1. Manuals
  2. Brands
  3. Omron Manuals
  4. Farm Equipment
  5. LD-105CT
  6. User manual

Omron LD-105CT User Manual

Cart transporter
Hide thumbs Also See for LD-105CT:
Table of Contents

Advertisement

Quick Links

Download this manual
LD Cart Transporter
User's Guide
I612-E-03

Advertisement

Table of Contents
loading

Related Manuals for Omron LD-105CT

Summary of Contents for Omron LD-105CT

  • Page 1 LD Cart Transporter User’s Guide I612-E-03...
  • Page 2 Copyright Notice 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 Technologies, Inc. The information herein is subject to change without notice and should not be construed as a commitment by Omron Adept Technologies, Inc.

  • Page 3: Table Of Contents

    Table of Contents Chapter 1: Introduction Definitions 1.1 Product Description LD Platform Cart Transporter Cart Coupling Optional Components 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 Chapter 2: Safety 2.1 Dangers, Warnings, Cautions, and Precautions...
  • Page 4 Table of Contents Platform Modifications 2.6 Battery Safety 2.7 Additional Safety Information Accidental Cart Separation Mobile Robot LD Safety Guide Chapter 3: Setup Overview Tasks 3.1 Transport and Storage LD Platform Cart Transporter Battery Standalone Cart 3.2 Before Unpacking 3.3 Unpacking Battery LD Platform Cart Transporter Repacking for Relocation...
  • Page 5 Table of Contents Chapter 5: Payloads 5.1 Safety Drive Warning Light Turn Warning Lights 5.2 Considerations Dimensions Pinch Hazard Weight Center of Gravity 5.3 Payload-Related Tradeoffs Chapter 6: Connectivity 6.1 Required Connections 6.2 LD Platform Cart Transporter Connections Core Cart-Specific PCA 6.3 Standard Platform Connections LD Platform Core Front, Upper LD Platform Core Rear, Upper...
  • Page 6 Table of Contents Battery and Docking Station Chapter 8: Operation 8.1 Operating Environment Intended Use Clearance Obstacles Environment and Floor Platform Getting Stuck Cart Getting Stuck on Platform 8.2 Typical Operation 8.3 Power and Charging Battery Indicators and Controls Docking Station Manually Charging the Battery Balancing the Battery 8.4 Startup...
  • Page 7 Table of Contents Warning Labels Informative Labels 10.4 Cleaning Work Area Maintenance LD Platform Cart Transporter and Cart Tires Casters Axles Lasers Docking Station Contacts 10.5 Accessing the Payload Bay Removing Latching Mechanism Cover Removing Top Plate Installing Top Plate Installing Latching Mechanism Cover 10.6 Removing and Installing LD Platform Cart Transporter Covers Removing Covers...
  • Page 9 Revision History Revision Date Revised Content code April, 2017 Original release March, Added 2-second delay after E-Stop recovery; dimensions updated; 2017 MaxVelxxx parameters updated; removed procedure for user replace- ment of wheels and tires; changed pacemaker/magnet warning to say medical implant; changed gap and step specs; added instructions for unlatching a cart that is stuck to a transporter;...

  • Page 11: Chapter 1: Introduction

    The LD Platform Cart Transporter is available in two models, designed to transport carts with a payload up to 105 kg (231 lb) for the LD-105CT and 130 kg (287 lb) for the LD-130CT plat- form. Where appropriate, differences between the models are called out. Otherwise, this manual applies to both LD Platform Cart Transporters.
  • Page 12 1.1  Product Description Figure 1-1. Cart and LD Platform Cart Transporter, Separate Figure 1-2. Cart and LD Platform Cart Transporter, Coupled LD Platform Cart Transporter User's Guide 14766-000 Rev E...

  • Page 13: Ld Platform Cart Transporter

    Chapter 1: Introduction LD-105CT LD-130CT Figure 1-3. LD Platform Cart Transporter Model Labels LD Platform Cart Transporter The LD Platform Cart Transporter is a mobile platform, designed for working around people while moving a cart. It is self-guided and self-charging, with an automated docking station.
  • Page 14 1.1  Product Description laser operates in a single plane, positioned at 201 mm (7.9 inches) above the floor. In most environments, the sensor will provide highly-accurate data. Glass, mirrors, and other highly-reflective objects cannot be reliably detected by the laser. Cau- tion must be exercised when operating the AIV in areas that have these types of objects.
  • Page 15 Chapter 1: Introduction What’s Included with an LD Platform Cart Transporter One fully-assembled platform The platform includes a safety scanning laser, a low front laser, two side lasers, a rear- facing laser, and two rear-facing sonar pairs. Each pair is one transmitter and one receiver.

  • Page 16: Cart

    1.1  Product Description Cart The cart is a frame mounted on four casters, designed so that it can couple with an LD Plat- form Cart Transporter. Once coupled, the cart moves with the transporter. When the trans- porter arrives at the intended goal, it uncouples from the cart and leaves, while the cart remains at the goal.

  • Page 17: User-Supplied Components / System Requirements

    Chapter 1: Introduction Spare battery A spare battery can be used to minimize down-time. Swapping the battery for a fully- charged battery avoids taking the AIV out of service for more than a few minutes. Call/Door Boxes These allow an AIV to be requested from a remote location, or allow the AIV system to control an automated door, so the AIV can pass through it.
  • Page 18 1.2  Software Overview 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 19: Setnetgo

    Support If, after reading this manual, you are having problems with your LD Platform Cart Trans- porter, contact your local Omron support. In the body of your e-mail message, provide your platform’s serial number and describe the problem you are having in as much detail as possible.

  • Page 20: Including A Debuginfo File

    1.3  How Can I Get Help? Including a DebugInfo File If the platform has been set up on a wireless network, skip to SetNetGo Access on page 20. Network Setup If the AIV 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 AIV over a TCP/IP port.
  • Page 21 Chapter 1: Introduction Regardless of how you accessed SetNetGo, you should now have a window similar to the fol- lowing: 1. From the SetNetGo screen, select: Status > Debug Info This will display the “Download debug info” button. 2. Click Download debug info. 3.

