Chapter 5: Call/Door Boxes
Ethernet (WiFi or Wired)
These call/door boxes use wired or wireless Ethernet to communicate through a router or
access point, and then to the AMR, for a single-AMR installation, or the EM appliance for a
fleet. Ethernet call/door boxes require either a wireless and/or wired Ethernet infrastructure.
External I/O
All call/door boxes have two external inputs and outputs. Other than a door box, which uses
one of its outputs to signal the door actuator, use of the external I/O is optional.
Call Buttons
The two inputs for call buttons are treated exactly the same as a button press. This behavior
cannot be changed. This enables you to use an external trigger, such as a signal from a con-
veyor sensor, to call for an AMR to be sent to the associated goal. You could also use it to add
one or two other call buttons, of your own choosing. Note that all inputs for any given call but-
ton would be calling an AMR to the same goal.
Call button I/O is turned on with the MobilePlanner parameter AutoIoEnable, which is only
displayed when the Show Parameters box is checked.
The two outputs can be wired to an external device, such as a beeper or light, to signal the
status of the job. Automatic control of the outputs is configured with the parameter AutoIo,
which can be set to Neither, Output1, Output2, or Both (the default).
If an output is configured for Automatic control, the following table shows the behavior for the
output:
Job Status
Output1
Output2
Idle or Cancel
OFF
OFF
Request Active ON
OFF
Robot Arrived
ON
ON, 1 sec. minimum
Door Boxes
There are two external inputs and two external outputs on each door box, which can be con-
figured using the MobilePlanner software. Normally, Output1 will be wired directly to the door
actuator, though it is possible to use both outputs for other things. I/O use is up to the user.
5.2 Components
Call/Door Box
This communicates with the EM for a fleet or the AMR for a single-AMR installation, and
either the user at the call button location or a door actuator that can physically open a door.
Each box is mounted to a wall with one or two wall mounts, which can be used as spacers
depending on the amount of room you need behind the box for electrical connections.
The front of a call/door box has a lighted push-button, eight distance lights, and a red status
LED. See Call/Door Button Lights on page 79.
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