Omron MD-650 User Manual

4-25
Safety Laser Scanner Zones
The AMR's Safety Laser Scanner is pre-programmed with several default safety zones associated
with the shape and dynamics of the standard system. The safety zones adjust their detection range
and shape automatically as the AMR drives forward and reverse or turns in place.
WARNING
You need to modify the safety zones if your payload overhangs the AMR's default di-
mensions and if operating on a floor surface that has poor traction to the extent that
the AMR cannot stop reliably within the default zones. OMRON is not responsible for
any risks incurred by modifying safety zone sizes or other Safety Laser Scanner set-
tings.
Additional Information
• With the exception of safety zones 34 and 35, the same safety zones are used when driving
the AMR manually with the pendant or when the AMR is operating autonomously.
• The software-based obstacle protection is used regardless of the AMR speed.
4-25-1
Safety Zone Pairs
Each Safety Laser Scanner has several individually configurable safety zones. With each Safety Laser
Scanner scanning a 275° field of view, both Safety Laser Scanners can provide full coverage of a 360°
area around the AMR. When two Safety Laser Scanners are working together to provide full coverage,
a safety zone pair is in use.
There are a total of 37 safety zone pairs for the default configuration. These safety zone pairs are as-
sociated with the following operating states of the AMR.
• Driving straight with minimal turning.
• Rotating while driving slowly.
• Driving in an arc (turning).
• Driving at very slow speeds.
• Operating inside a designated MutePersonnelDetectionSector area.
• Creating an exclusion zone.
Additional Information
• Safety zone pairs were designed for AMR operation with the maximum payload on a floor
with a coefficient of friction specified in 2-3-1 AMR Environmental Specifications on page
2-13.
Safety Zone Pair Operational Details
The operational details of safety zone pairs are described below.
Additional Information
• Not all speeds are achievable for safety zone pairs associated with an operational condition.
• Speeds provided for safety zone pairs are accurate to within ± 10 mm/s and ± 2 degrees/s.
4 Operation
4-51
AMR (Autonomous Mobile Robot) MD-series Platform User's Manual (I681)
4-25 Safety Laser Scanner Zones
4
4-25-1 Safety Zone Pairs

Omron MD-650 Specifications

General

Brand	Omron
Model	MD-650
Category	Robotics
Language	English