  • Page 23: Chapter 2: Safety

    Chapter 2: Safety 2.1 Dangers, Warnings, Cautions, and Precautions There are six levels of special alert notation used in this manual. 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 24: Releasing An E-Stop

    2.3  User's Responsibilities NOTE: The LD-130CT has a high gear ratio, and is difficult to move, even with the brakes released. Releasing an E-Stop WARNING: If the AIV’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.

  • Page 25: Falling Hazards

    Do not continue to run the AIV after hair, yarn, string, or any other items have become wound around the platform’s axles, casters, or wheels. Do not use parts not authorized by Omron Adept Technologies, Inc. Do not turn on the AIV without the antennas in place.

  • Page 26: Pinch Hazards

    Immediately disconnect the battery after opening the battery compartment door. Avoid shorting the battery terminals. 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 27: Magnetic Field Hazards

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

  • Page 28: Payload Movement And Transfer

    2.3  User's Responsibilities Have the necessary qualifications Have received the guides (both this 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 AIV payload movement and transfer to or from facility equipment is the end-user’s responsibility.

  • Page 29: Multi-Aiv Avoidance

    Chapter 2: Safety Multi-AIV Avoidance When multiple AIVs are operating in the same operating space, they must be connected to an Enterprise Manager 1100 (EM) via WiFi. The EM helps prevent collisions by sharing AIVs’ dynamic X, Y, Theta, size, and path-planning information with each other. AIVs then factor this data into their obstacle avoidance.

  • Page 30: Obstacles

    2.5  Intended Use at pickup and dropoff locations where the AIV must get close to conveyors or other fixed objects. The primary direction of travel of the LD Platform Cart Transporter is forward. When the trans- porter is turning in place, with no forward movement, the detection of an obstacle in its path of rotation will not trigger an E-Stop.

  • Page 31: Non-Intended Use

    The body of the AIV must not come into contact with liquids. The drive wheels can tolerate damp floors, but the body of the AIV must remain dry. If there is any doubt concerning the application, ask your local Omron support to determine if it is an intended use or not.

  • Page 32: Additional Safety Information

    In the unlikely event that the cart becomes unlatched from the platform while in motion, the brakes are designed to stop the cart within six feet. Mobile Robot LD Safety Guide Your local Omron support provides other sources for more safety information: Mobile Robot LD Safety Guide provides detailed information on safety for LD Platforms. It also gives resources for information on relevant standards.

  • Page 33: Chapter 3: Setup

    Chapter 3: Setup CAUTION: Possible battery damage. Immediately charge the battery to a full charge upon receipt to avoid the risk of discharging the battery below a usable state, which would require battery replacement. Effective April 1, 2016, IATA regulations require that air-shipped lithium ion batteries (UN 3480, PI 965) must be transported at a state of charge not exceeding 30%.

  • Page 34: Transport And Storage

    3.1  Transport and Storage a person to place a cart where the transporter can find it. It will also help keep someone from putting something other than a cart in that area, which could prevent a cart from being parked in that location. Configure the MobilePlanner software, so a transporter can pick up and drop off carts.

  • Page 35: Standalone Cart

    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 your local Omron support immediately. Retain the containers and packing materials. These items may be necessary to settle claims or, at a later date, to relocate the equipment.

  • Page 36: Battery

    3.3  Unpacking Battery The battery is shipped separately from the transporter. Locate the box that contains the battery before continuing. Refer to the following figure. Figure 3-1. Battery Shipping Container The battery box measures 311 x 540 x 457 mm (12.25 x 21.25 x 18 inches). NOTE: The battery weighs 19 kg (42 lbs).

  • Page 37: Ld Platform Cart Transporter

    Chapter 3: Setup LD Platform Cart Transporter Figure 3-2. Cart and LD Platform Cart Transporter in Crate The transporter crate measures 1257 x 1149 x 1645 mm (49.50 x 45.25 x 64.75 inches). Removing the Front Panel The front panel of the transporter crate doubles as a ramp, for rolling the platform off of the crate base.
  • Page 38 3.3  Unpacking Figure 3-3. Spring-loaded Latch 2. Remove the front panel, and set it aside. This will be used as a ramp, to roll the platform off of the crate base. Removing the Upper Body of the Crate 1. There are six lag bolts and washers around the base of the crate, two in the rear and two on each side.
  • Page 39 Chapter 3: Setup Removing the Cart The cart is secured under a wooden panel and a cardboard box. 1. Loosen the restraining strap that is around the cardboard box. 2. Remove the cardboard box. This contains the dock and the joystick, as well as miscellaneous cords. If accessories, such as call boxes, are ordered, they will be shipped separately.

  • Page 40: Repacking For Relocation

    3.4  Setting Up an LD Platform Cart Transporter Figure 3-6. Crate Braces Repacking for Relocation If the LD Platform Cart Transporter or other equipment needs to be relocated, reverse the steps in the installation procedures in this chapter. Reuse the original packing crates and materials and follow all safety notes used for installation.
  • Page 41 Chapter 3: Setup 2. Roll the transporter off of the crate base and down the ramp. Figure 3-7. LD Platform Cart Transporter on Crate Base, with Ramp 3. Remove the two wheel pins that held the wheels up during transit. The wheels are pinned up to protect the motors and drives.
  • Page 42 3.4  Setting Up an LD Platform Cart Transporter Figure 3-8. Wheel Pin Hole Location For each side of the platform: a. Remove the side cover a small distance from the platform. Refer to Removing Covers on page 152. The light disc PCA cable will still be attached. b.

