18
LD Platform Peripherals Guide
13732-000 Rev J
2.4 Environment
IMPORTANT:
Before working with the AMR, every entrusted person must con-
firm that they:
l
Have the necessary qualifications
l
Have received the guides (both this user’s guide, and the Mobile Robot LD Safety Guide
(Cat. No. I616))
l
Have read the guides
l
Understand the guides
l
Will work in the manner specified by the guides
Payload Movement and Transfer
You should actively monitor and confirm the status of AMR payload movement, and transfer
to or from facility equipment.
Payload transfer problems must trigger an AMR E-Stop that prevents the AMR from moving
until an Operator resolves the problem and confirms the system is safe to use.
Your facility should provide an interlock between the AMR and facility equipment.
Multi-AMR Avoidance
When multiple AMRs are operating in the same workspace, they must be connected to a Fleet
Manager Enterprise Manager appliance via WiFi. This helps prevent collisions by sharing
AMRs’ dynamic X, Y, Theta, size, and path-planning information with each other. AMRs then
factor this data into their obstacle avoidance. This is not a physical method of preventing col-
lisions, such as interlocked gateways or barriers. Ultimately, it is the end-user/integrator's
responsibility to provide a physical method of preventing collisions.
NOTE:
When two AMRs approach each other directly, neither can properly
determine the other's physical size. Their lasers scan several inches into the
other's laser slot, returning an incorrect distance estimate. Because of this, any
installation that has two or more AMRs working in the same operating space
must be managed by the same Fleet Manager.
NOTE:
Software-based means of collision avoidance are not safety rated. Care
should be taken to control traffic flow using map features, and apply proper soft-
ware-based clearances. It is the user/integrators responsibility to evaluate if hard-
ware methods of collision avoidance are necessary for the application or
operating space. These could include physical barriers or interlocks in the oper-
ating space that are specific to your application.
2.4 Environment
General Environmental Conditions
You must always ensure that the platform‘s operating environment remains safe for the plat-
form. If there are unsafe areas for the platform, physically block those areas off so the plat-
form’s scanning laser will detect the barriers, and the platform will not attempt to drive there.
