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LD Cart Transporter User's Guide, 14766-000 Rev B

Page 26 of 190

Chapter 2: Safety

Payload Movement and Transfer

Monitoring and confirmation of the status of robot payload movement and transfer to or from

facility equipment is the end-user’s responsibility.

Payload transfer problems must trigger a robot E-Stop, preventing the robot from moving until

an Operator has resolved the problem and confirmed that the system is safe to use. This hand-

ling of payload transfer problems is the end-user’s responsibility.

Providing an interlock between the robot and facility equipment is the user’s responsibility.

Configurable Warning Buzzer

The LD Cart Transporters have a configurable warning buzzer. It is the user’s responsibility to

configure this buzzer as appropriate for the facility in which the robot will be operating.The

buzzer will sound whenever the robot is moving backwards or is turning. Other situations are

configurable.

The buzzer is configured with MobilePlanner, using the following parameters:

NOTE:These parameters are only available with the Mobile Robot Software Suite

5.0 and later.

DriveWarningEnable

NOTE:If this parameter is set to False, the remaining parameters will not be

displayed.

WARNING: Disabling the DriveWarningEnable parameter violates the

JIS D6802 standard. It is strongly recommended that you leave this set

to True.

DoNoWarnDrivingForwards

Default:False

DoNotWarnTurningInPlace

Default:False

DriveWarningLoudMilliseconds

Default:500. If DriveWarningQuietMilliseconds is 0, this parameter is irrelevant.

DriveWarningQuietMilliseconds

Default:500. This is the length of time between warnings that the buzzer is silent. Set-

ting this to 0 will cause a continuous warning.

Multi-Vehicle Avoidance

When multiple vehicles are operating in the same operating space, they must be connected to

an Enterprise Manager 1100 (EM) via WiFi. The EM helps prevent collisions by sharing

vehicles’ dynamic X, Y, Theta, size, and path-planning information with each other. Vehicles

then factor this data into their obstacle avoidance. This is not an interlocked method of

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