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

Mobile robot platform
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LD Mobile Robot Platform
User's Guide
I611-E-02

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Summary of Contents for Omron LD-60

  • Page 1 LD Mobile Robot Platform User’s Guide I611-E-02...
  • Page 2 The information contained herein is the property of Omron Adept Technologies, Inc., and shall not be reproduced in whole or in part without prior written approval of Omron Adept Tech- nologies, Inc. The information herein is subject to change without notice and should not be con- strued as a commitment by Omron Adept Technologies, Inc.

  • Page 3: Table Of Contents

    Table of Contents Chapter 1: Introduction Definitions 1.1 Product Description Body and Drive What's Included - Basic Components Optional Components (partial list) User-Supplied Components / System Requirements 1.2 Software Overview Mobile Robot Software Suite SetNetGo 1.3 How Can I Get Help? Related Manuals Support Including a Debuginfo File...
  • Page 4 Table of Contents Mobile Robot LD Safety Guide Chapter 3: Setup Battery Safety Information Overview Tasks 3.1 Transport and Storage Platform Battery 3.2 Before Unpacking 3.3 Unpacking Battery Platform Repacking for Relocation Installing the Battery Attaching the Payload Structure and Options Installing the Docking Station Chapter 4: Configuration 4.1 Settings and Configuration...
  • Page 5 Table of Contents Chapter 6: Connectivity 6.1 Required Connections 6.2 Payload Bay Connections LD Platform Core Front, Upper LD Platform Core Rear, Upper Internal LD Platform Core Connections Internal Data Pinouts Internal Power Pinouts Chapter 7: Operation 7.1 Operating Environment Intended Use Clearance Obstacles...
  • Page 6 Table of Contents Pinch Hazard Magnetic Field Hazards 8.2 Lifting the Platform Safely Front Lifting Points Rear Lifting Area 8.3 Safety Inspection Warning Devices Warning Labels 8.4 Cleaning Work Area Maintenance Platform Cleaning 8.5 Maintaining and Replacing Batteries Maintaining Batteries Replacing the Battery 8.6 Replacing Non-Periodic Parts Docking Station Roller and Bearing...
  • Page 7 Table of Contents Warning Buzzer Chapter 10: Technical Specifications 10.1 Dimension Drawings 10.2 Platform Specifications Physical Performance Sensors Battery Outputs 10.3 Docking Station Specifications LD Platform User's Guide, 11970-000 Rev E Page 7 of 142...

  • Page 9: Chapter 1: Introduction

    LD platform is available in two versions, designed to carry loads up to 60 kg (132 lb) for the LD-60 and 90 kg (198 lb) for the LD-90 platform. Where appropriate, differences between the models are called out. Otherwise, this manual applies to both platforms.

  • Page 10: Body And Drive

    Chapter 1: Introduction For situations that are so dynamic that laser localization becomes difficult, we offer the Acuity Localization option, which localizes the platform using an upward-facing camera to recognize overhead lighting patterns. This is covered in detail in the LD Platform Peripherals Guide. This would apply to areas where objects, such as pallets or carts, are moved so frequently that they can’t be mapped, or where they block the laser’s view of the mapped features.

  • Page 11: Optional Components (Partial List)

    Chapter 1: Introduction This allows the platform to charge itself, without user intervention. It includes a wall- mount bracket and a floor plate, for a choice of installation methods. See Installing the Docking Station on page 38. A manual charging cord is included, so you can charge the battery or a spare battery outside of the platform.

  • Page 12: User-Supplied Components / System Requirements

    Chapter 1: Introduction Touchscreen Allows an Operator to interact with an AIV at the AIV‘s location, select the AIV’s next goals, check status, etc. Refer to the LD Platform Peripherals Guide for details on the touchscreen. User-Supplied Components / System Requirements PC with Microsoft Windows®...
  • Page 13 Chapter 1: Introduction queuing of jobs for the AIVs remote I/O, if you are using it MobilePlanner (licensed) In order to have your AIV perform autonomous mobile activities, you need to make a map of its operating space, and configure its operating parameters. The MobilePlanner software is used to make this map and perform this configuration.

  • Page 14: Setnetgo

    Guide Acuity Localization options. Support If, after reading this manual, you are having problems with your platform, contact Omron Adept Technologies, Inc. Tell us when and how we can best contact you. We will assume e-mail is the best format, unless otherwise notified.

  • Page 15: Including A Debuginfo File

    Chapter 1: Introduction Including a Debuginfo File If the platform has been set up on a wireless network, skip to SetNetGo Access. Network Setup If the platform has not been set up on a wireless network, a local area network will have to be set up on a separate PC, and configured to talk to the platform over a TCP/IP port.
  • Page 16 Chapter 1: Introduction You will be requested to confirm security certificates. Regardless of how you accessed SetNetGo, you should now have a window similar to the fol- lowing: 1. From the SetNetGo screen, select: System > Debug Info This will display the “Download debug info” button. 2.

  • Page 17: Chapter 2: Safety

    Chapter 2: Safety 2.1 Dangers, Warnings, Cautions, and Precautions There are six levels of special alert notation used in our manuals. In descending order of importance, they are: DANGER: This indicates an imminently hazardous electrical situation which, if not avoided, will result in death or serious injury. DANGER: This indicates an imminently hazardous situation which, if not avoided, will result in death or serious injury.

  • Page 18: Releasing An E-Stop

    Chapter 2: Safety Releasing an E-Stop WARNING: If the robot’s E-Stop is triggered, ensure that the cause of the E- Stop is resolved, and all surrounding areas are clear and safe before releasing the E-Stop. 2.3 User's Responsibilities It is the end-user’s responsibility to ensure that the mobile robots are used safely. This includes: Reading the installation and operation instructions, as well as the Mobile Robot...

  • Page 19: Falling 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 Adept Technologies, Inc. If any liquid is spilled on the AIV, power off the AIV, clean up all possible liquid, and allow the AIV to air dry thoroughly before restoring power.

