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Mobile Robot HD Safety Manual
31500-100 RevA
2.7 Environment
load transfer stations shall be designated as operating hazard zones as defined in this
section of the manual.
Although the HD-1500's software provides the option of using the map features to keep the
HD-1500 within its designated workspace, you must always install physical barriers where
there is a risk of property damage or personal hazard.
Public Access
The HD-1500 is designed to operate in indoor industrial environments, and in presence of
trained personnel. You must deploy it only in applications where you anticipate and mitigate
potential risks to personnel and equipment.
OMRON intends for the HD-1500 to be used in controlled areas for which a risk assessment
has been conducted. OMRON does not intend the HD-1500 to be used in, for example, areas
open to general public access.
Operating Clearances
This section provides information regarding the side clearances, rotation clearances, and the
docking clearances when operating.
Side Clearances
The HD-1500 is designed to operate in environments that contain doors, passageways, or other
constrained areas that are wide enough for it to traverse.
However, you must maintain adequate
side clearance
(free space) on both sides of the AMR so
that it cannot trap a person against a wall or other fixed object. Consult the applicable
Autonomous Vehicle and Robotics operating standards for your locale.
An AMR must often maneuver close to machinery, conveyors, or other fixed objects. In such
cases, operating standards usually allow an exception to side clearance requirements.
For information about software parameters that you can use to control the HD-1500's front and
side clearance zones, see:
Fleet Operations Workspace Core User's Manual (Cat. No. I635)
.
Rotation Clearances
The HD-1500 travels in forward and backward directions. To change its direction, the HD-
1500 rotates on its center of rotation (turns in place). The HD-1500 has a full safety coverage of
360°, and therefore, obstacles will trigger a safety system event when the AMR rotates.
The HD-1500's Light Discs as well as its front and back light strips display a distinct turn sig-
nal pattern when it rotates.
Docking Clearances
You should set a 2.5 m distance between the docking target (the goal defined in the map) and
the dock goal position of the AMR. This distance provides sufficient room for the AMR to
align with the docking target when docking. See: Figure 2-8. and Figure 2-9.
When docked, the distance between the AMR and the docking target is less than 500 mm, and
therefore, this area is considered to be a hazard zone.
