Chapter 9: High Accuracy Positioning System
9.1 Overview
The High Accuracy Positioning System (HAPS) option allows an AMR to achieve accurate
alignment at a specific location, such as at a fixed conveyor. It is available as an option for all
Omron Robotics and Safety Technologies, Inc. AMRs.
The HAPS option uses a sensor to follow a strip of magnetic tape that has been applied to the
floor at a location where high accuracy is needed. Two sensors allow the AMR to follow the
tape both forward and backward. With one sensor, the AMR can only follow the tape when
driving forward.
Apply tape to the floor leading up to the tool or conveyor that you want the AMR to approach
closely. Markers (short sections of the tape) are used to signal the AMR where to stop.
The simplest installation consists of a goal on the AMR‘s map, a length of magnetic tape, and
one marker. The goal will have tasks that direct the AMR to proceed to the tape, follow the
tape, and stop at the marker.
For locations with multiple places where you want the AMR to stop, you would use a con-
tinuous tape strip for all stops, with one marker at each stop, one goal for each marker, and an
Engage task for each goal. The goals would all be at the same location, near the start of the
tape. The Engage tasks allow an AMR to follow the tape, performing tasks from the successive
goals, without ever having to return to the location of the goals.
9.2 Components
The factory-supplied component is the HAPS sensor. One sensor allows accurate positioning
driving forward. For installations that need the AMR to drive both forward and backward
along the tape, two sensors are required.
In either case, the system requires magnetic tape applied to the floor at the specific locations. (It
is generally the customer's responsibility to install the magnetic tape.)
The HAPS option requires ARAM 4.7.6 or later software.
9.3 Sensor Installation on the LD-60, LD-90, and LD-xxxCT
Use the information in this section to install HAPS sensors.
Mounting Locations for the LD-60, LD-90, and LD-xxxCT
Figure 9-1 shows the mounting locations for the LD-60, LD-90, and LD-xxxCT.
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