Chapter 2: Operational Safety
Use the User Safety Interface connection, located on the user access panel, to add E-Stop but-
tons to your payload structure, if required.
In the event of an emergency stop:
l
The AMR uses motor power to come to a controlled stop then engages its motor brakes
and removes power to its drive motors.
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Indicator lights on the AMR, and the pendant (if attached) show the E-Stop state.
A user-initiated E-Stop differs from a laser-initiated protective stop (they both are category 1
stop). The latter occurs when one or both of the AMR's safety scanning laser detects an object
within its protected zone. In such cases, the AMR safely stops, and then resumes operation
after a delay of at least two seconds, and after confirming that its protected zone is clear of
obstacles.
An emegency stop initiated by pressing one of the E-Stop buttons, is a controlled stop function.
In this case, the power to the AMR motors remains on in order to achieve a controlled stop.
Once the controlled stop is achieved, the power to the motors is disconnected. If for any reason
the controlled stop function fails or does not function as expected, the power will still be dis-
connected to the motors. Activating an emergency stop by pressing one of the E-Stop buttons
requires manual deactivation of the E-Stop button, and manual reset of the AMR through the
ON button for the AMR to restart its operation. The AMR will not automatically recover from
an emergency stop initiated by pressing one of the E-Stop buttons on the AMR.
To use an E-Stop button:
1. Push firmly on the red button so that it latches.
2. Follow your site-specific emergency and safety procedures.
If you need to move the AMR manually after correcting the emergency condition, press and
hold the brake release button and move the AMR. You can also use the pendant to drive the
AMR manually, if it is safe to do so. In order to use the pendant, you must first release the
E-Stop.
To enable the AMR's drive motors and put it back into service, follow the procedure described
in: Releasing an E-Stop on page 19.
Releasing the Brakes
In case of an emergency or abnormal situation, the AMR can be manually moved. However,
only qualified personnel who have read and understood this manual and the
HD-1500 Plat-
form User's Manual (Cat. No. I645)
should manually move the platform. The brakes on the drive
wheels can be released with the brake release button. This requires battery power, and an E-
Stop must be pressed on the AMR.
NOTE:
You should move the HD-1500 manually only when absolutely neces-
sary during an emergency, for safety, or if it is lost or stuck. If you find that you
must frequently move the HD-1500, use MobilePlanner to reconfigure its route to
avoid problem areas.
31500-100 RevA
Mobile Robot HD Safety Manual
17