  • Page 20: Pinch Hazard

    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 21: Payload Movement And Transfer

    Chapter 2: Safety Have the necessary qualifications Have received the guides (both this user’s guide, and the Mobile Robot LD Safety Guide) Have read the guides Understand the guides Will work in the manner specified by the guides Payload Movement and Transfer Monitoring and confirmation of the status of robot payload movement and transfer to or from facility equipment is the end-user’s responsibility.

  • Page 22: Multi-Vehicle Avoidance

    Chapter 2: Safety 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-Vehicle Avoidance When multiple vehicles are operating in the same operating space, they must be connected to an Enterprise Manager 1100 (EM) via WiFi.

  • Page 23: Obstacles

    The body of the robot must not come into contact with liquids. The drive wheels can tolerate damp floors, but the body of the robot must remain dry. If there is any doubt concerning the application, ask Omron Adept Technologies, Inc. to determ- ine if it is an intended use or not.

  • Page 24: Battery Safety

    Omron Adept Technologies, Inc. In case of a fire, use a type D extinguisher: foam, dry chemical, or CO 2.7 Additional Safety Information Omron Adept Technologies, Inc. provides other sources for more safety information: Mobile Robot LD Safety Guide Mobile Robot LD Safety Guide provides detailed information on safety for LD Platform- based mobile robots.

  • Page 25: Chapter 3: Setup

    If the battery is found to be leaking, do not expose to water. If possible, submerge in min- eral oil and contact Omron Adept Technologies, Inc.. In case of fire, use a type D extinguisher: foam, dry chemical, or CO...

  • Page 26: Transport And Storage

    Chapter 3: Setup Install the docking station. See Installing the Docking Station on page 38. Fully charge the battery, either outside of or inside the platform. Install the battery in the platform. See Installing the Battery on page 33. Set up the wireless Ethernet for the platform. See Settings and Configuration on page 45. Design, build, and install a payload structure, to suit your application.

  • Page 27: Unpacking

    If the items received do not match the packing slip, or are damaged, do not sign the receipt. If the items received do not match your order, please contact Omron Adept Tech- nologies, Inc. immediately. Retain the containers and packaging materials. These items may be necessary to settle claims or, at a later date, to relocate the equipment.

  • Page 28: Platform

    Chapter 3: Setup Platform The platform comes packed in a wooden crate, mounted on a pallet, with wooden covers. See the following figure. The docking station, joystick, and platform are shipped in the same crate. Retain all parts and fasteners removed for possible repacking. 1.
  • Page 29 Chapter 3: Setup Figure 3-4. Two of Four Spring Latches Holding the Front Panel Set the front panel aside. It will be used as a ramp later in this procedure. Figure 3-5. Crate with Front Panel Removed 4. Slide off the crate cover to reveal the crate, pallet, and contents. LD Platform User's Guide, 11970-000 Rev E Page 29 of 142...
  • Page 30 Chapter 3: Setup 5. Unscrew both eyebolts that screw down through the front and rear braces and into the chassis support board. There is one brace and eyebolt at each end of the platform. Wing Nut (1 of 2) Docking Eyebolt (1 of 2) Station Accessories,...
  • Page 31 Chapter 3: Setup Chassis Support Board Ramp/Front Panel of Crate Hanger Bolts visible through Holes in Ramp Taper Figure 3-7. Crate with Ramp Attached 9. Roll the platform down the ramp and onto the floor. 10. Remove the two wheel pins that held the wheels up during transit. The wheels are pinned up to protect the motors and drives.

  • Page 32: Repacking For Relocation

    Chapter 3: Setup Figure 3-8. Wheel Pin Hole Figure 3-9. Wheel Pin c. Reinstall the two side covers. 11. Install the battery in the platform. The platform brakes cannot be released until the battery is installed. Refer to Installing the Battery on page 33. Repacking for Relocation If the platform or other equipment needs to be relocated, reverse the steps in the installation procedures in this chapter.

  • Page 33: Installing The Battery

    Chapter 3: Setup Installing the Battery Your platform comes fully-assembled, less the battery. NOTE: Air shipping regulations require that the battery be shipped separately. Removing the Battery Compartment Cover Accessing the battery compartment requires removing the platform's rear cover. This is held in place with magnets.
  • Page 34 Chapter 3: Setup Figure 3-11. Lowering the Rear Platform Cover Refer to Removing and Installing Covers in the Maintenance section for cover removal and installation details. 1. Remove the inner rear platform cover. a. Pull the bottom of the cover away from the platform chassis. This is easiest if you grip it with two hands, toward the center.
  • Page 35 Chapter 3: Setup Figure 3-12. Battery Compartment, Connectors 3. Lift and slide the new battery into the platform body. The battery weighs 19 kg (42 lbs). There are recesses at the front and the back of the battery, to aid in lifting it. LD Platform User's Guide, 11970-000 Rev E Page 35 of 142...
  • Page 36 Chapter 3: Setup Figure 3-13. Battery Recesses, for Gripping The battery is designed to be lifted and replaced by one person, using one hand in each of the grips, as shown in the following figure. Figure 3-14. Lifting the Battery The connectors for power and data go toward the rear of the platform.

  • Page 37: Attaching The Payload Structure And Options

    Chapter 3: Setup Attaching the Payload Structure and Options Payload Structure You will need to attach the payload structure you designed and built to the platform. Because the payload structure is user-designed, we only provide the hole pattern for how you can attach it.

