Omron LD-60 User Manual
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Omron LD-60 User Manual

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LD Platform Peripherals
User's Guide
I613-E-04

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Summary of Contents for Omron LD-60

  • Page 1 LD Platform Peripherals User’s Guide I613-E-04...
  • Page 2 The information contained herein is the property of Omron Robotics and Safety Technologies, Inc., and shall not be reproduced in whole or in part without prior written approval of Omron Robotics and Safety Technologies, Inc. The information herein is subject to change without notice and should not be construed as a commitment by Omron Robotics and Safety Technologies, Inc.

  • Page 3: Table Of Contents

    Alert Levels Alert Icons Falling Hazards Special Information 2.3 User's Responsibilities Electrical Hazards Pinch Hazard Magnetic Field Hazards (LD-60, LD-90 and LDxxxCT Models Only) Qualification of Personnel Payload Movement and Transfer Multi-AMR Avoidance 2.4 Environment General Environmental Conditions Public Access...
  • Page 4 Table of Contents Chapter 3: Support Software 3.1 Mobile Support Software Fleet Operations Workspace Software SetNetGo 3.2 Tools for Use in the Field SetNetGo - Managing Software Packages Chapter 4: Touchscreen 4.1 Installation Components Software Installation Mounting Connections 4.2 Setup 4.3 Configuration Operating Modes Choose Dropoff Mode...
  • Page 5 Table of Contents Call/Door Box Door Actuator (Door Box only) Ethernet Infrastructure (wired and wireless), AMRs Software 5.3 Call/Door Box Configuration Setup Boot the call/door box, Enable its web interface Status Tab Network Tab WLAN Profiles Tab Resetting a Call/Door Box (WiFi or Wired) 5.4 Mounting the Hardware Call/Door Box 5.5 MobilePlanner Configuration...
  • Page 6 8.5 Set the Orientation and Position Values for the Laser Chapter 9: High Accuracy Positioning System 9.1 Overview 9.2 Components 9.3 Sensor Installation on the LD-60, LD-90, and LD-xxxCT Mounting Locations for the LD-60, LD-90, and LD-xxxCT 9.4 Installation on the LD-250 Preparing the LD-250 to Install HAPS Sensors Install and Cable the HAPS Sensors on the LD-250 LD Platform Peripherals Guide...
  • Page 7 Table of Contents 9.5 Tape and Marker Application Define Goals 9.6 HAPS Software Configuration Robot Physical Robot Operation Goals/Tasks 9.7 Specifications 9.8 Dimensions 13732-000 Rev J LD Platform Peripherals Guide...
  • Page 9 Revision History Revision Code Date Revised Content March, 2019 Original release October, 2019 Corrections and revisions. April 2021 Corrections and revisions. 13732-000 Rev J LD Platform Peripherals Guide...

  • Page 11: Chapter 1: Introduction

    Chapter 1: Introduction 1.1 Product Description Omron Robotics and Safety Technologies, Inc. offers a number of products to complement our mobile robots. A Touchscreen lets a user and an AMR communicate at the AMR's current location. Call/Door Boxes can be used either as call buttons, to allow a user at a remote location to request an AMR, as door boxes, to open an automated door so an AMR can pass through, or as generic digital inputs and outputs.

  • Page 12: How Can I Get Help

    This is the combination of software and the appliance that it runs on. It manages a fleet of AMRs, ensuring that all jobs get processed and that the AMRs do not have traffic problems. 1.3 How Can I Get Help? Refer to the corporate website or the Omron Robotics and Safety Technologies, Inc. websites: http://www.ia.omron.com Related Manuals This manual covers the installation and setup of peripherals for our mobile robots.

  • Page 13: Chapter 2: Safety

    Chapter 2: Safety 2.1 What to Do in an Emergency or Abnormal Situation Press the E-Stop button (a red push-button on a yellow background) and then follow the internal procedures of your company or organization for an emergency situation. If a fire occurs, use a type ABC or type BC dry chemical fire extinguisher.

  • Page 14: Releasing An E-Stop

    2.2  Dangers, Warnings, and Cautions Releasing an E-Stop CAUTION: PERSONAL INJURY OR PROPERTY DAMAGE RISK If the AMR’s E-Stop is triggered, ensure that the cause of the E-Stop is resolved, and all surrounding areas are clear before releasing the E-Stop. After the E-Stop button has been manually released, the AMR will wait until the motors are manually enabled.

  • Page 15: Falling Hazards

    Chapter 2: Safety Icon Meaning Icon Meaning This is a generic alert icon. Any This identifies a hazardous elec- specifics on the risk will be in the trical situation. text following the signal word. Falling Hazards DANGER: PERSONAL INJURY OR PROPERTY DAMAGE RISK The robot can cause serious injury to personnel or damage to itself or other equipment if it drives off of a ledge, such as a loading dock, or down stairs.

  • Page 16: Electrical Hazards

    Immediately disconnect the battery after opening the battery compartment door. Avoid shorting the terminals of the battery. Do not use any charger not supplied by Omron Robotics and Safety Technologies, Inc. If any liquid is spilled on the AMR, power off the AMR, clean up all possible liquid, and allow the AMR to air dry thoroughly before restoring power.

  • Page 17: Qualification Of Personnel

    It is the end-user’s responsibility to ensure that all personnel who will work with or around mobile robots have attended an appropriate Omron training course and have a working know- ledge of the system. The user must provide the necessary additional training for all personnel who will be working with the system.

  • Page 18: Payload Movement And Transfer

    2.4  Environment IMPORTANT: Before working with the AMR, every entrusted person must con- firm that they: Have the necessary qualifications Have received the guides (both this user’s guide, and the Mobile Robot LD Safety Guide (Cat. No. I616)) Have read the guides Understand the guides Will work in the manner specified by the guides Payload Movement and Transfer...

  • Page 19: Public Access

    Chapter 2: Safety You can also block off these area using forbidden zones in the MobilePlanner software, but that should be in addition to physical barriers. Public Access The platform is designed for operating in indoor industrial or professional environments. It must be deployed in a manner that takes into account potential risks to personnel and equip- ment.
  • Page 20 Table 2-1. Overspeed Limits for Different LD Models Forward recom- Reverse recom- Forward Reverse Model mended Speed mended Speed Limit Limit (mm/s) (mm/s) (mm/s) (mm/s) LD-60 2050 2100 LD-90 1525 1575 1000 1050 1525 1575 105CT 1000 1050 130CT 2050 2100 The forward limits indicate where the safety system will report a fault.