  • Page 43: Installing The Battery

    Chapter 3: Setup e. Lower the wheel to the floor. The wheels are spring-loaded, and the wheel brakes will be on. f. Put the side cover next to the platform, and attach the light disc cable to the light disc PCA. g.
  • Page 44 3.4  Setting Up an LD Platform Cart Transporter Figure 3-10. Pulling the Bottom of the Rear Cover Out Figure 3-11. Lowering the Rear Cover LD Platform Cart Transporter User's Guide 14766-000 Rev E...
  • Page 45 Chapter 3: Setup Refer to Removing and Installing LD Platform Cart Transporter Covers in the Maintenance section for cover removal and installation. 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 46 3.4  Setting Up an LD Platform Cart Transporter Figure 3-13. Lifting the Battery The connectors for power and data go toward the rear of the platform. 4. Attach the battery power and data cables to the connectors at the rear of the battery. Figure 3-14.

  • Page 47: Installing The Docking Station

    Chapter 3: Setup Installing the Docking Station The automated docking station can be used for either manual or automated charging of your LD Platform Cart Transporter's battery. The docking station sits on the floor. It can be attached to a wall with the wall bracket, attached directly to the floor with screws through its base, or it can sit stand-alone on the floor with the floor plate, all of which will keep the docking station from moving when the trans- porter docks.
  • Page 48 3.4  Setting Up an LD Platform Cart Transporter Units are mm 3x Ø6 Thru 8x 25 18x Ø6 Thru 98 ± 20 Wall Mount Bracket Detail Figure 3-15. Docking Station, Wall Mount 2. Screw the two shoulder bolts, each with a washer, into the rear of the docking station. The shoulder bolts are M5 x 4, stainless steel.
  • Page 49 Chapter 3: Setup Figure 3-16. Rear View of Docking Station with Shoulder Bolts 3. Lower the docking station down, so the two shoulder 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 NOTE: Because this method permanently attaches the dock to the floor, it may be subject to building code regulations.
  • Page 50 3.4  Setting Up an LD Platform Cart Transporter station. Attaching the Floor Plate Refer to the following figures. 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.
  • Page 51 Chapter 3: Setup Figure 3-18. Docking Station, Mounted on Floor Plate Units are mm Figure 3-19. Docking Station Floor Plate Dimensions 14766-000 Rev E LD Platform Cart Transporter User's Guide...

  • Page 52: Installing The Cart Brake Release

    3.5  Installing the Cart Brake Release Power On 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 53: Installation

    Chapter 3: Setup Figure 3-21. Cart Caster Brake, Showing Spring and Pin To allow an Operator to release the cart brakes when there is no cart LD Platform Cart Trans- porter present, each cart comes with a brake-release cable and lever, similar to a bicycle hand brake, that releases the cart brakes when squeezed.
  • Page 54 3.5  Installing the Cart Brake Release Figure 3-22. Brake-release Lever CAUTION: It is important that the brake-release handle be mounted in an ergonomically-suitable location, so an Operator can repetitively release the brakes without risking injury. The actual mounting location and procedure for the brake-release handle are not covered here due to the variability that is possible in cart structure designs.
  • Page 55 Chapter 3: Setup Route brake-release cable up to brake lever Ø6 mm (0.25 inch) hole through rear tube wall Secure brake-release cable to saddle tie Figure 3-24. Thru-holes for Brake-release Cable, Plate Removed After the brake-release lever has been mounted on the cart payload: 1.

  • Page 56: Adjustment

    3.5  Installing the Cart Brake Release Lever Cable Right Left Clamp Brake Brake Cable Cable Right Brake Actuator Bar Adjust. Hard Stop Pulley Lever Left Actuator Cable Brake Adjust. Lever Cable Anchor Figure 3-25. Internal Brake-Release Mechanism 2. Route the cable to the lever cable anchor. 3.
  • Page 57 Chapter 3: Setup Caster Cables These should be adjusted correctly from the factory. If any adjustment is needed, refer to the preceding figure for the adjustment location. The brake pins should be able to go down as far as the caster surface allows, without any slack. The jam nuts on the two brake adjustments should be installed using a threadlocker.

  • Page 59: Chapter 4: Configuration

    Chapter 4: Configuration The LD Platform Cart Transporter comes with firmware and on-board software installed. Configuration of an LD Platform Cart Transporter is done using the MobilePlanner software. Configuration includes generation of the map that the AIV will use for navigation. The cart parking goals need to be added to that map.

  • Page 60: Setting Up Wireless Ethernet

    4.1  Settings and Configuration internally connected to the Ethernet port located on the rear side of the LD Platform core in the payload bay. The Maintenance Ethernet port is permanently set to IP address 1.2.3.4, with a netmask of 255.255.255.0, for direct, wired access to the onboard systems. 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.
  • Page 61 Chapter 4: Configuration NOTE: The following settings have to be provided by your IT department. Radio Settings SSID (e.g. AGV) Fill in the appropriate wireless SSID for your wireless network. The SSID is case sensitive. Mode Managed/STA, Ad-Hoc, or Master/AP Radio Mode Auto, 802.11a, 802.11b, 802.11g Channel Set Wireless Watchdog IP Address...

  • Page 62: Mapping

    4.2  Mapping Wireless Coverage The AIV must have wireless coverage for multi-AIV installations, or in areas where you wish to send new commands to or receive status updates from the AIV. Ensure that, in such cases, you have adequate wireless coverage. Because of the variation pos- sible in different environments, we don't specify what components or techniques should be used to obtain this coverage.

  • Page 63: Setting Up Cart-Parking Goals

    Chapter 4: Configuration Working With Map Files > Editing a Map File > Using the Drawing Tools > Adding Goals and Docks in the Mobile Robot Software Suite User's Guide. Transfer the working map to the Enterprise Manager 1100, or back to the platform, if you have only one platform, to perform autonomous mobile actions.

