40 LD-250 Platform User's Guide 20472-000 Rev B
2.6 Intended and Non-intended Use
1.
Verifies that there is adequate space to maneuver.
2.
Plans a local path deviation around the obstacle and resumes its task.
However, if the AMR cannot avoid the obstacle, the following outcomes might occur:
1.
The AMR identifies and plans a revised path to its goal. (This might cause the AMR to
turn around and move in a different direction.)
2.
Fail the current job and wait for Fleet Manager to assign a new job.
3.
If no alternate path is possible, signal an error state to the Fleet Operations Workspace
software and wait for user intervention.
Safety System Overspeed Faults
The LD-250 has an independent safety system that uses a dual complex programmable logic
device (CPLD) to redundantly monitor its velocity. This device makes sure that the AMR
always operates within the speed limits specified by safety standards DIN EN 1525 and ANSI
B56.5.
Both safety standards specify that an AMR's velocity is limited to less than 300 mm/s when
traveling in any direction that is not scanned by its safety laser.
If the AMR operates outside this specified velocity limit, its CPLDs report a Channel 1 or Chan-
nel 2 system fault to its operating firmware and begins an emergency stop (ESTOP) sequence.
In autonomous operation, the fault triggers the AMR's motion controllers to execute a con-
trolled stop.
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 cut off. After you resolve the error condition the safety system stops reporting
safety fault to the motion controllers and the normal start-up process begins.
Motion control configuration parameters in the ARAM software (such as Abso-
luteMaxTransVel) limit the maximum allowable velocities. Use MobilePlanner to modify the
value of these parameters. See Fleet Operations Workspace Core User's Guide.
2.6 Intended and Non-intended Use
Intended Use
The LD-250 is designed to operate in indoor industrial environments. In general, if a wheel-
chair user can safely and easily navigate the environment (open, and mostly flat with only
gentle inclines and wide doorways), then it is navigable by an LD-250.
DANGER: PERSONALINJURYRISK
There is risk of serious injury by crushing if the AMR tips over as a result of
improper operation on inclines that do not comply with the operating spe-
cifications.
The following guidelines apply:
l
Floor—Clean and dry floors that you sweep regularly and routinely keep free of debris,
dust, and liquids.
l
Typical Inclines—The LD-250 is intended to operate in a workspace that has a mostly
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