  • Page 21: Battery Safety

    Never expose the battery to water. If the battery is leaking, submerge in mineral oil and contact your local Omron Support. In case of fire, use a type D extinguisher: foam, dry chemical, or CO Maintenance...

  • Page 22: Robot Modifications

    Refer to 13849-2 for instructions on how to test the robot in non-standard environments. If there is any doubt concerning the application, ask your local Omron Support to determine if it is an intended use or not.

  • Page 23: Disposal

    WEEE (Waste Electronics and Electrical Equipment). All electrical and elec- tronic products should be disposed of separately from the municipal waste system via des- ignated collection facilities. For information about disposal of your old equipment, contact your local Omron support. 13732-000 Rev J LD Platform Peripherals Guide...

  • Page 25: Chapter 3: Support Software

    Chapter 3: Support Software 3.1 Mobile Support Software Fleet Operations Workspace Software The FLOW Core software includes all of the software used for LD platforms and the Fleet Man- ager appliance. ARAM The Advanced Robotics Automation Management software (ARAM) runs on the AMR core. It operates ranging sensors like the safety scanning laser and sonar, and performs all the high- level, autonomous robotics functions, including obstacle avoidance, path planning, loc- alization, navigation, and so on, culminating in motion commands to the MARC firmware.

  • Page 26: Setnetgo

    3.2  Tools for Use in the Field Working With Map Files > Editing a Map File > Using the Drawing Tools > Adding Goals and Docks MobilePlanner Operator Mode provides limited access to AMRs. See: Fleet Operations Work- space Core User's Guide (Cat. No. I635). Mobile Autonomous Robot Controller Operating System (MARC) At the lowest level, a microcontroller running MARC firmware handles the details of AMR platform mobility, including maintaining the platform’s drive speed and heading, as well as...
  • Page 27 Chapter 3: Support Software Installing or Upgrading a Software Package 1. Locate and click Install Software: Choose File. If you are accessing SetNetGo through a browser, this may be Install Software: Browse. 2. Click Upload. 3. If the package is valid, a screen will pop up that indicates that the package was installed, and an OK button will be shown.
  • Page 28 3.2  Tools for Use in the Field 3. Click Enable or Disable. (The default state for enabled vs. disabled is controlled by each individual package.) The same button is used to disable or re-enable the package. 4. Click OK to confirm that you wish to change. 5.

  • Page 29: Chapter 4: Touchscreen

    Configuration are performed. When you purchase an Omron Robotics and Safety Technologies, Inc. AMR, this software suite will be pre-loaded on it. It can be updated using the SetNetGo OS. See SetNetGo - Managing Software Packages on page 26.

  • Page 30: Mounting

    4.1  Installation Mounting If the touchscreen isn’t pre-installed, the placement of the touchscreen on the AMR is up to the customer. In most cases it will be placed near the top of the payload structure, so an Operator will have easy access to it. The touchscreen has a bracket, with four mounting holes. The dimensions are shown in the following figure.
  • Page 31 Chapter 4: Touchscreen Figure 4-2 Front of Touchscreen with Bracket Standoffs/Spacers Standoffs or spacers need to be used between the mounting bracket and the inside surface of the payload structure, where the touchscreen is being mounted. You can either use the sup- plied spacers and thru-holes to mount the screen, or you can weld user-supplied standoffs to the inside of the payload structure surface, in which case the screw heads would not be visible from the outside.
  • Page 32 4.1  Installation M4 x 8 (0.31) 7.17 (0.282) 0.76 (0.03) (6.46) (3.23) (3.23) 4x M4 40.61 (1.89) (1.599) (3.78) 44.39 (1.748) (1.89) 105.86 109.14 (4.168) (4.297) Figure 4-3 Standoffs/Spacers for Mounting the Touchscreen (Welded Shown) (units are mm (inches)) Meaning Meaning Top View Optional Through Hole for Mounting from the...

  • Page 33: Connections

    Chapter 4: Touchscreen or a threadlocker, such as Loctite 222. Unthreaded spacers are provided for this method of mounting. 3. Mount the power supply bracket to existing holes in the top of the platform (payload bay). Two holes in the bracket secure the bracket to the platform, two other holes in the bracket line up with holes in the power supply.

  • Page 34: Setup

    4.2  Setup Meaning Meaning Power Do Not Use Ethernet to User LAN on Core 4.2 Setup NOTE: After making and saving changes within User LAN Ethernet Settings, the robot has to be power-cycled for those changes to take effect. If the only change is to enable DHCP, then the robot does not have to be power-cycled.

  • Page 35: Choose Dropoff Mode

    Chapter 4: Touchscreen Choose Dropoff mode allows the Operator to input the next dropoff goals. Patrol Route mode simply drives around a specific route. The AMR will have goals that it stops at, but the Operator will not be able to alter the order of those goals. For Choose Dropoff, you specify how many dropoff buttons there will be, and how each button is labeled, as well as the goal on the AMR's map that gets associated with each button.

  • Page 36: Patrol Route Mode

    4.3  Configuration GoalName This is a combo box that lists all of the goals that have been created on the map. Select the map goal to be serviced when this dropoff button is pressed. NOTE: A goal can have a wait time associated with it, to give an Operator time to load or unload the AMR.

  • Page 37: Screen Logo

    In MobilePlanner, select Config > Robot Interface > Touchscreen From there, use Style/Appearance. A logo is displayed in the upper-left corner of the touchscreen. The default logo is Omron, as shown in the following figure. 13732-000 Rev J LD Platform Peripherals Guide...
  • Page 38 Click Open. 4. Click Save, to save the configuration. NOTE: If the SmallLogo field is left blank, the default Omron logo will be dis- played. NOTE: If a different version of the same file name is uploaded to the AMR, you will need to power cycle the AMR to see the change.

  • Page 39: Contact Information

    Chapter 4: Touchscreen Contact Information Figure 4-9 Help Screen, with Contact Information Help shows information on the installed software and contact information. NOTE: No contact information will be displayed unless it is set up in the MobilePlanner software. In MobilePlanner > Config: Robot Interface > Touchscreen > ContactInformation Check the ShowContactPage check box.

