Chapter 2: Operational Safety l DoNotWarnTurningInPlace Default: False l DriveWarningLoudMilliseconds Default: 500. If DriveWarningQuietMilliseconds is 0, this parameter is irrelevant. l 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-AMR Avoidance When multiple AMRs are operating in the same operating space, they must be connected to a Fleet Manager via WiFi. The Fleet Manager helps prevent collisions by sharing AMRs’ dynamic X, Y, Theta, size, and path-planning information with each other. AMRs then factor this data into their obstacle avoidance.
This is not an interlocked method of preventing col- lisions. Ultimately, it is the end-user/integrator's responsibility to provide an interlocked method of preventing collisions. NOTE: When two AMRs approach each other directly, neither can properly determine each other's physical size. Their lasers scan several inches into each other's laser slot, returning an incorrect distance estimate. Because of this, any installation that has two or more AMRs working in the same operating space must be managed by the same Fleet Manager. Traffic Control Use a switchable forbidden area on the map to prevent the AMR from entering an area based on the state of a discrete input.
If this input is set from another vehicle, such as a forklift, while it is in that area, then the AMR will not be allowed to enter that area. Passing Lanes Since the LD Platform technology does not use fixed tracks to guide the AMRs, the concepts of passing lanes and human safety areas are not relevant. 2.4 Risk Assessment Safety standards in many countries require appropriate safety equipment to be installed as part of the system. Safeguards must comply with all applicable local and national standards for the location where the AMR is installed. We have performed a Risk Assessment for Omron Robotics and Safety Technologies, Inc. AMRs, based on the intended applications of the AMR.
The conclusions are summarized in this section. PL and PFH The Performance Level (PL) calculation for safety functions of the Omron mobile robot products are based on the ISO 13849 standard. PL evaluation has been performed for the LD models, including the supplied joystick. 18393-000 Rev H Mobile Robot LD Safety Guide 17