Omron MD-900 User Manual page 179

Precautions for Correct Use
IATA regulations (UN 3480, PI 965) require that air freight shipped lithium ion batteries not in-
stalled in the AMR must be transported at a state of charge not exceeding 30%. To avoid total
discharge, fully charge the battery immediately upon receipt. The battery might arrive fully
charged if it is not shipped by air freight.
Autonomous Charging
During normal operation, the AMR charges its battery autonomously by driving to the Docking Target
under configurable conditions (battery level and opportunities). The AMR drives to the location of the
Docking Target based on the map loaded onto the AMR and it uses this information to autonomously
recharge as configured. The map must have a predefined MutePersonnelDetectionSector area around
the Docking Target. This allows the AMR to mute the safety rated personnel detection means of the
Safety Laser Scanners as it approaches the charging paddle (per applicable standards). Refer to Op-
erate inside a designated MutePersonnelDetectionSector Area on page 4-71 for more information.
When the AMR arrives near the Charging Station, it searches for a unique trapezoidal shape integrat-
ed into the front of the Docking Target. The AMR uses this shape to locate the position of the charging
paddle. After the Docking Target verifies that the AMR is present and connected, it performs a series
of checks. After the checks are complete and it determines charging can proceed, it starts charging
the AMR's internal battery. A red LED charge light near the charging contacts will illuminate when
power is present at the charging contacts. Refer to 1-2-6 Charging Contacts on page 1-10 for more
information.
There is a delay of up to 10 seconds between when an AMR docks and the yellow DC POWER LED
located on the Power Supply Box turns ON to indicate a charging state. Light discs will also indicate
charging. If the AMR has an E-STOP button depressed while charging, the light discs will display the
emergency stop light pattern. Refer to 4-21 Light Discs and Optional Beacon States on page 4-41 for
more information.
If the battery level becomes too low, the AMR is immobilized and autonomous charging will not be
possible. If this occurs, the following user interaction is required.
• The AMR can be physically moved to the Docking Target. The AMR must be able to power ON to
resume charging once at the Docking Target. Refer to 5-4-1 Low Battery Recovery on page 5-6
and 4-17 Manually Pushing the AMR on page 4-35 for more information.
• If the battery level is absolutely depleted and the AMR cannot be moved, the internal battery must
be removed and charged while outside the AMR. Refer to Charging a Battery Outside of the AMR
on page 4-26 for more information.
If you move the AMR during the charging process, the charging will stop and re-docking is required to
resume.
Precautions for Correct Use
The AMR must be powered ON in order to charge the battery while at the Docking Target.
Additional Information
The Charging Station supplies adequate power for all onboard systems while charging its bat-
tery, so you can continue operating those systems while charging. Significant user loads may
impact the time required to fully-charge the AMR's battery.
AMR (Autonomous Mobile Robot) MD-series Platform User's Manual (I681)
4 Operation
4
4-25