  • Page 40: Setting Display Language

    4.4  Operation Screensaver Enabled This is a checkbox that determines whether a screensaver is displayed when the touchscreen is inactive. Checking the box enables the screensaver. TimeoutSeconds This is the number of seconds that will elapse before the screensaver is turned on. This has no effect if the Screensaver Enabled box is not checked.

  • Page 41: Screen Top Bar

    Chapter 4: Touchscreen Figure 4-10 Screen Initialization Status Display After initialization, either the Choose Dropoff or Patrol Route screen will be displayed. Screen Top Bar The top of the screen shows basic AMR information. This includes a bar graph indicating the WiFi signal strength, the name of the AMR, and the battery state of charge.

  • Page 42: Right Screen Pane

    4.4  Operation Figure 4-12 AMR Status Icons NOTE: The Busy icon may also include an arrow pointing down, indicating a pickup, an arrow pointing up, indicating it is doing a dropoff, or an exclamation mark, indicating an alert condition. Figure 4-8 shows a dropoff. The bottom of the left side of the touchscreen provides a Stay button, to delay the departure of the AMR, and a count-down timer, indicating when the AMR will depart.
  • Page 43 Chapter 4: Touchscreen Figure 4-13 Payload Alert, Displayed from the Home Tab The preceding screen will not be displayed unless the robot configuration has been set up in the MobilePlanner software: Config > Robot Physical > Payload > NumSlots This must be set to a positive value, i.e. the number of payload slots. Config > Robot Interface > Payload Present Messages and Behavior The AlertWhenPayloadNeededForDropoff must be checked.
  • Page 44 4.4  Operation In Patrol mode, this option isn’t displayed. After pressing the Status tab, you will be given a choice of either Alerts, Robot, I/O, or Peripherals (which accesses screen-cleaning mode). The number of alert messages that are available for viewing is indicated by a number in a red circle on the Status button.
  • Page 45 Chapter 4: Touchscreen Figure 4-15 Status > I/O Screen (Top Inputs are not shown in this example) Peripherals > Touchscreen allows you to lock the touchscreen, so that you can clean the screen without it interpreting that as input. The screen stays locked for one minute, and then returns to normal function.
  • Page 46 4.4  Operation Help also provides access the Replay Recorder page, which lets you record data for later play- back (generally used for troubleshooting). Replay Recorder The replay recorder will record data for troubleshooting. Once the start page is opened, you just click Start.

  • Page 47: Center Pane

    Chapter 4: Touchscreen Figure 4-18 Replay Recorder, After Clicking Stop Center Pane The content of the center pane changes depending on what has been selected from the right pane. The bottom of the center pane will almost always have a Go button, to zero the Stay count-down timer, and tell the AMR to proceed to its next goal.
  • Page 48 4.4  Operation In this mode, the center of the screen displays touch-sensitive dropoff buttons, indicating the goals associated with them. If there are more buttons than can be displayed at once, a sliver of the next row of buttons is shown, to indicate their existence. See Figure 4-8 Navigation of the center pane, when there are more buttons than can be displayed at one time, is done by touching the screen, between buttons, and dragging the pane up or down.
  • Page 49 Chapter 4: Touchscreen when the job is received by the queuing manager, when an AMR is on its way to the button's goal, and when the job is completed (and AMR dismissed). Cancel Request (X) When a dropoff button has a blue or green border, meaning its job is Pending or In Progress, the Operator can touch the button and a Cancel pop-up button (X) will be displayed on the but- ton.

  • Page 50: Patrol Route Mode

    4.4  Operation Figure 4-20 Touchscreen Dropoff Goals Page, with Stay and Count-down Timer Stay Button If the AMR is en route to a goal when Stay is pressed, that goal’s button will turn dark blue with an orange border. If the AMR has entered a wait task associated with a goal or job, pressing Stay merely extends that wait, and the button border stays green.

  • Page 51: Specifications

    Chapter 4: Touchscreen Figure 4-21 Touchscreen, Patrol Route Page, in Stay Mode 4.5 Specifications Touchscreen Feature Specification Touch Panel PCAP touch sensor, 5 simultaneous touches, black bordered cover lens TFT Display TFT LCD panel, 18/24 bit RGB parallel interface. 7.0 in. WVGA - Wide Viewing Angles, 5-Touch Backlight Constant current LED supply Power Input...
  • Page 52 4.5  Specifications Output DC Voltage Rated Current Current Range 0 - 3 A Rated Power 15 W Voltage Adj. Range 4.75 - 5.5 VDC Voltage Tolerance ± 2.0% Input Voltage Range 18 - 36 VCD DC Current (Typ.) 1.9 A/12 VDC Protection Overload 105 - 160% rated output power...

  • Page 53: Chapter 5: Call/Door Boxes

    Chapter 5: Call/Door Boxes A call/door box can be used either as a call button or as a door box. A door box can be used for generic I/O, with which the AMRs can interact. Both boxes use the same hardware and soft- ware.

  • Page 54: Overview

    5.1  Overview 5.1 Overview When a call/door box is configured for requesting an AMR, it will be referred to as a call but- ton. When it is configured for requesting that a door be opened or for generic I/O, it will be referred to as a door box.

  • Page 55: Components

    Chapter 5: Call/Door Boxes Ethernet (WiFi or Wired) These call/door boxes use wired or wireless Ethernet to communicate through a router or access point, and then to the AMR, for a single-AMR installation, or the EM appliance for a fleet. Ethernet call/door boxes require either a wireless and/or wired Ethernet infrastructure. External I/O All call/door boxes have two external inputs and outputs.
  • Page 56 5.2  Components Ethernet Port The Ethernet port, on the back of the call/door box, is used to access the built-in web interface on the box. The port is shown circled near the top of the following figure. Figure 5-2 Back of Call/Door Box, Showing Ethernet and VDC Power Supply and Connector The call/door boxes come with a 12 V power supply, which connects to the back of the call/- door box.

  • Page 57: Door Actuator (Door Box Only)

    Chapter 5: Call/Door Boxes DIN_2+ DIN_2- DIN_1+ DIN_1- DOUT_2+ DOUT_2- DOUT_1+ DC_IN DOUT_1- Figure 5-4 Call/Door Box DIP Switch and Connectors, (A) Ground, (B) OFF, (C) ON, and (D) DIP Switch Position Table The default setting is all positions of the DIP switch set to OFF, meaning Call Button, with beeper enabled.