  • Page 38: Installing The Docking Station

    Chapter 3: Setup with applicable standards, it is important that the buzzer be audible in all operating con- ditions and environments. Warning Light Each AIV is required to have a readily visible flashing light, to serve as a warning that the AIV is ready to move or is moving.
  • Page 39 Chapter 3: Setup Wall Mount and Floor Mount 356 [14.0] 121 [4.8] Wall Mount Bracket 8x 25 [1.0] 123 [4.9] 18x Ø6 [0.25] 247 [9.7] 89 [3.5] 114 [4.5] 3x Ø6 [0.25] 267 [10.5] 315 [12.4] Units are mm [in.] 98 ±...
  • Page 40 Chapter 3: Setup Figure 3-17. Rear View of Docking Station with Wall Bracket 3. Lower the docking station down, so the two bolts on the back of the docking station slide into the bracket, to secure the docking station to the wall. Floor-mount, without Floor Plate Screw the base of the docking station directly to the floor, using three user-supplied screws.
  • Page 41 Chapter 3: Setup 1. Tip the docking station onto its back, so you can access the underside. 2. Remove the two lowest screws (M4 x 12 flat-head), if present. In the following figure, these screws are circled. The location of the third screw hole is also circled.
  • Page 42 Chapter 3: Setup Figure 3-19. Docking Station, Mounted on Floor Plate 406 [16.0] 495 [19.5] Units are mm [in.] Figure 3-20. Docking Station Floor Plate Dimensions LD Platform User's Guide, 11970-000 Rev E Page 42 of 142...
  • Page 43 Chapter 3: Setup All mounting methods  Install the power cord and turn the power switch to ON. The power switch is next to the power plug. The blue power LED indicator should light. Docking Station Contact Adjustment The contacts on the docking station have five height settings. The station is shipped with the height in the middle setting, which should be correct in most cases.

  • Page 45: Chapter 4: Configuration

    Chapter 4: Configuration The LD platform comes with firmware and onboard software installed. This chapter describes how to configure your new platform. The platform navigates using a map, generated with the MobilePlanner software. The map must be generated and downloaded to the platform before you can perform the steps covered in the Operation chapter of this manual.

  • Page 46: Setting Up Wireless Ethernet

    Chapter 4: Configuration always enabled on this interface, and does not require a password or a license. Accordingly, when accessing the port, manually set the offboard computer’s Ethernet to an IP 1.2.3.x, where x is any number 1 through 254 except 4, and with a netmask of 255.255.255.0. No special DNS or gateway settings are needed.
  • Page 47 Chapter 4: Configuration Managed/STA, Ad-Hoc, or Master/AP Radio Mode Auto, 802.11a, 802.11b, 802.11g Channel Set Wireless Watchdog IP Address Wireless Watchdog Max Count 0 disables this. Security Settings Encryption: Disabled WEP 64-bit WEP 128-bit TKIP/RC4 CCMP/AES TKIP/CCMP/AES Authentication: OPEN WPA-PSK WPA2-PSK WEP Key Number (Key 1 - Key 4) WEP Keys...

  • Page 48: Mapping

    Chapter 4: Configuration We do suggest that you conduct a comprehensive site survey to ensure adequate wireless cov- erage. You can test the coverage of your wireless setup by trying to ping it from various loc- ations. >= -40 dBm is the ideal WiFi signal strength, -60 dBm is the recommended minimum. Bandwidth Considerations The typical bandwidth in a fleet will average about 50 Kbps/AIV.

  • Page 49: Acceleration, Deceleration, And Rotation Limits

    Field Service department can work with your system designer to input your needs into our models. Contact Omron Adept Technologies, Inc. for details. See Support on page 14. If your payload’s center of gravity is not within the guidelines given in the Center of Gravity on page 54, you will need to adjust the Absolute Movement Maximums parameters in the MobilePlanner software.

  • Page 50: Supplemental Information

    Chapter 4: Configuration Parameter Default AbsoluteMaxRotAccel AbsoluteMaxRotDecel 4.4 Supplemental Information Laser Setup For most installations, the defaults for the lasers should be appropriate, and will not require any user adjustment. The specific parameters for these lasers will come in the model config file that ships on the unit, or can be provided on request if needed.

  • Page 51: Chapter 5: Payload Structures

    Chapter 5: Payload Structures Everything that you attach to the LD platform is referred to as the payload structure. In some custom cases, we design and build the payload structure. In most cases, you will need to design a payload structure that suits your application. This chapter discusses con- siderations to be aware of when you design a payload structure for your platform.

  • Page 52: Considerations

    Chapter 5: Payload Structures 5.2 Considerations Performance The main performance factors to consider in designing a payload structure are the size, weight, and center of gravity of the payload structure, and power requirements. Adding weight to the platform tends to have less effect on run-time than adding electrical power requirements. Operating your AIV on carpet will have a significantly shorter run-time than on hard surfaces.
  • Page 53 Chapter 5: Payload Structures Keep all of the payload structure higher than the top of the platform. If any of the platform's sensors get blocked, it won't be able to function correctly. This is critical in the case of the lasers.

  • Page 54: Center Of Gravity

    Chapter 5: Payload Structures CAUTION: Do not exceed this torque when attaching your payload structure to these PEM nuts. See NOTE that follows. ‘B’ ‘B’ ‘B’ ‘B’ 244.9 (9.64) ‘B’ ‘B’ ‘B’ ‘B’ 169.9 (6.69) 0 (0.0) 8x M5 Threads Marked ‘B’...
  • Page 55 Chapter 5: Payload Structures The payload should be centered on the platform left-to-right, but biased toward the rear of the platform according to the following figures. The following figure shows the center of gravity of the platform, without payload structure. 697 (27.4) 345.3 (13.59) (15.0)
  • Page 56 Chapter 5: Payload Structures 10 kg Isometric View Side View Front View 1500 1500 1400 1300 1200 1000 1100 1000 -300 -200 -100 -400 -200 -300 -100 -200 -200 -100 Figure 5-4. Center of Gravity Graphs, 10 kg 30 kg Isometric View Side View Front View...

  • Page 57: Payload-Related Tradeoffs

    Chapter 5: Payload Structures 60 kg Isometric View Side View Front View 1500 1500 1400 1300 1200 1000 1100 1000 -300 -100 -200 -300 -100 -200 100 -100 -200 -500 300 Figure 5-6. Center of Gravity Graphs, 60 kg 5.3 Payload-Related Tradeoffs If you have to extend your center of gravity beyond the guidelines given here, you will need to adjust various parameters in the MobilePlanner software to compensate for that.