  • Page 64: Operating Modes

    4.3  Configuring a Touchscreen In the MobilePlanner software, select: MobilePlanner > SetNetGo Network > User LAN Ethernet Ensure that: the IP address subnet doesn’t conflict with the Wireless Ethernet IP subnet Interface mode is set to Accessory DHCP Server for Accessories is set to Enable DHCP IP Range is large enough to provide IP addresses for all connected devices Figure 4-1.
  • Page 65 Chapter 4: Configuration Dropoff Priority This is accessed under Pages > ChooseDropoffPage. You can enable high-priority dropoffs, which will be serviced before normal-priority dropoffs. The Operator can specify that a goal is high-priority when it is being selected for the upcoming dropoff.

  • Page 66: Localization Goals

    4.3  Configuring a Touchscreen In this mode you need to specify the name of the Patrol Route that the AIV will patrol. The route needs to have already been set up using the MobilePlanner software. You also need to specify if the AIV will start its patrol automatically, or if it requires an Operator to press Go. Select Pages > PatrolRoutePage In RouteName, enter the route to be patrolled.

  • Page 67: 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. 14766-000 Rev E LD Platform Cart Transporter User's Guide...

  • Page 68: Screensaver

    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 AIV, you will need to power cycle the AIV to see the change.

  • Page 69: Display Language

    Chapter 4: Configuration If the AIV is in motion when the screensaver comes on, it will use the Busy icon, and display a status message (where it’s going). If the AIV is not in motion, it will display the Available icon.

  • Page 70: Contact Information

    Service can work with your system designer to input your needs into our models. Contact your local Omron support for details. See Support on page 19. If your payload’s center of gravity is not within the guidelines given in the Payloads chapter, you will need to adjust the Absolute Movement Maximums parameters in the MobilePlanner software.

  • Page 71: Supplemental Information

    AbsoluteMaxRotVel may need to be adjusted. The limits and defaults for these parameters are listed in the following table. Parameter Default AbsoluteMaxTransVel (LD-105CT) 1350 2500 AbsoluteMaxTransVel (LD-130CT) 2500 AbsoluteMaxTransNegVel (LD-105CT) -210 -2500 AbsoluteMaxTransNegVel (LD-130CT) -140 -2500 AbsoluteMaxTransAccel 1000 2000 AbsoluteMaxTransDecel 2000...

  • Page 73: Chapter 5: Payloads

    Chapter 5: Payloads 5.1 Safety Drive Warning Light For CE compliance, an AIV is required to have a readily-visible warning light, when it is either ready to move or is moving. The platform comes with light discs on each side, and the HMI post has a beacon, designed to be higher than a normal payload, to do this.

  • Page 74: Weight

    5.2  Considerations CAUTION: Potential pinch hazard. Ensure that there is enough space between the HMI post and your payload, when the transporter and cart are coupling, that it is not a pinch hazard. Weight Run-time between charges is a function of payload weight. A heavier payload will result in a shorter run-time.
  • Page 75 Chapter 5: Payloads 105 kg Figure 5-1. Isometric View, 105 kg Figure 5-2. Longitudinal View, 105 kg 14766-000 Rev E LD Platform Cart Transporter User's Guide...
  • Page 76 5.2  Considerations Figure 5-3. Transverse View, 105 kg Figure 5-4. Top View, 105 kg LD Platform Cart Transporter User's Guide 14766-000 Rev E...
  • Page 77 Chapter 5: Payloads 130 kg Figure 5-5. Isometric View, 130 kg Figure 5-6. Longitudinal View, 130 kg 14766-000 Rev E LD Platform Cart Transporter User's Guide...
  • Page 78 5.2  Considerations Figure 5-7. Transverse View, 130 kg Figure 5-8. Top View, 130 kg LD Platform Cart Transporter User's Guide 14766-000 Rev E...

  • Page 79: 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. Contact your local Omron support to get a new set of plots based on parameters that differ from those used to produce the plots shown here.

  • Page 81: 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 the platform top plate. These include I/O and power con- nections. Access to the payload bay is covered in Accessing the Payload Bay on page 150. For a LD Platform Cart Transporter system, most of these connections will not usually be used.

  • Page 82: Cart-Specific Pca

    Light Pole goes through the PCA to the Operator panel. User LAN goes to the Ethernet switch in the payload bay. Two ports are spares. Cart-Specific PCA NOTE: Contact your local Omron support for details. User EMO Switch User User EMO Out...
  • Page 83 Chapter 6: Connectivity User E_Stop (USER EMO OUT), J13. Micro MATE-N-LOK, mates with TE 6C 794617-6. Pin No. Designation Notes ESTOP 2A Dry contact ESTOP 2B Dry contact BRAKE Use switch to connect to BATTERY (pin 5) for external brake release ESTOP CTRLD POWER (BAT) 1 A limit BATTERY 1 A limit...
  • Page 84 6.2  LD Platform Cart Transporter Connections The return is common for each bank of four outputs, with the indicated jumper. Connector Designation Notes OUT1 JP13, LED DS14 OUT2 JP11, LED DS15 OUT3 JP10, LED DS16 OUT4 JP12, LED DS17 JP26 RETURN Selects HI or LO for J19-J22 OUT5 JP17, LED DS10 OUT6...
  • Page 85 Chapter 6: Connectivity Connector Designation Notes LED DS26 LED DS27 LED DS29 LED DS28 RETURN Selects SINK LO or SOURCE HI for J40, J45-47 LED DS33 LED DS32 LED DS31 LED DS30 RETURN Selects SINK LO or SOURCE HI for J48 - J51 Pin No. Designation Notes BATTERY 22-29 VDC, 0.4 A TOTAL HI (BAT) or LO (GND) SENSOR...

  • Page 86: Standard Platform Connections

    6.3  Standard Platform Connections VBAT 9.09K VBAT DS26 IO_INPUT1 3.9K IN_1 3.9K SHIELD_GND 3.9K DS27 3.9K VBAT PS2805_4 IN_2 IO_INPUT2 SHIELD_GND DS29 VBAT Jumpers shown as ACTIVE LOW IN IN_3 Move to 2/3 position ACTIVE HIGH IN IO_INPUT3 SHIELD_GND DS28 VBAT IN_4 IO_INPUT4...