  • Page 58: Software

    5.2  Components Software Call/Door Box Software Figure 5-5 Structure of the Call/Door Box Software Meaning Meaning User's PC LD platforms MobilePlanner Core ARAM User's WMS/MES Call/Door Box (Eth.) ARAMCentral Call/Door Node Software Call/Door Host Software Call/Door Box (WiFi) Access Point There are two components to the Call/Door box software.

  • Page 59: Call/Door Box Configuration

    Chapter 5: Call/Door Boxes Maintains communication with individual call/door boxes Populates and modifies jobs sent from call/door boxes FLOW Core This includes the ARAMCentral software that runs on the EM appliance, and is covered in the FLOW Core User's Guide. The call/door box software components are also part of the Software Suite.

  • Page 60: Boot The Call/Door Box, Enable Its Web Interface

    5.3  Call/Door Box Configuration Boot the call/door box, Enable its web interface NOTE: Simply applying 12 VDC power to the call/door box will boot the box, but extra steps are required to enable the built-in web interface, which gives you access to the configuration of the call/door box.

  • Page 61: Status Tab

    Chapter 5: Call/Door Boxes 2. Use a web browser to access the call/door box IP address. If you need to reset this to 1.2.3.4, see DIP Switch on page 56. a. For the username, enter: admin. b. The password is the same as the username. Enter: admin. c.
  • Page 62 5.3  Call/Door Box Configuration Wired (Ethernet) + Interface + Status This screen shows you the wired network interface status. Figure 5-7 Wired Interface Status Screen Wired (Ethernet) + Interface + Configuration This screen lets you configure the wired network interface. Figure 5-8 Wired Interface Configuration Screen 1.
  • Page 63 Chapter 5: Call/Door Boxes Wired (Ethernet) + Link + Status This shows the wired link status. Figure 5-9 Wired Link Status Screen Wired (Ethernet) + Link + Configuration This lets you configure the link. Figure 5-10 Wired Link Configuration Screen Wireless (WiFi) + Interface + Status This shows the status of the wireless network interface on the call/door box.
  • Page 64 5.3  Call/Door Box Configuration Wireless (WiFi) + Interface + Configuration This screen lets you configure the wireless network interface. Figure 5-12 Wireless Interface Configuration Screen 1. Change the static IP Address to fit your wireless network. 2. Click Store Permanent to write the configuration change to flash. The information panel will reflect the changes you made.

  • Page 65: Wlan Profiles Tab

    Chapter 5: Call/Door Boxes Wireless (WiFi) + Link + Configuration This lets you configure the link. Figure 5-14 Wireless Link Configuration Screen Wireless (WiFi) + Link + Scan This shows a scan of wireless access points within range of the call/door box. Figure 5-15 Wireless Scan WLAN Profiles Tab Use the WLAN Profiles tab, in the left pane, to access the WLAN Profiles page.
  • Page 66 5.3  Call/Door Box Configuration Figure 5-16 WLAN Profiles Selection Screen Callout Description Note: Click the 'Enabled' checkbox, and then click 'Default_Infra- structure_Profile', which is a link to the next screen. WLAN Profiles > Default_Infrastructure_profile This screen lets you configure the default_infrastructure profile. Figure 5-17 WLAN Default_Infrastructure Configuration Screen 1.

  • Page 67: Resetting A Call/Door Box (Wifi Or Wired)

    Chapter 5: Call/Door Boxes 3. If the connection tests to your satisfaction, click Store Permanent to save the settings to flash. NOTE: The Apply Temporary, Test Connection, and Store Permanent but- tons will only be displayed if you have made changes to the profile. The window’s information panel will summarize what you changed.
  • Page 68 5.4  Mounting the Hardware Figure 5-18 Call/Door Box Installation Components Meaning Meaning Call/Door Box Body Screws to Mount x 4 Left Screw Cover Right screw Cover Wall Mount Screws to Wall x 4 Screws from Box Body x 4 The call/door box attaches to a wall mount, which is screwed onto a wall. Two wall mounts can be used if more room is needed for electrical connections.
  • Page 69 Chapter 5: Call/Door Boxes 5. If the box is to be used as a door box, connect wires from Digital Output 1 on the back of the box to the door actuator. This output will have to be configured in the MobilePlanner software. See Adding Door Areas to Your Map on page 74 and Figure 5-4 Both call buttons and door boxes have two external inputs and two external outputs.

  • Page 70: Mobileplanner Configuration

    5.5  MobilePlanner Configuration 5.5 MobilePlanner Configuration A number of configuration tasks need to be performed after the hardware is installed. All of these tasks are performed using the MobilePlanner software. Host Software The host software component needs to have been loaded onto the EM for a fleet installation or onto the AMR for a single-AMR installation.
  • Page 71 Chapter 5: Call/Door Boxes Figure 5-22 Entering a Goalname for the Call Button 1. Go to MobilePlanner > Config > Robot Interface, then 2. Call Button and I/O Devices > EthernetDevices > NumEthernetDevices Enter the total number of Ethernet call/door boxes. MobilePlanner will create <NumEthernetDevices> devices, starting with Device1, each with an IPAddress, Type, and GoalName field.
  • Page 72 5.5  MobilePlanner Configuration NOTE: It may be simplest if you install one box at a time, and configure that. This ensures that you know which box you are dealing with, so you can assign the appropriate goal, for a call button, or appropriate map data, for a door box.

  • Page 73: Identifying An Installed Call/Door Box

    Chapter 5: Call/Door Boxes Figure 5-24 SetNetGo will Confirm that the Selection was Enabled Identifying an Installed Call/Door Box Call Buttons If a call button does not have a goal, it will display a distinctive light pattern: the top, bottom, left, and right distance LEDs will be on;...

  • Page 74: Enabling The Queuing Manager For Single-Amr

    5.5  MobilePlanner Configuration 0: the call button will not beep at all. -1: the call button will beep continuously while the AMR is in the arrived state. n: where n is a positive number The call button will beep for n seconds when the AMR arrives. The default value is n = 1.
  • Page 75 Chapter 5: Call/Door Boxes NOTE: This section (External Digital Outputs) will not be present if there are no call/door boxes in the system. Alias Enter a meaningful name, to be used in place of Device<5E:CA:03>_Output_1. If this has spaces, they will be replaced with ‘-’. Inverted Check the box for True (enabled) if logical ON is electrically low, or ground, for this output.

