4-23
Pendant Operation
The Pendant is used to drive the AMR manually and to make a map. Use the information below to
understand the Pendant operation and functions.
WARNING
When operating the AMR with the pendant, it is the operator's responsibility to make
sure that no people or objects are in the immediate vicinity of the moving AMR.
CAUTION
Although the Safety Laser Scanners are integrated with the emergency stop circuit at
all times, the operator must maintain full control of the pendant functions and the AMR
when the pendant is in use.
Precautions for Safe Use
• It is the end user's responsibility to make sure that the speed is appropriate for the payload
that the AMR carries, and that the speed does not cause the AMR to move uncontrollably.
• OMRON recommends storing and securing the pendant when not in use to prevent an unau-
thorized person from operating the AMR.
Precautions for Correct Use
Always place the AMR in manual mode before connecting a Pendant. The Pendant cannot be
used to control the AMR while in Automatic mode.
The pendant is intended for single-handed operation. While gripping the handle and applying pressure
to the three-position enabling device so that it is in the middle position, use your thumb to move the
directional control stick to drive the AMR. If the three-position device is not depressed or completely
depressed, or the E-STOP button is pressed, the drive motors are disabled and the AMR cannot
move. The three-position device must be in the middle position with the emergency stop button re-
leased to enable the drive motors and allow the AMR to move. If the pendant E-STOP button or ena-
bling switch is triggered, the AMR will activate an emergency stop. Refer to 4-18-1 Emergency Stop
Recovery Procedure on page 4-36 for more information.
The pendant is equipped with speed control rotary dial that is used to set the speed of the AMR when
moving forward or reverse.
The pendant's goal button is used for marking positions while making a map scan.
The AMR's ON button must be pressed after connecting or disconnecting the pendant.
While the pendant is connected, it is the only method by which the AMR can be controlled.
The pendant has a Power Enabled indicator LED to provide a visual indication of the following AMR
operating states.
LED State
Description
Solid Red AMR is in an emergency stop state.
Solid Yellow AMR transitioning from an emergency stop state to a normal operational state.
Solid Green The AMR motors are enabled.
Flashing Green The AMR is in motion.
4 Operation
4-48
AMR (Autonomous Mobile Robot) MD-series Platform User's Manual (I681)
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