  • Page 87: Ld Platform Core Front, Upper

    Chapter 6: Connectivity NOTE: If a connection is in Connectivity on page 81, it means that the description here does not apply to the LD Platform Cart Transporter, because that connection is being used for a cart-specific use. NOTE: Standard connectors, such as audio, are not covered here. These are on the right side of the core, shown in the following figure: Digital Ant1 Ant2 Audio Out...
  • Page 88 6.3  Standard Platform Connections Connection Type Description range for each input is 0 to 30 V. The input is ON when V > 4 V, OFF when V < 1.3 V. 16 digital outputs, protected low-side drivers. These outputs should be wired to positive voltage through the load.
  • Page 89 Chapter 6: Connectivity Designation Pin No. Hardware Software Notes INPUT_2.3 Input_2.3 0-30 V Range, R = ~3.9 kΩ INPUT_2.4 Input_2.4 0-30 V Range, R = ~3.9 kΩ BANK2 Common for INPUT_2.X INPUT_3.1 Input_3.1 0-30 V Range, R = ~3.9 kΩ INPUT_3.2 Input_3.2 0-30 V Range, R...
  • Page 90 6.3  Standard Platform Connections Designation Pin No. Hardware Software Notes VBAT_IO_OUT3 VBAT @ 0.5 A Max VBAT_IO_OUT2 VBAT @ 0.5 A Max VBAT_IO_OUT1 VBAT @ 0.5 A Max 41, 42, 43, 44 Digital Input Specifications Parameter Value Operational voltage range 0 to 30 VDC OFF state voltage range 0 to 1.3 VDC ON state voltage range...
  • Page 91 Chapter 6: Connectivity Figure 6-6. Typical Digital Input Wiring Example 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 92 6.3  Standard Platform Connections Standard Equipment User-Supplied Equipment VBAT_IO_OUT4 Wiring Terminal Block VBAT_IO_OUT1 Typical User Loads OUTPUT_1 OUTPUT_2 OUTPUT_3 (equivalent OUTPUT_4 Load circuit) OUTPUT_5 Load OUTPUT_16 Load Figure 6-7. Typical Digital Output Wiring Example Analog I/O Connector type HDB15M Pin No. Designation Notes ANALOG_IN1...
  • Page 93 Chapter 6: Connectivity The maximum output current of each analog output is 10 mA. Exceeding the maximum output current will result in damage to the analog output module. Aux Sensors Connector type HDB15M Side (vertical) and low sensing (foot) lasers Designation Pin No.

  • Page 94: Ld Platform Core Rear, Upper

    6.3  Standard Platform Connections LD Platform Core Rear, Upper Light Pole User Interface User Bumpers Aux Power User Power Maint LAN Joystick HMI Panel Sonar 2 Figure 6-8. Rear Upper Core NOTE: The connectors in the top row of the Rear Upper Core mate with Molex Mini-Fit Jr™...
  • Page 95 Chapter 6: Connectivity Power Connections The platform provides conditioned 5, 12, and 20 VDC, and raw (battery) 22 - 30 VDC power to the platform’s and accessory electronics, including the onboard LD Platform core and safety scanning laser LIDAR (Light Detection And Ranging). ®...
  • Page 96 6.3  Standard Platform Connections Factory- User-Supplied Equipment Supplied Equipment Wiring terminal block VBAT_IO_OUT4 Typical user load LIGHT_P1_N LIGHT_P2_N (equivalent LIGHT_P3_N circuit) LIGHT_P4_N Figure 6-9. Sample Light Pole Diagram User Interface ® Connector type Mini-Fit 7 x 2 Brake release, ON, OFF, E-Stop Pin No.
  • Page 97 Chapter 6: Connectivity NOTE: An E-Stop jumper or a user-supplied E-Stop button needs to be attached to the E-STOP port on the User Interface connector for the platform to function. The jumper is provided as part number 12730-000L. An E-Stop button would be user- supplied.
  • Page 98 6.3  Standard Platform Connections Figure 6-11. E-Stop Chain Diagram LD Platform Cart Transporter User's Guide 14766-000 Rev E...
  • Page 99 Chapter 6: Connectivity User Bumper This connection is not used with an LD Platform Cart Transporter. Aux Power ® Connector type Mini-Fit 3 x 2 Designation Pin No. Hardware Software Notes 1, 2, 3 AUX_5V_OUT Aux_5V 5 V @ 1 A max AUX_12V_OUT Aux_12V 12 V @ 1 A max AUX_20V_OUT Aux_20V...
  • Page 100 6.3  Standard Platform Connections Pin No. Designation Notes JOY_GOAL Goal Button Input JOY_EN_1H Enable channel 1 JOY_EN_2L Enable channel 2 No Connection 5 V @ 100 mA HMI Panel Connector type HDB15F Operator screen, E-Stop, Brake_Rel, ON, OFF NOTE: The HMI panel that this connects to is not the touchscreen used for the LD Platform Cart Transporter.

  • Page 101: 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 102: Core Internal Data Pinouts

    6.3  Standard Platform Connections Connection Type Description 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 Mini-Fit Sr., 3- Battery VDC; connects to battery Bumper Mini-Fit 2 x 4 This connection is not used with a LD Platform Cart Trans-...
  • Page 103 Chapter 6: Connectivity LIDAR (Light Detection And Ranging) Connector type DB26M Front safety scanning laser Designation Pin No. Hardware Software Notes RS422_LIDAR_RX+ RS422_LIDAR_RX- OSSD1 OSSD2 WF_OUT O3_OUT STANDBY No Connection Connections to 10, 18 SW_20V_LIDAR Main_Laser_Power Factory-Supplied LIDAR 11 thru 17 GND RS422_LIDAR_TX+ RS422_LIDAR_TX- IN_A1...

  • Page 104: Ld Platform Core Internal Power Pinouts

    6.3  Standard Platform Connections LD Platform Core 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...
  • Page 105 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 Factory-Supplied Battery FBAT_ALWAYS START_BUTTON OFF_BUTTON 14766-000 Rev E LD Platform Cart Transporter User's Guide...