  • Page 76: Configuring External I/O

    5.5  MobilePlanner Configuration c. Give the sector a name (and optional description). Use the outline of the sector to specify a safe distance from the door, so the AMR doesn't get hit by the door opening or closing. Make sure that it includes the entire swing of the door, and the Door area itself.

  • Page 77: Operation

    Chapter 5: Call/Door Boxes For external outputs, refer to Configuring an Output Signal on page 74 for an example of con- figuring Output1. Repeat the steps for Output2, if you will use it. For external inputs: 1. Go to MobilePlanner > Config > Robot Interface, then 2.

  • Page 78: Call Buttons

    5.6  Operation Call Buttons Figure 5-26 Sample Component Connections, for a Fleet Installation Meaning Meaning Server Room WMS/MES Factory Floor 802.11 Access Point Controller Ethernet Network Switch Ethernet Call Button ARCL WiFi Call Button AMR Request, Sequence of Events NOTE: Call buttons have two optional outputs that can be used for an external beeper, light, or other device.
  • Page 79 Chapter 5: Call/Door Boxes 1. Request When an Operator presses a call button, the button sends a message requesting an AMR for that call button goal. 2. In Progress When the job status is In Progress, the call/door box host software sends a message to the call button, so the button starts blinking slowly.
  • Page 80 5.6  Operation 3. Arrival When the call/door box host software detects that the job's status changes to Arrived, it sends a message to the call button, so the button starts beeping, and blinks rapidly. This notifies the Operator that the AMR has arrived and needs attention. Output2 will turn ON for at least one second.

  • Page 81: Door Boxes

    Chapter 5: Call/Door Boxes Arrival state Blinks briefly, then stays on All distance LEDs blink briefly, then go out Beeper beeps briefly Request Canceled Distance LEDs All on Request for AMR has been received by queuing manager HERE and some adjacent distance LEDs on In Progress, highest distance LED lit indicates approximate distance from AMR to goal All blink briefly Beeper beeps briefly...

  • Page 82: Specifications

    5.7  Specifications 5. After waiting WaitTime seconds (a parameter in the Door area) at the Door goal, the AMR drives through the door. 6. When the AMR has passed through the Door area and the DoorSwingSector, it signals the queuing manager. This indicates that it is safe to close the door.

  • Page 83: Communication

    Chapter 5: Call/Door Boxes 18 (0.71) 6.15 4.75 (0.19) (0.24) 4.64 120 (4.72) (0.18) 4x 3.5 (0.14) (1.18) 72.3 (2.85) 7.17 (0.28) 139.96 (5.51) Figure 5-29 Call/Door Box Wall Mount, (A) Possible Cable Exits (units are mm (inches)) Communication The call/door box has options for the following communication methods: Wireless Ethernet (802.11) 802.11a/b/g/n 2.4 GHz...
  • Page 84 5.7  Specifications & 0.10A DIN_1- DIN_2- Figure 5-30 Input Circuit Schematic Meaning Key Meaning A Digital Input Circuit C DOOR_IN1 B SAFE_5V D DOOR_IN2 Outputs NO relay with voltage-free contacts Contact rating 30 VDC, 2 A max (resistive) Supports 2 inputs and 2 outputs These have preset behavior for call buttons, which cannot be changed.

  • Page 85: User Interface

    This can be configured or turned off in the MobilePlanner software. Red error indicator LED indicating loss of connectivity with the host QR code containing link to Omron web site and call button documentation Door Boxes HERE and 40m distance LEDs around the push-button to indicate door box...

  • Page 86: Wifi Compliance

    5.8  WiFi Compliance 5.8 WiFi Compliance General WiFi (According to ISO/IEC Guide 17050-1, 17050-2 and EN 45014) Manufacturer's Name & Address: Lantronix, Inc. 167 Technology Drive, Irvine, CA 92618 USA Product Name Model: PremierWave EN Embedded Device Server Conforms to the following standards or other normative documents: FCC Part 15.247/15.407 Class B RSS-210 RSS-Gen Issue 2...

  • Page 87: Fleet

    Chapter 5: Call/Door Boxes Fleet Call Button WiFi CDB -> WiFi infrastructure -> EM -> WiFi infrastructure -> AMR Wired CDB -> EM -> WiFi infrastructure -> AMR Door Box WiFi CDB -> WiFi infrastructure -> EM Wired CDB -> EM Unsupported Configurations Single AMR WiFi CDB ->...

  • Page 89: Chapter 6: Acuity Localization

    Chapter 6: Acuity Localization Acuity localization uses a camera to detect overhead lights, enabling the AMR to localize itself in an environment where laser localization by itself is not an optimal solution. Laser localization is largely tolerant of changing environments, but it becomes difficult where more than 80% of the features seen by the laser change.

  • Page 90: Tasks

    6.1  Tasks vibration or other movement of the camera makes localization difficult. The payload structure needs four 4.6 mm (0.18 in.) holes and one hole, at least 17 mm (0.68 in.) in diameter, in the center of that hole pattern. See Hole Pattern of the Camera Enclosure Base (units are mm (inches)) on page 92.

  • Page 91: Components

    Chapter 6: Acuity Localization 6.2 Components Camera Assembly Camera Three M3 x 4 screws Bracket Base Four M4 x 12 screws Tube Neutral Density (ND) filter, 55 mm Foam dust seal Cables Ethernet cable Power cable (Hirose to 2x3 Mini-Fit Jr.™) Power splitter cable Software Digital Level...