  • Page 58: Connections Between Platform And Payload Structure

    Chapter 5: Payload Structures 5.4 Connections Between Platform and Payload Structure The platform provides a variety of I/O and power connections, which you can use to make your AIV more effective. Operator Panel The Operator screen, E-Stop, Brake-release, ON, and OFF can be "moved" using a single con- nector (the HMI Panel connector).

  • Page 59: Chapter 6: Connectivity

    Chapter 6: Connectivity Most of the connections that are available to the user are in the payload bay, which is the space between the platform and any payload structure placed on top of it. These include I/O and power connections. Some are required, others are available if needed. The two connections outside of the payload bay are the Joystick port and the Maintenance Eth- ernet port, which are located under a small access panel on the left side of the platform, in the upper-right corner.

  • Page 60: Ld Platform Core Front, Upper

    DB9M Port 1 and Port 2, general use CAN Bus B DB9F Consult Omron Adept Technologies, Inc. for use. Digital I/O (HDB44F) HDB44F 16 digital inputs, in 4 banks of 4. Each bank can be wired as active high or active low depending on the connection of the BANK# terminal.
  • Page 61 Chapter 6: Connectivity CAN Bus B Connector type DB9F CAN Bus Pin No. Designation Notes 1, 4, 8 No Connection CANL_B CAN Communication differential pair 3, 6 Direct GND SHIELD GND Bead filter to GND CANH_B CAN Communication differential pair CANB_12V_OUT_SW 12 V @ 0.5 A Max (switched in SW) Digital I/O Connector type HDB44F...
  • Page 62 Chapter 6: Connectivity Designation Pin No. Hardware Software Notes INPUT_4.3 Input_4.3 0 – 30 V Range, R = ~3.9 kΩ INPUT_4.4 Input_4.4 0 – 30 V Range, R = ~3.9 kΩ BANK4 Common for INPUT_4.X OUTPUT_1 Output_1 OUTPUT_2 Output_2 OUTPUT_3 Output_3 OUTPUT_4 Output_4...
  • Page 63 Chapter 6: Connectivity Parameter Value Operational current range 0 to 7.5 mA OFF state current range 0 to 0.5 mA ON state current range 1.0 to 7.5 mA Impedance (V 3.9 kΩ minimum Current at V = +24 VDC I ≤...
  • Page 64 Chapter 6: Connectivity Table 6-1. Digital Output Specifications Parameter Value Power supply voltage range 5 - 30 VDC Operational current range, per channel I ≤ 500 mA ON state resistance (I = 0.5 A) ≤ 0.14 Ω @ 85° C Output leakage current ≤...
  • Page 65 Chapter 6: Connectivity Pin No. Designation Notes ANALOG_IN8 0 – 30 V Range ANALOG_OUT1 0 – 20 V Range ANALOG_OUT2 0 – 20 V Range ANALOG_OUT3 0 – 20 V Range ANALOG_OUT4 0 – 20 V Range 13, 14, 15 GND The 0-10 V analog inputs have an input impedance of about 35 kΩ.

  • Page 66: Ld Platform Core Rear, Upper

    Chapter 6: Connectivity RS232 1 & 2 Connector type DB9M Port 1 and 2, General Use Pin No. Designation Notes 1, 4, 6, 9 No Connection RS232_USR#_RXD #=1 or 2 RS232_USR#_TXD #=1 or 2 RS232_USR#_RTS #=1 or 2 RS232_USR#_CTS #=1 or 2 LD Platform Core Rear, Upper Light Pole User Interface User Bumpers Aux Power User Power...
  • Page 67 Chapter 6: Connectivity Connection Type Description Pins for user-supplied OFF button; same function as Operator Panel OFF ESTOP Pins for user-supplied E-Stop (must be used or jumpered) User Mini-Fit Payload structure bumpers, user-supplied, connected between Bumpers 2 x 4 ESTOP_SRC and USER_BMP# (for each of the 6 inputs). Contacts 1 - 3 are for a front bumper, 4 - 6 for rear.
  • Page 68 Chapter 6: Connectivity Light Pole ® Connector type Mini-Fit 3 x 2 Light tower (user-supplied) Pin No. Designation Notes Cable shield LIGHT_P1 LIGHT_P2 Yellow or orange VBAT_IO_OUT4 VBAT @ 0.5A Max (shared with DIO) LIGHT_P3 Green LIGHT_P4 Buzzer Standard Equipment User-Supplied Equipment Wiring terminal block VBAT_IO_OUT4...
  • Page 69 Chapter 6: Connectivity User Interface ® Connector type Mini-Fit 7 x 2 Brake release, ON, OFF, E-Stop Pin No. Designation Notes 1, 2, 3 FBAT_ALWAYS Fused VBAT @ 500 mA ESTOP_USR_1L Short 4 & 11 to close ESTOP_USR_1 ESTOP_USR_2L Short 5 & 12 to close ESTOP_USR_2 ESTOP_OUT_1L Pins 6 &...
  • Page 70 Chapter 6: Connectivity Figure 6-7. E-Stop Chain Diagram LD Platform User's Guide, 11970-000 Rev E Page 70 of 142...
  • Page 71 Chapter 6: Connectivity User Bumper NOTE: Pins 1 through 3 are for a front-mounted bumper, 4 through 6 are for a rear- mounted bumper. ® Connector type Mini-Fit  4 x 2 Optional bumper for payload structure Pin No. Designation Notes USER_BUMPER_1 Short to ESTOP_SRC to signal bumper hit Front left bumper sensor.
  • Page 72 Chapter 6: Connectivity User Power ® Connector type Mini-Fit 6 x 2 Designation Pin No. Hardware Software Notes 1, 2, Limit to < 5 A per pin 3, 4, 5, 6 SW_VBAT_OUT1 Battery_Out_1 VBAT @ 4 A max (switched in SW) SW_VBAT_OUT2 Battery_Out_2 VBAT @ 4 A max (switched in SW)
  • Page 73 Chapter 6: Connectivity HMI Panel Connector type HDB15F Operator screen, E-Stop, Brake_Rel, ON, OFF Designation Pin No. Hardware Software Notes RS422_HMI_TX+ RS422_HMI_TX- MOTOR_BRAKE 4, 5 ESTOP_FP_1H, _2H Connections to HMI Panel RS422_HMI_RX+ If the optional touchscreen is used, rather than the HMI panel, RS422_HMI_RX- the RS422_HMI connectors are START_BUTTON...