  • Page 107: Chapter 7: Operator Interface

    Chapter 7: Operator Interface The Operator panel comprises a touchscreen, an E-Stop button, ON and OFF buttons, a brake- release (BRAKE) button, a keyswitch, and LATCH and UNLATCH buttons. The panel is moun- ted on the HMI post, so that it is easily reached by an Operator. Figure 7-1.

  • Page 108: Touchscreen Configuration

    7.1  Touchscreen Figure 7-2. Screen Initialization Status Display After initialization, either the Choose Dropoff or Patrol Route screen will be displayed. Touchscreen Configuration The behavior of the touchscreen is highly configurable. See Configuring a Touchscreen on page Screen Top Bar The top of the screen shows basic AIV information.
  • Page 109 Chapter 7: Operator Interface Figure 7-3. Screenshot Showing Top Bar and Left, Right, and Center Panes Figure 7-4. LD Platform Cart Transporter 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.

  • Page 110: Right Screen Pane

    7.1  Touchscreen Each touch of the Stay button adds 1 minute to the time the AIV will wait before continuing to its next goal. If you touch Stay while the AIV is stopped, it will add 1 minute to the time the AIV is scheduled to wait before continuing to its next goal.
  • Page 111 Chapter 7: Operator Interface Config > Robot Interface > Payload Present Messages and Behavior The AlertWhenPayloadNeededForDropoff must be checked. The PayloadNeededForDropoffShortDescription must have a value. In this case, the value is “Payload Needed”, which is displayed in the screen’s left pane. The PayloadNeededForDropoffLongDescription must have a value. In this case, the value is “The robot has a destination but does not have a payload.
  • Page 112 7.1  Touchscreen Alerts shows an abbreviated list of all active alert messages. Touching on a specific message will display that full message. Robot shows AIV status, such as the IP address, current task, and its mode. Position Details, within the Robot Status screen, shows the AIV’s position, heading, velo- city, and localization score.
  • Page 113 Chapter 7: Operator Interface Figure 7-8. Help > Contact Information Help also provides access the Replay Recorder page. Replay Recorder The replay recorder will record data for troubleshooting. Once the start page is opened, you just touch Start. When you are done recording, touch Stop. The Duration and Replay File fields are filled in by the recorder.

  • Page 114: Center Pane

    7.1  Touchscreen Figure 7-10. Replay Recorder, After Touching 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 AIV to proceed to its next goal.
  • Page 115 Chapter 7: Operator Interface Dropoffs NOTE: Until the queuing manager has been enabled, the touchscreen will not dis- play any of the dropoff goal buttons. Refer to the Mobile Robot Software Suite User's Guide. In this mode, the center of the screen displays touch-sensitive dropoff buttons, indicating the goals associated with them.
  • Page 116 7.1  Touchscreen 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 117: Patrol Route Mode

    Chapter 7: Operator Interface Figure 7-12. Touchscreen Dropoff Goals Page, with Stay and Count-down Timer Stay Button If the AIV is en route to a goal when Stay is touched, that goal’s button will be turn dark blue with an orange border. If the AIV has entered a wait task associated with a goal or job, touching Stay merely extends that wait, and the button border stays green.

  • Page 118: Operator Panel

    7.2  Operator Panel Figure 7-13. Touchscreen, Patrol Route Page, in Stay Mode An Operator can touch Stay, to pause the AIV, and Go to release it, but the Operator cannot select the AIV‘s next goal. That is determined by the patrol route. 7.2 Operator Panel E-Stop Button When pressed, the red, latching push-button prevents any transporter motion by disabling the...

  • Page 119: On Button

    Chapter 7: Operator Interface You need to interrupt or stop the platform for some reason, to keep it from performing its currently scheduled task (and don’t have access to MobilePlanner). You are working near the platform and don’t want it to move. You want to use the Brake Release button.

  • Page 120: Other Controls And Indicators

    7.3  Other Controls and Indicators 7.3 Other Controls and Indicators A beacon is mounted on the top of the HMI post. See Operator Panel, with Acuity Option Shown on page 107. Light Discs and Beacon Circular lights on the sides of the platform are used to indicate motion, turns, and several other states.
  • Page 121 Chapter 7: Operator Interface Driving with Warning (doesn't prevent driving, such as low battery) The Light Discs will be orange instead of blue for Stopped, Driving, and Turn Signals. Beacon alternates green then yellow. 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.
  • Page 122 7.3  Other Controls and Indicators Obstacle Detected The Light Discs will blink yellow if the AIV is stopped for an object in its safety zone. Beacon blinks yellow. 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.
  • Page 123 Chapter 7: Operator Interface 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.

  • Page 124: Ld Platform Core Indicators

    7.3  Other Controls and Indicators 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...

  • Page 125: Battery And Docking Station

    Chapter 7: Operator Interface Indicator Meaning 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 127: Chapter 8: Operation

    Chapter 8: Operation Before proceeding, you need to have performed the steps covered in the Setup and Con- figuration chapters, so your platform has a map to work from. 8.1 Operating Environment Intended Use The LD Platform Cart Transporter is designed for operating in indoor industrial or pro- fessional environments.

  • Page 128: Environment And Floor

    8.1  Operating Environment This specifically includes wires hanging from above the AIV, which could pose a hazard if the AIV ran into them. large, highly-reflective objects Environment and Floor Floors must be level and provide good traction, typical of good walking conditions. 5 to 40°C (41 to 104°F) Temperature 5% to 95%, non-condensing...

  • Page 129: Cart Getting Stuck On Platform

    Chapter 8: Operation Platform Stuck Under Overhang AIV Stuck Under Overhang Platform Driven off Ledge Platform Driven Over Excessive Gap Figure 8-1. Platform/AIV Getting Stuck Examples Cart Getting Stuck on Platform To remove a cart that is stuck in the latched position: 1.

