Omron HD-1500 Platform User Manual Download

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3-8

Side Laser Relocation to the Payload

Structure

This section provides details about relocating Side Lasers to the user-designed payload structure.
Side Lasers must be removed from the AMR before mounting them on the payload structure. Refer to

3-8-1 Side Laser Removal from the AMR

on page 3-27 for more information.

If Side Lasers are required but not present on the AMR, contact your local OMRON representative for
more information about ordering, installing, and configuring them.

WARNING

If the optional Side Lasers are present, ensure that the payload structure does not ob-
struct their scanning plane. This will affect the function of the Side Lasers and reduce
their effectiveness in detecting obstacles.

Precautions for Correct Use

Laser lenses can easily get scratched and damaged. Care must be taken to prevent scratching
the laser lens during any maintenance or installation procedures.

Make the following considerations before relocating Side Lasers to the payload structure.
• When installing Side Lasers on the payload structure, you will need to change the configuration pa-

rameters in MobilePlanner and update the X, Y, and Z positions of the Side Lasers. Refer to

A-3 Side Laser Configuration

on page A-11 for more information.

• When installing Side Lasers on the payload structure, you must determine an appropriate mounting

location and method. The Side Lasers must be mounted in an orientation so that their scanning
planes are vertical and parallel to the AMR X-axis. They must be in the same orientation that is used
on the default AMR mounting location (rotation and X,Y-axis orientation).

• The Side Lasers must be mounted far enough away from physical objects on the AMR system so

that the scanning plane is not impeded by part of the AMR or structure itself.

• Since Side Lasers may protrude from the payload structure, consider adding protective guard fins

similar to those found on the AMR's default Side Laser installation location.

• Side Laser extension cables are required. Order the following extension cables while considering

the cable routing length required for your installation location.
• 1 m Side Laser communication extension cable: 22115-000F
• 2 m Side Laser communications extension cable: 22117-000F
• 1 m Side Laser power extension cable: 22800-000F
• 2 m Side Laser power extension cable: 22802-000F

• Choose cable extension routes that avoids sharp bends, pinch points, and chaffing to prevent dam-

age to the sheath. Securely fasten all cables to prevent entanglement.

3-8-1

Side Laser Removal from the AMR

Use the following procedure to remove Side Lasers from the AMR in preparation to relocate them. The
procedure applies to both Side Laser locations on the AMR.
The following items are required for this procedure.
• Loctite 243 thread lock compound or equivalent.

3 Installation

3-27

HD-1500 Platform User's Manual (I645)

3-8 Side Laser Relocation to the Payload Structure

3-8-1

Side Laser Removal from the AMR