  • Page 74: Internal Ld Platform Core Connections

    Chapter 6: Connectivity Internal LD Platform Core Connections The following connections are internal (under the platform's top deck), and not normally avail- able for the user. They are listed here so that you can reconnect them in the event that they need to be disconnected for parts replacement.

  • Page 75: Internal Data Pinouts

    Chapter 6: Connectivity Connection Type Description Charge Contacts Mini-Fit Sr., 2-pin HDB15F Reserved USB x 3 USB Type A Reserved LIDAR HDB26M Safety Scanning Laser Right Motor HDB26F NOTE:The Right and Left Motor connectors use the same type of plug. Take care not to reverse them. Left Motor HDB26F Battery Power...
  • Page 76 Chapter 6: Connectivity LIDAR (Light Detection And Ranging) Connector type DB26M Front navigation laser Designation Pin No. Hardware Software Notes RS422_LIDAR_RX+ RS422_LIDAR_RX- OSSD1 OSSD2 WF_OUT O3_OUT STANDBY No Connection 10, 18 SW_20V_LIDAR Main_Laser_Power Connections to LIDAR 11 thru 17 GND RS422_LIDAR_TX+ RS422_LIDAR_TX- IN_A1...

  • Page 77: Internal Power Pinouts

    Chapter 6: Connectivity Internal Power Pinouts Bumper ® Connection Mini-Fit 4 x 2 Connector type DB9F Front bumpers NOTE: The single front bumper uses four sensors for operation. Pin No. Designation Notes BUMPER_R2L Right, Channel 2, Low BUMPER_R1L Right, Channel 1, Low BUMPER_L2L Left, Channel 2, Low BUMPER_L1L...
  • Page 78 Chapter 6: Connectivity Batt Comm. ® Connector type Mini-Fit 3 x 2 Battery control Pin No. Designation Notes RS232_BATT_RXD RS232_BATT_TXD Connections to the Battery FBAT_ALWAYS START_BUTTON OFF_BUTTON LD Platform User's Guide, 11970-000 Rev E Page 78 of 142...

  • Page 79: Chapter 7: Operation

    Chapter 7: Operation Before proceeding, you need to have performed the steps covered in the Setup and Getting Star- ted chapters, so your platform has a map to work from. 7.1 Operating Environment Intended Use The LD 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 80: Environment And Floor

    NOTE: Read the warning that follows step and gap traversal. Any steps must have a smooth, rounded profile. Up to 15 mm (0.6 in.) at 250 - 300 mm/sec Step traversal, LD-60 Up to 10 mm (0.4 in.) at 250 mm/sec only Step traversal, LD-90 Up to 15 mm (0.6 in.)

  • Page 81: Typical Operation

    Chapter 7: Operation Platform Stuck Under Overhang AIV Option Stuck Under Overhang Driven off Ledge Driven Over Excessive Gap Figure 7-1. Examples of the Robot or AIV Getting Stuck 7.2 Typical Operation During normal startup, your platform powers all its onboard systems and runs its onboard software and your integrated processes automatically to provide an application-ready AIV.

  • Page 82: Power And Charging

    Chapter 7: Operation CAUTION: The Operator Mode of the MobilePlanner software should be pro- tected with user ID and password access, to prevent unauthorized operation of an AIV. 7.3 Power and Charging The platform battery is sealed. It supplies ample power for the motors, electronics, and accessories.

  • Page 83: Docking Station

    Chapter 7: Operation Figure 7-2. Battery LEDs, Push-Button, Power Cable, and Data Cable The push-button "wakes up" the battery, so it displays its state of charge. This can be useful when a battery is in storage, and you want to know its state of charge. Docking Station The automated docking station provides both a manual and an automated means for rechar- ging your platform battery.
  • Page 84 Chapter 7: Operation Figure 7-3. Docking Station Indicators, Controls, and Connections The docking station has a power switch and two LEDs: blue indicates that power is available. yellow indicates that a charge is in progress. The power switch, located on the right side of the dock, has an integrated thermal fuse, which can shut down the dock if it becomes too hot.

  • Page 85: Manually Charging The Battery

    Chapter 7: Operation The plug for connecting the manual charging cable is on the left side of the station, as viewed from the front. Environmental Requirements Ambient temperature range: 5° to 40° C (41° to 104° F) Humidity: 5 to 95% non-condensing Maintenance The docking station contacts should be cleaned quarterly with isopropyl alcohol.

  • Page 86: Balancing The Battery

    Chapter 7: Operation Balancing the Battery The battery is composed of multiple cells, which need to stay balanced in order to maintain maximum run-time. There are three ways for managing battery balancing: Set the AIV‘s DockUntilDoneCharging parameter to True. In this case, the battery will balance before saying it's done charging, so the battery will get balanced every time the AIV docks.

  • Page 87: Operator Panel

    Chapter 7: Operation NOTE: The longer you wait to balance a battery, the longer it will take to bal- ance. A battery that is badly out of balance can take well over 10 hours to bal- ance after charging. 7.4 Operator Panel The Operator panel comprises a screen, an E-Stop button, ON and OFF buttons, a brake-release button, and a keyswitch.

