Chapter 1: Introduction
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Maintaining the AMR’s driving speed and heading (direction of travel).
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Acquiring sensor data from the wheel encoders, rear sensors, and internal gyroscope.
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Reading emergency stop (E-Stop) status to enable and disable the drive motors.
l Joystick input.
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Computing and reporting the AMR's odometry (the change in X, Y coordinates and the
heading) and other low-level operating conditions to the ARAM software.
ARCL Protocol
The Advanced Robotics Command Language (ARCL) is a programming language integrated
into ARAM and ARAMCentral. Its operating format is a text-based command and response
server. Use ARCL to integrate an AMR (or fleet of AMRs) into an external automation system.
You do not require access to MobilePlanner to use ARCL.
Typical uses of ARCL are:
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Operating and monitoring the AMR.
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Operating accessories and peripherals.
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Sending commands to your payload structure.
For more information, See: Advanced Robotics Command Language Reference Guide.
Touchscreen Support
The FLOW Core suite includes support software for the optional graphical touchscreen.
Support for Call Boxes and Door Boxes
Call boxes and Door boxes require:
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A software component installed on the box itself.
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A second software component installed either on the Enterprise Manager, or on a single
AMR.
SetNetGo
The SetNetGo OS runs on the LD-250 Core and EM2100 appliance. It is the host OS in which
the FLOW components ARAM and ARAMCentral run. SetNetGo has a Web graphical user
interface that you access either from a Web browser or from within MobilePlanner as a tab.
Configuring wireless Ethernet access enables wireless access to SetNetGo.
At a minimum, you require:
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A hardwired connection to the LD-250 Ethernet maintenance port.
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A LANconnection or direct Ethernet port connection to the EM2100 appliance.
ITdepartment can use SetNetGo to configure network settings without the need to run
MobilePlanner.
Use SetNetGo to configure Ethernet settings, upgrade software, or perform diagnostics such as
retrieving log files.
20472-000 Rev B LD-250 Platform User's Guide 23
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