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Mobile Robot HD Safety Manual
31500-100 RevA
2.13 Safety System Overspeed Faults
2.13 Safety System Overspeed Faults
The HD-1500 has an independent safety system that uses a Machine Automation Controller
(Safety Controller) to redundantly monitor its velocity. This device makes sure that the AMR
always operates within the speed limits.
If the AMR operates outside the specified velocity limit, its Safety Controller reports a Channel
1 or Channel 2 system fault to its operating firmware and begins an emergency stop (E-Stop)
sequence. The fault causes the AMR's motion controllers to execute a controlled stop (stop cat-
egory 1).
If motion is already disabled (for example, an E-Stop button is engaged) and you override the
brake release, the safety system cannot stop the AMR. This is because power to the drive
motors is already disabled. After you resolve the error condition, the safety system stops report-
ing the safety fault to the motion controllers. At this point the safety system allows for the nor-
mal start-up process to begin but it does not automatically restart the AMR's operations.
Additional Information
: Motion control configuration parameters in the ARAM
software (such as
AbsoluteMaxTransVel
parameter) limit the maximum allowable
velocities. Use MobilePlanner to modify the value of these parameters. See:
Fleet
Operations Workspace Core User's Manual (Cat. No. I635)
.
When the HD-1500 protective stop is engaged, Polo commands a controlled stop at the highest
deceleration allowed. During the deceleration process, the Safety Controller continuously mon-
itors the deceleration. If the AMR is not able to stop quickly enough, the Safety Controller dis-
ables the drive motors and engages the mechanical motor brakes in order to stop the AMR.
The motor brakes are powerful enough to stop a fully loaded HD-1500 traveling at its top
speed. However, engaging the mechanical motor brakes to stop the AMR is not a typical func-
tion. In the unlikely event that this occurs, you receive an error message in MobilePlanner, and
at the Operator Panel, which should not be ignored. This error can occur if:
l
the HD-1500 software fails to command a controlled stop (for any reason).
l
the floor is excessively slippery, and does not provide good traction.
l
the AMR is traveling down a slope steeper than its specified capability.
There may be other reasons for why this error occurs. A single occurrence of this error may not
cause a serious problem, however, repeated occurrence of this error should be investigated. If
this error occurs multiple times a day, contact your OMRON representative for support.
The use of the mechanical motor breaks to stop the AMR too many times will reduce the effect-
iveness of the motor brakes. This increases the distance required for the AMR to come to a full
stop.
If this error happens enough, MobilePlanner will present a stronger warning after each occur-
rence. If the problem is not resolved, the AMR may stop operating in order to prevent the use
of the potentially degraded brakes. Generally the degradation of the motor brakes requires hun-
dreds of occurrences.
2.14 Laser Safety
The safety scanning lasers, optional side lasers, and Low Lasers are all Class 1 lasers. The
Class 1 laser, which is an invisible laser radiation, is safe under all conditions of normal use.