a
series of tasks, such as a FollowGuide task to go to a marker.
If successive goals are at the same location, and each has the Engage task on it, the AMR can
be sent on multiple tasks without returning to the goal location. This allows you to have the
AMR go to multiple markers without ever leaving the tape to return to the goal location.