  • Page 130: Power And Charging

    8.3  Power and Charging safety zones, minimum battery level allowed before docking for recharging, which map to use, and many other parameters. The MobilePlanner software typically communicates with the plat- form over the wireless network. A direct connection, through the Maintenance Ethernet port on the platform, is also possible.

  • Page 131: Docking Station

    Chapter 8: Operation Figure 8-2. Battery LEDs, Push-Button, Power Cable, and Data Cable Pushing the "SHOW LEVEL" button displays the battery's state of charge. This can be useful when a battery is in storage, and you want to know its state of charge. NOTE: After pressing the SHOW LEVEL push button, the battery will display the state of charge for a brief time, then go back to scanning back and forth on LED at a time.
  • Page 132 8.3  Power and Charging Figure 8-3. 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 133: Manually Charging The Battery

    Chapter 8: 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. See Docking Station Contacts on page 150.
  • Page 134 8.3  Power and Charging There are three ways for managing battery balancing: Set the platform‘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 platform docks. You do not have to do anything extra to balance the battery. In this mode, the battery will typically take about 10 minutes to balance after charging.

  • Page 135: Startup

    Chapter 8: Operation 8.4 Startup Procedure Press and hold the ON button for 0.5 s, then release. It takes about a minute for all the systems to start up and make their various interconnections. If the platform doesn't start up, try power OFF, check your connections, and then power ON.

  • Page 136: Working With Carts

    8.5  Working with Carts Joystick Use Use the joystick to drive the platform manually. Squeeze the trigger to enable the drive button. Push the drive button forward or back to make the platform move in that direction. Push the drive button to the side to make the platform rotate in that direction. Diagonal positions of the drive button move the platform in an arc.
  • Page 137 Chapter 8: Operation Cart brakes are only intended to prevent rolling on a slightly unlevel floor. They will not imme- diately stop a moving cart, or prevent a cart from rolling down a slope. Although it is possible to push the cart with the brakes engaged, this is not recommended because it will accelerate wear of both the braking pins and the casters themselves.

  • Page 139: Chapter 9: Options

    Chapter 9: Options The LD Platform Cart Transporter is available with a number of options to enhance its per- formance and abilities. Enterprise Manager 1100 The Enterprise Manager 1100 manages a fleet of AIVs, for multi-AIV coordination and job management. It includes the Enterprise Manager appliance running the Mobile Software suite. It is covered in the Enterprise Manager 1100 User's Guide.

  • Page 140: Acuity Localization

    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 141: Chapter 10: Maintenance

    Chapter 10: Maintenance This chapter covers periodic maintenance and user-serviceable parts replacement for the LD Platform Cart Transporter. Operator Panel Side Laser, Guard x2 Laser Support Post Rear-facing Tube x2 Laser, Guard Brace x2 Navigation Rear Laser Sonar Light Battery Front Disc x2 Cover...

  • Page 142: Safety Aspects While Performing Maintenance

    10.1  Safety Aspects While Performing Maintenance Platform Core Platform Payload Sonar Controller Core Mounting Bracket Figure 10-3. Location of Parts in the Payload Bay 10.1 Safety Aspects While Performing Maintenance Electrical Hazards DANGER: During maintenance and repair, the power to the docking station must be turned off.

  • Page 143: Pinch Hazard

    Chapter 10: Maintenance Pinch Hazard Platform Covers CAUTION: Pinch hazard. The covers are held in place with strong magnets, which can pinch you if you are not careful. Follow the instructions in the Main- tenance chapter for handling covers. Magnetic Field Hazards Platform Covers WARNING: Magnetic fields can be hazardous to medical implant wearers.

  • Page 144: Rear Lifting Area

    10.2  Lifting the Platform Safely Figure 10-4. The upper surface of the laser slot, at both sides, not the center. 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 10-5.

  • Page 145: Safety Inspection

    Chapter 10: Maintenance 10.3 Safety Inspection Item Period Reference Warning Devices 1 week Warning Devices on page 145 Warning Labels 1 week Warning Labels on page 145 Informative Labels 1 week Informative Labels on page 148 Warning Devices The following warning devices should be inspected for proper function on a weekly basis. Light Discs The light discs on each side of the transporter should be checked.
  • Page 146 10.3  Safety Inspection Laser Aperture Label, 13308-000L One of these labels will be on each of these lasers: Low Front laser Left and Right Side lasers Rear laser Coupling laser Pinch Point Label, 12992-000 A pinch point label is on top of the latch mechanism cover. Hand-entanglement Label, 18180-000 A hand entanglement label is under the latch mechanism cover, near the belt and pul- ley.
  • Page 147 Chapter 10: Maintenance Medical Implant, Magnetic Field Warning Label, 18621-000 One magnetic field/implant label is on the transporter rear cover. A second is on the top rear bar of the cart. A third is on the underside of the transporter, on the docking funnel. This magnet is only exposed during maintenance, when the transporter is tipped on its side.

  • Page 148: Informative Labels

    10.3  Safety Inspection Automatic Vehicle Label, 18623-000 CAUTION AUTOMATIC VEHICLE An Automatic Vehicle label is attached to the rear cover of the LD Platform Cart Trans- porter. Informative Labels The following labels are on the Operator Panel, at the top of the HMI post. They should be checked on a weekly basis for being present and legible.

  • Page 149: Cleaning

    Chapter 10: Maintenance Magnetic Field and No-ride Labels 6-mm dia. (0.25-inch dia.) Pass-through hole for brake cable, through rear frame tube Figure 10-7. Magnetic Field/Implant, and No Riding Labels on Cart 10.4 Cleaning Work Area Maintenance The work area of the AIVs must be kept generally clean and free from clutter that could block an AIV.

  • Page 150: Tires

    10.5  Accessing the Payload Bay NOTE: When the tires or floor get dirty, the wheels will tend to slip, and the AIV can fail to localize. This is common near goals. Both the floor and the tires need to be kept clean. NOTE: The frequency of these procedures will depend on your particular system, its operating environment, and the amount of usage.