  • Page 92: Installation

    6.3  Installation 6.3 Installation NOTE: In this section, the figures show the camera assembly being mounted to a test bracket. This is only used to show where the screws will attach. A typical installation will have the mounting holes in the top of the AMR’s payload struc- ture.
  • Page 93 Chapter 6: Acuity Localization Callout Description Callout Description Camera Enclosure Base Note: Test Bracket is for Illus- tration Only. Direction of Travel Screw Through Hole Note: Test Bracket is Shown for Illustration Only. To Mount to Your Own Location, See Detail of Base Mounting Holes.
  • Page 94 There is a sticker on the camera bracket that shows the direction of travel of the AMR. See the following figure. Verify that the arrow on the sticker is pointing toward the front of the AMR. Direction of Travel Omron Adept Technologies, Inc. 4550 Norris Canyon Road San Ramon, CA 94583 Acuity...
  • Page 95 Chapter 6: Acuity Localization 33 (1.30) 26.7 (1.05) (0.39) (0.39) 103.6 103.6 (4.08) (4.08) 5.1 (0.20) 91.7 2x 91.7 (3.61) (3.61) 23.6 (0.93) 72.1 5.1 (0.20) (2.84) 6x R1.5 (0.06) R5.1 (0.20) R5.1 (0.20) 5.8 (0.23) (0.33) 3x Ø 5.3 (0.21) 30.5 90°...
  • Page 96 If your payload's power demand is high, or you need to add other devices to the AUX power circuit, carefully test Acuity operation before deploying and contact your local Omron Support if you have problems.
  • Page 97 Chapter 6: Acuity Localization Figure 6-8 Hirose Plug c. Connect the Ethernet cable to the camera. d. Connect the 3x2 Mini-Fit Jr. power cable from the camera to the 3x2 Mini-Fit Jr. power splitter cable (inside the payload structure). e. Connect the Mini-Fit Jr. splitter to the core’s AUX POWER port. The splitter will leave one available Mini-Fit Jr.
  • Page 98 6.3  Installation Figure 6-9 Attaching the Tube to the Base, (A) Tube, and (B) Camera Enclosure Base 5. Install the foam dust seal and ND filter. a. Insert the foam seal around the camera lens and press into the tube until the seal sits on the camera body.

  • Page 99: Software Installation

    Chapter 6: Acuity Localization Figure 6-10 (A) Filter, (B) Foam Seal, (C) Tube, and (D) Completed Assembly Software Installation This step only needs to be taken if you are adding Acuity localization as an upgrade to an existing system. Install the Acuity supporting libraries first. This package will either be supplied with the Acu- ity order, or it can be obtained through our applications engineering staff.
  • Page 100 6.4  Setup NOTE: Light Localization and Laser Localization are designed to be used at the same time. In cases where laser readings are unreliable, Laser Localization can be disabled to ensure that only Light Localization is being used. Optional instruc- tions for disabling Laser Localization will also be included in this section.

  • Page 101: Importing The Camera Calibration

    Chapter 6: Acuity Localization Figure 6-12 Accessory Radio Button, DHCP Server for Accessories Enabled NOTE: The DHCP server must also be turned on, and a range specified. These will be set at the factory if you buy an AMR with a touchscreen or Acuity loc- alization.
  • Page 102 6.4  Setup File > Import Config The file name for the camera calibration file matches the camera serial number. To import the camera calibration: 1. With LightLocalization enabled, use the Command tool in the MobilePlanner toolbar to select PopupCameraSerialNumber. 2. If you do not see the Commands tool in MobilePlanner, right click in the blank space in the toolbar area.

  • Page 103: Compensating For Camera Position And Tilt

    Chapter 6: Acuity Localization Figure 6-14 Importing the Acuity Camera Configuration File Compensating for Camera Position and Tilt Enter the position of your camera with respect to the AMR into the MobilePlanner software. Refer to the following figure. X = 0 Y = 0 (19.7) X = 0...
  • Page 104 6.4  Setup 1. Measure the X and Y distance from the center of the AMR (X = 0, Y = 0) to the center of the camera (X = 0, Y = 0). 2. Measure the vertical distance from the floor to the plane of the camera’s sensor. To measure this distance, measure from the floor to the top of the camera (not the top of the lens) and subtract 17.5 mm.
  • Page 105 Chapter 6: Acuity Localization Figure 6-16 Zeroing the Level, (A) Front of Robot, and (B) Correct Level Orientation d. Place the level, facing up, over the camera and top of the bracket. The USB port on the level (which is not used in this procedure) should be on the same side of the level base as the slot for the camera bracket.

  • Page 106: Making A Map Of Your Environment

    6.5  Making a Map of Your Environment X AXIS = Robot Physical > Acuity Camera Position > CameraTiltX Y AXIS = Robot Physical > Acuity Camera Position > CameraTiltY Be sure to include the + or – sign. You can press the HOLD button on the level to lock the values.
  • Page 107 Chapter 6: Acuity Localization Light Video Analysis parameters apply to the images used for both mapping and loc- alization. If the MinRefreshInterval—the rate at which new images are acquired—is higher than the LightTimer in the Light Localization section, then light localization will be limited to the MinRefreshInterval.
  • Page 108 6.5  Making a Map of Your Environment Figure 6-19 Sample Mapping Strategy Figure 6-20 Resultant Map LD Platform Peripherals Guide 13732-000 Rev J...

  • Page 109: Creating A Map

    Chapter 6: Acuity Localization Creating a Map After finishing the scan, proceed with creating a map: 1. Open the scan file on the AMR using MobilePlanner > File > Open on Robot. Select the IP address of your AMR. Both a .2d and a .z2d version of the scan file you just created will exist on the AMR.
  • Page 110 6.5  Making a Map of Your Environment b. Click Save on Robot, then select the IP address of either the AMR or the EM, if your AMR is part of a fleet. 3. If you are not satisfied with how the lights appeared on the map, click Config on the Scan Processing Tools toolbar to open the configuration dialog box.
  • Page 111 Chapter 6: Acuity Localization Figure 6-22 Selecting a Map File to Insert Figure 6-23 Inserted Map 4. Click and drag the purple highlighted map to line it up with the initial map. 13732-000 Rev J LD Platform Peripherals Guide...
  • Page 112 6.5  Making a Map of Your Environment a. Try to get the features of the two maps close, dragging the purple insert. b. Zoom in very close. You should be able to align the two laser maps perfectly, as they are identical maps with only differences in the lights. Figure 6-24 Zoomed-in Insert Map c.
  • Page 113 Chapter 6: Acuity Localization Figure 6-25 Region Tool 6. Click the dropdown arrow next to the Insert button on the Insert Map Tools toolbar and click Advanced. This will open the Advanced Insert dialog box. 7. Click Clear All, then select just the Light check box in the Advanced Areas section. 8.