  • Page 88: E-Stop

    Chapter 7: Operation Default/Sample Screen Contents The first screen, during boot-up, will be the following: Figure 7-5. Initial Boot Screen Once the platform has booted, you will see the main screen: Figure 7-6. Fields of the Main Screen Up to six messages will be displayed in the main screen, in order of importance. Only one fault at a time will be displayed.

  • Page 89: On Button

    Chapter 7: Operation This can be done either with the MobilePlanner (with Map > Show Robot on) software, or with an ARCL command. See the following figure: Figure 7-7. Motor Enable Pop-up Dialog ON Button The ON button is used for restoring power after the OFF button has been pressed, and the soft- ware has finished shutting down the AIV.

  • Page 90: Light Discs And Beacon

    Chapter 7: Operation Light Discs and Beacon Circular lights on the sides of the platform are used to indicate motion, turns, and several other states. A user-supplied beacon, usually on the AIV dome, can be used for extra signaling. A beacon is used to indicate movement and to signal an Operator that the AIV is waiting for assistance.
  • Page 91 Chapter 7: Operation Turn Signal with Warning (doesn't prevent driving, such as low battery) Same as Turn Signals, but both the blue rotating arc and blinking segment are orange. The moving arc and the blinking segment have independent timing. Driving Slowly, Safety Inactive Under 300 mm/sec, the platform stops safety checking.
  • Page 92 Chapter 7: Operation Lost When the AIV is lost, the light discs will each display two orange arcs, traveling from the 6 o'clock to the 12 o'clock position and back, in opposite directions. Beacon blinks yellow. Charging When docked, a green arc will indicate the current state of charge (SOC), showing steady green from the top of the disc to the current SOC.
  • Page 93 Chapter 7: Operation Booting When booting, the light discs will display two blue arcs, traveling from the 6 o'clock to the 12 o'clock position and back, in opposite directions. Beacon alternates green, yellow, then red. In the following table: Blink indicates that a disc or light is on for a period, then off for a period. Pulse indicates a 0.25 Hz fade on and off.

  • Page 94: Ld Platform Core Indicators

    Chapter 7: Operation Light Disc Beacon Meaning Color Pattern Color Pattern Blinking signal Blue/ Moving Green Blink Driving slowly, <300 Orange Circle/ mm/sec Blinking signal Orange Pulse Green/Green/Green Stopped with warning /Yellow Yellow Blink Yellow Blink Object detected in safety zone Orange Left+Right Yellow...

  • Page 95: Battery And Docking Station Indicators

    Chapter 7: Operation Indicator Meaning Middle Column 20 V power is available 12 V power is available 5 V power is available VBAT Raw battery power is available Right Column LAN MAINT The Maintenance Ethernet connector is showing activity LAN USER The USER LAN connector is showing activity WLAN The WiFi is showing activity The hard drive is showing activity...

  • Page 96: Other Sensors

    Chapter 7: Operation Other Sensors Encoders and Gyroscope Each wheel has an encoder that tells the navigation system how far the wheel has turned, and in which direction. Each wheel also has a Hall sensor. The core has a gyroscope mounted on it, to track the platform's rotation. The combination of rotation and distance traveled are used by the platform to back up the nav- igation laser during localization.
  • Page 97 Chapter 7: Operation Drive Button Trigger Speed Button Goal Button Figure 7-9. Joystick Buttons and Trigger Joystick Use Use the joystick to drive the AIV manually and for creating the scan used to make a map. Squeeze the trigger to enable the drive button. Push the drive button forward or back to make the platform move in that direction.

  • Page 99: Chapter 8: Maintenance

    Chapter 8: Maintenance This chapter covers periodic maintenance and user-serviceable parts replacement for the LD platforms and the docking station. It does not cover maintenance of the payload structure, which is the user's responsibility. Platform Core Platform Payload Sonar Controller Core Mounting Bracket...

  • Page 100: Safety Aspects While Performing Maintenance

    Chapter 8: Maintenance 8.1 Safety Aspects While Performing Maintenance Electrical Hazards DANGER: During maintenance and repair, the power to the docking dock must be turned off. Remove and lock up the power cord to prevent unau- thorized third parties from turning on power. The access covers on the docking dock are not interlocked.

  • Page 101: Lifting The Platform Safely

    Chapter 8: Maintenance Docking Funnel WARNING: Magnetic fields can be hazardous to pacemaker wearers. Pace- maker wearers stay back 30 cm (12 in.) from the underside of the platform, which is exposed during certain maintenance procedures for which the plat- form is tipped on its side.

  • Page 102: Rear Lifting Area

    Chapter 8: Maintenance Rear Lifting Area The center underside of the platform, where the cover has a raised section. Do not lift any- where else! Refer to the following illustration: Figure 8-3. Bottom of Inner Rear cover. Lift from the frame, not the cover. 8.3 Safety Inspection Warning Devices The following two warning devices should be inspected for proper function on a weekly basis.

  • Page 103: Warning Labels

    Chapter 8: Maintenance Warning Labels All warning labels on the AIV should be checked on a weekly basis for being present and legible. If any of the labels are missing or illegible, they should be replaced. The labels, with our part numbers, are: Laser Aperture Label, 13308-000L One of these labels will be on each laser: Front navigation laser...

  • Page 104: Cleaning

    Chapter 8: Maintenance Because of variability of payload structures, we can’t specify where this label will be. The Setup instructions say to place it in a prominent location on the payload structure. Verify that the label is there and legible. 8.4 Cleaning The drive motors and gearboxes are sealed and permanently lubricated, so they do not require periodic maintenance.

