• ApproachSpeed: The speed, in mm/s, to drive when approaching the tape from the goal.
• FollowingSpeed: The speed, in mm/s, to drive while following the tape.
• ReverseFollowingSpeed: The speed, in mm/s, while following the tape in reverse. Maximum is 300
mm/s. This only applies for a second sensor.
• SlowCaptureSpeed: The speed, in mm/s, to drive after deceleration when finding the end of a mark-
er. This should be slow, such as 20 mm/s.
• followingAccel: AMR acceleration to use. 0 means default.
• followingDecel: AMR deceleration to use. 0 means default.
• FrontClearance: The minimum distance to an obstacle in front of the AMR before the AMR will stop.
This needs to be small enough so the AMR does not stop too soon when approaching a conveyor or
other fixed object that you want it to approach closely.
• SideClearance: The minimum distance to an obstacle on either side of the AMR before the AMR will
stop.
This needs to be small enough so the AMR does not stop too soon when approaching a conveyor or
other fixed object that you want it to approach closely.
• AvoidLocationDependentObstacles: If True, will cause the AMR to avoid map obstacles like Forbid-
den Lines and Areas.
3-7-5
Goals and Tasks
HAPS can be used to make the AMR stop at multiple locations. Use a continuous tape strip with indi-
vidual markers at each stop point, assigning one goal for each marker and an Engage task for each
goal. The Engage tasks allow an AMR to follow the tape while performing tasks from the successive
goals, without needing to return to the location of the goals.
Information about configuring Goals and Tasks is provided in the following sections.
Additional Information
In this context, a goal is considered as a goal on the AMR’s map. It is used as a starting point
for tasks that will drive the AMR along the tape, stopping at markers along the tape. There will
be no goals on the tape itself.
FollowGuide Task
The FollowGuide task has the following parameters:
• successCriteria
This will usually be captureMarker, to stop at a marker. It is possible to use either end of the tape, if
two sensors are present, but markers offer more flexibility.
• markerNumber
This represents which marker on the tape the AMR will stop at.
• markerLength
This represents the physical length of the marker (300 mm is typical).
• acquireTrackAfterMarker
This represents where the AMR will enter the tape, relative to the markers on the tape. This is deter-
mined by the location and angle of the goal, relative to the tape and markers. Normally this will be 0
to indicate that the AMR will enter the tape before any markers.
3 Installation
3-34
AMR (Autonomous Mobile Robot) MD-series Platform User's Manual (I681)
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