  • Page 114: Operation

    6.6  Operation Figure 6-26 Advanced Insert 9. Click Insert on the Advanced Insert Dialog box and save your changes. 10. Repeat the steps in this section for all other map areas with different light heights. 11. If you are satisfied with the map: a.

  • Page 115: Interpreting Light Objects On The Map

    Chapter 6: Acuity Localization by a row of lights. This will cause the AMR to think it is one row of lights from where it really is, so it will not be able to drive to goals, and might drive into forbidden zones. NOTE: Even with laser localization disabled, the laser stays active for obstacle avoidance, so the AMR will not run into physical objects.

  • Page 117: Chapter 7: Side Lasers

    Chapter 7: Side Lasers NOTE: There are two types of side laser installations. One is attaching them dir- ectly to the user-designed payload, which is what this chapter covers. If you have a Cart Transporter, the side lasers are covered in that manual. Side lasers can be added to an AMR to provide additional obstacle detection.

  • Page 118: Mounting

    7.1  Installation See the following image for an example of the parts provided in this kit. Mounting Stud Mounting Plate Mounting Screw Laser scanner Laser Guard Figure 7-1 Side Laser assembly The side laser kit is P/N 13456-100, and can be added to existing payload structures. Mounting Side lasers need to be mounted on your AMR payload structure, one on each side.
  • Page 119 Chapter 7: Side Lasers Dimensions The dimensions for the side laser assembly are provided below: Figure 7-2 Side laser assembly rear dimensions (units in mm) COVER 79.6 MOUNTING HOLES Figure 7-3 Side laser assembly top view dimensions (units in mm) 13732-000 Rev J LD Platform Peripherals Guide...

  • Page 120: Connections

    Robot Physical > Laser_3 and Robot Physical > Laser_4. Configuring the side lasers is generally performed by importing the factory-supplied con- figuration into the AMR’s current configuration. Contact your local Omron Support for assist- ance. For Laser_3 (right) and Laser_4 (left), the relevant parameters are: LaserAutoConnect: Should be checked to turn on the laser.
  • Page 121 Chapter 7: Side Lasers This tells the system that the laser exists, and should be connected at startup. The other parameters will be hidden unless this parameter is checked. LaserX, LaserY, LaserZ: The location of the laser on the robot. Measure to the sensing plane of each laser, which is about 20 mm from the top of the sensor housing.
  • Page 122 If your environment has a restricted number of possible robot paths, this number should stay relatively large, such as thirty seconds, so that the robot does not rediscover the same obstacle multiple times. Contact your local Omron Support if you have difficulty tuning these parameters for your environment.
  • Page 123 Chapter 7: Side Lasers Figure 7-7 MobilePlanner Cumulative Parameters After each side laser is configured, ensure that the laser designated to be on the left side is physically mounted on the left side of the robot. The easiest way to do this is to turn off one of the lasers using the LaserAutoConnect parameter and watch the laser readings in MobilePlan- ner.

  • Page 125: Chapter 8: Ld-250 Rear Facing Laser

    Chapter 8: LD-250 Rear Facing Laser Chapter 8: LD-250 Rear Facing Laser For the LD-250, You can configure an additional laser either as a rear-facing laser or as a ver- tical laser. In the latter case, mount the laser so that its scan plane is perpendicular to the floor plane and parallel to the AMR's X axis.
  • Page 126 8.1  Laser Location and Orientation Figure 8-2 Supplemental Laser Orientation Callout Description Pivot point mark, the origin of the laser's scanning field. Front mark arrow, the center (0 degrees) of the laser's scanning field. Scanning field arc, in this case 200 degrees. Figure 8-3 Laser Sensing Plane Callout Description...

  • Page 127: Ignoring Laser Zones

    Chapter 8: LD-250 Rear Facing Laser Measure in the horizontal plane, from the AMR's center of rotation to the sensor of each laser, approximately 20 mm from the top. Determine the following measurements: LaserX (front to back) LaserY (left to right) LaserZ (height from floor) 8.2 Ignoring Laser Zones By default, the sensor scans an arc of 270 degrees.

  • Page 128: Install The Rear-Facing Laser

    8.3  Install the Rear-Facing Laser To ignore the ten degree segment between +175 and -175, you must specify two ranges: -175:-180, 180:175. Specifying the range -175:175, causes the software to ignore a 350 degree seg- ment, clockwise from 175 to -175. Consider also the LaserTh, parameter which specifies the scanning field orientation, and whether the laser is tilted when calculating the ignored segment.

  • Page 129: Set The Orientation And Position Values For The Laser

    Chapter 8: LD-250 Rear Facing Laser e. Select LaserPort /dev/ttyUSB11 f. Select LaserPowerOutput Aux_20V 4. Save the configuration and wait for the AMR to reboot. 5. Open the workspace map and verify the laser readings. 6. Enter the laser coordinates as measured for the corresponding laser. 8.5 Set the Orientation and Position Values for the Laser To set the coordinate values for the laser: 1.

  • Page 131: Chapter 9: High Accuracy Positioning System

    9.3 Sensor Installation on the LD-60, LD-90, and LD-xxxCT Use the information in this section to install HAPS sensors. Mounting Locations for the LD-60, LD-90, and LD-xxxCT Figure 9-1 shows the mounting locations for the LD-60, LD-90, and LD-xxxCT. 13732-000 Rev J LD Platform Peripherals Guide...
  • Page 132 9.3  Sensor Installation on the LD-60, LD-90, and LD-xxxCT 239.8 (9.44) 139.5 (5.49) Figure 9-1 Mounting Positions for Brackets and Sensors (units are mm (inches)) Meaning Meaning Axle Mounting Hardware (Screw and Washers) x2 or x4, Removed from Drive Units and then Re-installed...
  • Page 133 Chapter 9: High Accuracy Positioning System 3. Tip the AMR onto its left side. 4. Attach two cable-tie anchors in the area behind the right drive wheel, as shown in the following figure. Figure 9-2 Cable-tie Anchors Behind Right Wheel Proceed with either Single-Sensor Installation or Dual-Sensor Installation, and then perform the steps in Single and Dual-Sensor Installation, Part 2 on page 136.
  • Page 134 9.3  Sensor Installation on the LD-60, LD-90, and LD-xxxCT Figure 9-3 Screws to Remove, Circled 2. Attach the bracket to the underside of the AMR, with the cable between the bracket and the platform. The sensor will already be attached to the bracket.
  • Page 135 Chapter 9: High Accuracy Positioning System cable. 5. Cable-tie the wires from the front sensor to the anchors. 6. Proceed to Single and Dual-Sensor Installation, Part 2 on page 136. Dual Sensor Installation 1. Remove four M5 stainless socket-head cap screws, split lock washers, and flat washers from the underside of the platform.
  • Page 136 9.3  Sensor Installation on the LD-60, LD-90, and LD-xxxCT Figure 9-6 Mounted Sensors b. Cable-tie the wires from the front sensor to the rear to the anchors. 4. Proceed to the next section, Single and Dual-Sensor Installation, Part 2. Single and Dual-Sensor Installation, Part 2 1.
  • Page 137 Chapter 9: High Accuracy Positioning System 2. Put the AMR upright, and re-install the side covers. 3. Plug the splitter cable (Mini-Fit Jr™, included) into the AUX PWR port on the upper rear core. Figure 9-8 Upper Rear of Core, Showing AUX PWR Port 4.