  • Page 105: Maintaining And Replacing Batteries

    19/7 is 4 years. (19 hours/day is full-time, with time-out to recharge.) NOTE: There are no serviceable parts inside the battery case. Do not open it. WARNING: Replace the battery only with a Omron Adept Technologies, Inc. factory-supplied battery.
  • Page 106 Chapter 8: Maintenance WARNING: Follow appropriate ESD procedures during the removal/replacement phases. Removal WARNING: The battery is heavy (19 kg/42 lbs). Observe safe lifting practices when removing or installing the battery. 1. Remove the inner rear platform cover. a. Pull the bottom of the cover away from the platform chassis. This is easiest if you grip it with two hands, toward the center.
  • Page 107 Chapter 8: Maintenance Installation Refer to Removing and Installing Covers in the Maintenance section for cover removal and installation details. 1. Remove the inner rear platform cover. a. Pull the bottom of the cover away from the platform chassis. This is easiest if you grip it with two hands, toward the center. b.
  • Page 108 Chapter 8: Maintenance Figure 8-5. Battery Compartment, Connectors 3. Lift and slide the new battery into the platform body. The battery weighs 19 kg (42 lbs). There are recesses at the front and the back of the battery, to aid in lifting it. LD Platform User's Guide, 11970-000 Rev E Page 108 of 142...
  • Page 109 Chapter 8: Maintenance Figure 8-6. Battery Recesses, for Gripping The battery is designed to be lifted and replaced by one person, using one hand in each of the grips, as shown in the following figure. Figure 8-7. Lifting the Battery The connectors for power and data go toward the rear of the platform.

  • Page 110: Replacing Non-Periodic Parts

    Chapter 8: Maintenance 8.6 Replacing Non-Periodic Parts All of the following parts are replaced on an as-needed basis. Docking Station Roller and Bearing The roller, which guides the AIV onto the docking station, may be subject to wear after exten- ded use.

  • Page 111: Docking Station Ac Power Fuse

    Chapter 8: Maintenance 3. Install the new roller and bearing, using the retained shoulder bolt. Switch Roller Figure 8-8. Docking Station Roller and Switch Locations Docking Station AC Power Fuse NOTE: The current version of the docking station uses a thermal fuse, built into the power switch.

  • Page 112: Docking Station Internal Fuse

    Chapter 8: Maintenance WARNING: Unplug power from the docking station before starting. Remove the power cord at the charger. The fuse assembly can be removed by squeezing the two tabs toward each other, and pulling it away from the docking station. See the following figure. Figure 8-9.

  • Page 113: Rear Sonar Units

    Chapter 8: Maintenance Figure 8-10. Docking Station Rear Cover Screws (8 of 10) Retain the screws for reassembly. 2. Remove the rear cover of the docking station. 3. Locate the in-line fuse. It will be near the top of the docking station, just to the right of the central terminal bar. 4.

  • Page 114: Light Discs

    Chapter 8: Maintenance 1. Move the payload structure out of the way, so you have access to the payload bay. 2. Locate the sonar controller. The controller will be at the very front of the payload bay, screwed into the payload bay deck with two screws.

  • Page 115: Operator Panel

    Chapter 8: Maintenance Operator Panel The Operator panel will typically be located on a user-supplied payload structure, so the removal and replacement of this will vary from one AIV to another. It plugs into the HMI Panel connector on the core. Wheels and Tires The wheels and tires should be checked every 3 months.
  • Page 116 Chapter 8: Maintenance Figure 8-12. Spring-Compression Hole 4. The wheel is held in place with a single screw through the center. NOTE: The screw is secured with threadlocker. Remove the screw (and washer) holding the wheel to the drive assembly. Retain the screw and washer for attaching the new wheel. 5.

  • Page 117: Drive Assemblies

    Chapter 8: Maintenance Installation 1. Put the key you removed into the drive shaft keyway. 2. Install the new wheel and tire onto the drive shaft. Ensure that the wheel keyway lines up with the key in the drive shaft. 3.
  • Page 118 Chapter 8: Maintenance Figure 8-13. Spring-Compression Hole 7. The drive assembly is held in place with three nuts on studs across the top, and two sets of two screws at each side, near the bottom of the assembly. Remove the three nuts and four screws (and their washers) holding the drive assembly to the platform.
  • Page 119 Chapter 8: Maintenance Figure 8-15. Mounting Screws at Bottom-Right of Drive Assembly 8. Remove the drive assembly from the platform. The motor cable to the core will still be attached. 9. Disconnect the motor cable at the drive assembly. Installation 1.

  • Page 120: Front Or Rear Casters

    Chapter 8: Maintenance Front or Rear Casters The casters should be checked every 3 months. If they show signs of cracking, excessive wear, or any damage they should be replaced. All four casters are identical, and are mounted to the platform in the same way. NOTE: If you have a means of lifting the chassis of the platform enough to access the screw that holds on the caster, you can avoid removing the payload structure and the battery, which is only necessary to tilt the platform on its side.

  • Page 121: Safety Scanning Laser

    Chapter 8: Maintenance 4x M6 x 22 Screw, Flat Head Socket Use Loctite 263 on the M10 x 30 Screw Caster, Heavy Duty, with Bolt Hole Fitting M10 x 30 mm Screw, Flat Head Socket Completed Assembly Figure 8-16. Platform Caster Replacement 2.
  • Page 122 Chapter 8: Maintenance Figure 8-17. Safety Scanning Laser Figure 8-18. Connectors Inside Laser Cap The underside of this plate has a connector that makes an electrical connection with a mating connector inside the laser. 3. Put the existing laser top onto the top of the new laser. You will feel slight resistance as the two connectors plug into each other.

  • Page 123: Low Front Laser

    Chapter 8: Maintenance 5. Attach the laser to the chassis using the two screws and washers from the old laser. NOTE: The laser orientation can be adjusted. Be careful to mount the laser horizontal with respect to the floor. Low Front Laser 1.

  • Page 124: Ld Platform Core

    Chapter 8: Maintenance previously removed. Take care not to scratch the laser lens during this procedure. 7. Cable-tie excess cable to the two anchors so it cannot touch the floor or the tires. LD Platform Core The LD platform core is a sealed unit, with internal fans as the only moving parts. 1.

