Chapter 9: High Accuracy Positioning System
l
Each marker needs its own goal.
l
Each of the goals needs to be at the same location.
l
Each of the goals needs to have the Engage task.
l
Each of the Engage tasks will have a different engageMacro.
When a goal’s engageMacro finishes, if the next goal assigned to that AMR is at the same loc-
ation as the previous goal, and has the Engage task, the AMR will not drive back to the goal,
but instead will start executing the engageMacro associated with the new goal.
The parameters associated with the Engage task are:
l
EngageMacro = A macro, generally containing the FollowGuide task, that tells how to
get to the correct spot on the tape.
l
DisengageMacro = A macro that tells the AMR how to remove itself from the tape safely
from that marker position. If no macro is given, the robot will go to autonomous mode
automatically.
l
UseGoalPosition = How close goals need to be for them to be considered as being at the
same location. A tolerance larger than the distance between the goals will make it so
that the goals are considered as being at the same location. After entering True for this
value, you will be given a choice of distance. The defaults are generally fine.
Note that this is the goal position, and not the position that will result after the Fol-
lowGuide or Engage tasks.
l
FaultEngageMacro = How the robot will deal with failures when engaging.
l
FaultDisengageMacro = How the robot will deal with failures when disengaging.
l
EngageOnlyIfFromGoal = Set to False or blank when using FollowGuide.
l
lockModeduringMacro = Boolean to decide if the robot’s mode will be locked during the
engage process.
l
whenEngagedSupress = Choose to suppress the goal driving, so the AMR doesn’t drive
back to the goal location between goals.
Do not set this to suppress macros, as they are needed to use the engageMacro of each
successive goal.
9.7 Specifications
Feature
Specification
Sensor
Depth
30 mm
Width
160 mm
Rating
IP64
Environment
-40 to 85° C
LEDs
Power, Tape present, Left marker, Right marker
13732-000 Rev J
LD Platform Peripherals Guide
149