  • Page 138: Installation On The

    9.4  Installation on the LD-250 The rear sensor plugs into RS-232-2. 6. Reinstall the payload over the payload bay. 9.4 Installation on the LD-250 WARNING: MAGNETIC FIELD - MEDICAL IMPLANT RISK Magnetic fields can be hazardous to medical implant wearers. Medical Implant wearers should stay at least 30 cm (12 inches) away from the under- side of the LD-250, which is exposed during certain maintenance procedures.
  • Page 139 Chapter 9: High Accuracy Positioning System Figure 9-10 Removing the E-Stop Button 5. It requires at least two people to complete this step. Put down a blanket or other pro- tective surface, and tip the LD-250 on its side (A). Secure the LD-250 so that it cannot move.

  • Page 140: Install And Cable The Haps Sensors On The

    9.4  Installation on the LD-250 Figure 9-12 Removing the LD-250 Speaker Assembly. You can now install and cable the HAPS sensors. Install and Cable the HAPS Sensors on the LD-250 The instructions in this section show the procedure for both single and dual HAPS sensor installation, If you intend to install only a single sensor, ignore the steps identified as (Dual Only).
  • Page 141 Chapter 9: High Accuracy Positioning System Figure 9-13 Installation Location of HAPS Sensors on the Underside of the LD-250 Cable the sensors as follows: 1. Use a 4 mm hex key and the two supplied M5 socket head cap screws and washers to install the sensor marked Front at location [(A) in Figure 9-13].
  • Page 142 9.4  Installation on the LD-250 Figure 9-15 LD-250 Front HAPS Cable Routing Behind the Speaker Mount 4. Pass each RS232 connector (one at a time) through the oval hole in the side of the chassis as shown in Figure 9-16. Feed the cable through, leaving no slack. LD Platform Peripherals Guide 13732-000 Rev J...
  • Page 143 Chapter 9: High Accuracy Positioning System Figure 9-16 LD-250 Front HAPS Cable Routing Through the Chassis 5. Pass the connectors up through the oval slot in the payload bay [(A) in Figure 9-17]. Figure 9-17 LD-250 Front HAPS Cable Routing Into the Payload Bay 6.
  • Page 144 9.4  Installation on the LD-250 Figure 9-18 LD-250 Rear HAPS Sensor Cable Routing Into the Chassis Route the cable as follows, fastening it to cable mounts with zip ties and leaving no slack in the cable. Callout Description of Cable Route Behind the drive assembly, close to the chassis.

  • Page 145: Tape And Marker Application

    Refer to the LD model User's Guide to obtain the exact dimensions of the platform. For example, for the LD-60, LD-90 and LD-xxxCT models, the platform body is 499 mm wide. In this case, setting a distance of 275 mm from the center of the tape to the intended conveyor creates a gap of 25.5 mm between the AMR's side and the goal.
  • Page 146 9.5  Tape and Marker Application Key Meaning Key Meaning Sensing Rear Sensor Axle Front Sensor Apply markers 20-30 mm to the right of the main tape track. See the following figure. 30.0° Figure 9-20 Two-stop System (units are mm (inches)) Meaning Meaning Goal 1 and Goal 2 (at some location)

  • Page 147: Define Goals

    Chapter 9: High Accuracy Positioning System Define Goals An AMR with front and rear sensors needs 500 mm of tape for alignment. Each marker needs its own goal. A suggested goal location is 400 mm from the tape, near the start of the tape, with an orientation of 30°...

  • Page 148: Goals/Tasks

    9.6  HAPS Software Configuration finding the end of a marker. This should be slow, such as 20 mm/sec. followingAccel is the acceleration to use. 0 means default. followingDecel is the deceleration to use. 0 means default. FrontClearance is the minimum distance to an obstacle in front of the AMR before the AMR will stop.

  • Page 149: Specifications

    Chapter 9: High Accuracy Positioning System Each marker needs its own goal. Each of the goals needs to be at the same location. Each of the goals needs to have the Engage task. Each of the Engage tasks will have a different engageMacro. When a goal’s engageMacro finishes, if the next goal assigned to that AMR is at the same loc- ation as the previous goal, and has the Engage task, the AMR will not drive back to the goal, but instead will start executing the engageMacro associated with the new goal.

  • Page 150: Dimensions

    9.8  Dimensions Feature Specification Magnetic Tape Width 25 mm Orientation South up Markers (Magnetic Tape) Width 25 mm Length 300 mm min. for 500 mm/sec drive speed Orientation North up Separation from tape 20 - 30 mm Connections Front sensor RS232-1 (/dev/ttyUSB9) on the core Rear sensor RS232-2 (/dev/ttyUSB10) on the core...
  • Page 152 The Netherlands IL 60169 U.S.A. Tel: (31)2356-81-300/Fax: (31)2356-81-388 Tel: (1) 847-843-7900/Fax: (1) 847-843-7787 OMRON ROBOTICS AND SAFETY TECHNOLOGIES, INC. OMRON ASIA PACIFIC PTE. LTD. 4225 Hacienda Drive, Pleasanton, CA 94588 U.S.A. Tel: (1) No. 438A Alexandra Road # 05-05/08 (Lobby 2), ©...

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