  • Page 125: E-Stop And Safety Laser Commissioning

    Chapter 8: Maintenance The Left Motor and Right Motor connectors use the same type of plug, and can be inad- vertently reversed. Ensure that you can identify the left from the right. See Internal LD Platform Core Connections on page 74. 10.

  • Page 126: Accessing The Payload Bay

    E-Stop circuitry is tripped when an obstacle that should be detected by the laser is placed in front of the AIV. The speed zones are listed in the table that follows. For the LD-60, each speed zone represents 300 mm/sec, so if the maximum speed is 1500, five zones should be reported.

  • Page 127: Removing And Installing Covers

    Chapter 8: Maintenance 8.8 Removing and Installing Covers Many of the maintenance procedures require removing some of the platform's covers. Most covers are held in place with just magnets. The rear cover has an additional brace for support, the bumper cover uses screws and magnets, and the access panel uses a push-push latch. CAUTION: Pinch hazard.
  • Page 128 Chapter 8: Maintenance 1. Pull the bottom of the cover away from the platform chassis. This is easiest if you grip it with two hands, toward the center. 2. Lower the cover down, so its top tab clears the rear outer cover. Access Panel This provides access to the Maintenance Ethernet and the Joystick ports.
  • Page 129 Chapter 8: Maintenance 1. Pull the top of the cover away from the chassis a few inches. The cover will pivot on the metal brace at its bottom edge. 2. Pull the four sonar wires, with their connectors, out of the chassis holes. Refer to the following two figures.

  • Page 130: Cover Installation

    Chapter 8: Maintenance Figure 8-22. Sonar Connectors, with Connectors Exposed 4. Tilt the cover down to about 45°, and slide the brace on the bottom of the cover out of its clip. This will separate two pairs of magnets, so you will feel some resistance at first. Cover Installation The covers can be installed in the reverse of the order in which they are listed above.
  • Page 131 Chapter 8: Maintenance Rear Outer Cover Because this cover houses the rear sonar units, they must be reconnected once the metal brace across the bottom is in the clip just below the battery access hole. 1. Slide the metal brace into the clip in the chassis. Watch the two magnets on the bottom of the cover, to align them with their mating mag- nets on the chassis.
  • Page 132 Chapter 8: Maintenance Figure 8-23. Right Side Cover, Showing Even Gaps at Edges NOTE: The gaps between the side covers and the bumper cover will be smaller than the other gaps, and will not be even. Access Panel 1. Slide the panel to the right, so its tab goes under the left side cover. The panel is attached with a lanyard, to prevent getting lost.

  • Page 133: Chapter 9: Options

    Chapter 9: Options The LD platforms are available with a number of options to enhance their performance and abilities. Enterprise Manager 1100, for multi-AIV coordination This is a network appliance and the Mobile Software suite, which runs on it. It prevents traffic problems between different AIVs in a fleet, and ensures that all of the jobs submitted to its queue get done.

  • Page 134: Cleanroom Version

    Chapter 9: Options Cleanroom Version The platform is available in a cleanroom-suitable version. Acuity Localization Acuity localization uses an upward-facing camera to localize the platform using overhead lights, which it compares with lights stored in its map. This can be used in circumstances where laser localization is difficult, either because the environment has too many changing fea- tures or simply not enough features for laser localization.

  • Page 135: Chapter 10: Technical Specifications

    Chapter 10: Technical Specifications 10.1 Dimension Drawings 27.4 15.0 19.6 Units are in mm [in.] Figure 10-1. Platform Top, Side, and Front Dimensions NOTE: Refer also to Platform Deck Dimensions, with M6-threaded Holes on page 53 and Platform Deck Dimensions, with M5-threaded Holes on page 54 for mount- ing hole dimensions for the payload structure.

  • Page 136: Platform Specifications

    IP40 Cleanroom rating Fed Class 100, ISO Class 5 NOTE: Fed Class 10 (ISO Class 4) is attainable in many cases. Contact Omron Adept Technologies, Inc. Joystick IP Rating IP56 LD Platform User's Guide, 11970-000 Rev E Page 136 of 142...

  • Page 137: Performance

    Lower speeds may not traverse the step. Steps should have smooth, rounded profiles. Traversable gap, max LD-60 and LD-90: 15 mm (0.6 in.) Climb grade, 60 kg max 1:12 Traversable terrain...

  • Page 138: Sensors

    Chapter 10: Technical Specifications Description Specification Battery Run-time 15 hours, approx., no payload Duty cycle Weight 19 kg (42 lb) Voltage 22 - 30 VDC 72 Ah Capacity Energy 1.84 kWh nominal 4 hours, approx. Recharge time Life span 7 years, approx., 16 hrs/day, 5 days/wk 4 years, approx., 19/7 (full-time) Sensors Description...

  • Page 139: Battery Outputs

    Chapter 10: Technical Specifications Battery Outputs Maximum Nominal Actual Description Current 5 VDC 5 VDC ±5% Switched Aux power 12 VDC 12 VDC ±5% Switched Aux power 20 VDC 20 VDC ±5% Switched Aux power 22 - 30 VDC battery Switched 22 - 30 VDC battery...

  • Page 140: Docking Station Specifications

    Chapter 10: Technical Specifications 10.3 Docking Station Specifications Description Specification Current Thermal fuse in AC power switch (10 A Time-lag fuse at switch for legacy dock) Contacts Voltage 100 to 240 VAC, 50 to 60 Hz Power consumption 800 W Short circuit current rating (SCCR) 1500 A Humidity...
  • Page 142 OMRON ELETRÔNICA DO BRASIL LTDA • HEAD OFFICE São Paulo, SP, Brasil • 55.11.2101.6300 • www.omron.com.br OMRON EUROPE B.V. • Wegalaan 67-69, NL-2132 JD, Hoofddorp, The Netherlands. • +31 (0) 23 568 13 00 • www.industrial.omron.eu Authorized Distributor: Controllers & I/O •...

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