  • Page 151: Removing Latching Mechanism Cover

    Chapter 10: Maintenance the platform and the HMI post and coupling plate are not damaged. See Top View of an LD Plat- form Cart Transporter, Side Laser Support Tubes Removed on page 141. The top plate is held on with eight M6 socket-head screws and two M5 cap screws. You should not remove the HMI post base.

  • Page 152: Installing Latching Mechanism Cover

    10.6  Removing and Installing LD Platform Cart Transporter Covers 2. Reconnect the cabling to the latching motor assembly and its sensors. 3. Reinstall the eight M6 screws along the sides and front of the top plate. Use the screws previously removed from the top plate. 4.
  • Page 153 Chapter 10: Maintenance The rear outer must wait for the rear inner and the two side covers. The front upper must wait for the two side covers. The two sides, the rear inner, and the bumper cover can all be removed without remov- ing any other covers, except that the left cover must wait for the access panel.
  • Page 154 10.6  Removing and Installing LD Platform Cart Transporter Covers Bumper Cover This is the only cover that requires tools to remove. 1. Remove the screws at the sides of the cover. Retain the screws for reinstalling the bumper cover. 2. Pull the cover off of the bumper. It is held on with magnets, as well as screws.

  • Page 155: Installing Covers

    Chapter 10: Maintenance Figure 10-9. 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. Installing Covers The covers can be installed in the reverse of the order in which they are listed above.
  • Page 156 10.6  Removing and Installing LD Platform Cart Transporter Covers 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 door. 1.

  • Page 157: Replacing Periodic Parts

    Chapter 10: Maintenance Figure 10-10. 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 158 10.7  Replacing Periodic Parts NOTE: There are no serviceable parts inside the battery case. Do not open it. WARNING: Replace the battery only with an Omron Adept Technologies, Inc. battery. Dispose of the battery according to all local and national environmental regulations regarding electronic components.

  • Page 159: Replacing Non-Periodic Parts

    Chapter 10: Maintenance Figure 10-11. Battery Cable Connectors 4. Slide the battery back and out of the platform. There is a hand grip at the front and the rear of the battery, to help you lift it. Installation Refer to Installing the Battery on page 43 for instructions on installing the battery. 10.8 Replacing Non-Periodic Parts All of the following parts are replaced on an as-needed basis.

  • Page 160: Safety Scanning Laser

    Figure 10-12. Docking Station Roller Location Safety Scanning Laser If the Safety Scanning Laser needs to be replaced, contact your local Omron support. Obstacle Detection and Coupling Lasers All of the lasers on the LD Platform Cart Transporter, other than the Safety Scanning Laser, are the same model laser.
  • Page 161 Chapter 10: Maintenance Low Front Laser 1. Remove the four M5 screws holding the laser guard to the mounting plate along with their lock washers and flat washers. This will free the guard from the plate. Retain the M5 screws, lock washers, and flat washers for reassembly. CAUTION: Take care not to scratch the laser lens during this pro- cedure.
  • Page 162 10.8  Replacing Non-Periodic Parts Side Lasers Each side laser assembly includes the laser, guard, and flange. They mount to the ends of the horizontal support tubes. The flanges should be left attached to the horizontal support tubes. 1. Loosen the two M4 screws holding the laser guard to the mounting flange. The screws go through two slots in the guard, so the guard can slide off after the screws are loosened.
  • Page 163 Chapter 10: Maintenance The screws go through two slots in the guard, so the guard can slide off after the screws are loosened. 4. Slide the guard back enough to free it, and remove it from the assembly. CAUTION: Take care not to scratch the laser lens when removing the laser guard.

  • Page 164: Rear Sonar Units

    10.8  Replacing Non-Periodic Parts 3. Connect the new laser cable to the cable going to the platform core. 4. Mount the new laser to the bracket with the M4 screws, lock washers, and washers pre- viously removed. Reinstall the top plate and the Latching Mechanism cover. Refer to Accessing the Payload Bay on page 150.

  • Page 165: Cart Latching Mechanism

    4. Dispose of the old controller according to local and national regulations concerning elec- tronic components. Cart Latching Mechanism CAUTION: The latch mechanism belt adjustment is for Omron Adept Tech- nologies, Inc. Field Service only. Changing the belt tension can lead to pre- mature failure.
  • Page 166 10.8  Replacing Non-Periodic Parts CAUTION: Pinch hazard. The latch of the LD Platform Cart Transporter can pinch you if you are not careful. Keep your hands clear of the Latching Mech- anism when it is in action. WARNING: Entanglement hazard. The belt and pulley of the LD Platform Cart Transporter can entangle your hand during maintenance.

  • Page 167: Light Discs

    Chapter 10: Maintenance Insert the two screws previously removed to hold the hook-lowering block in place. 7. Reinstall the latching mechanism cover. See Installing Latching Mechanism Cover on page 152. Light Discs The two light disc assemblies and their controllers are single units, so replacing a controller also replaces all of the lights on that side of the platform.

  • Page 168: Drive Assemblies

    10.8  Replacing Non-Periodic Parts The wheels/tires are not user-serviceable parts. If the tires are worn or cracked, contact your Omron sales representative. Drive Assemblies The platform drive assemblies have been designed to be field-replaceable. This will replace the drive motor, gearbox, encoder, and wheel/tire assembly.

  • Page 169: Platform Casters

    Chapter 10: Maintenance Figure 10-18. Mounting Screws at Bottom-Right of Drive Assembly 8. Remove the drive assembly from the platform. The motor cable to the LD Platform core will still be attached. 9. Disconnect the motor cable at the drive assembly. Installation 1.
  • Page 170 10.8  Replacing Non-Periodic Parts All four platform 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 battery, which is only necessary to tilt the platform on its side.

  • Page 171: Ld Platform Cart Transporter Casters

    Chapter 10: Maintenance 3. Put the new caster in place, and attach with the M10 x 30 mm screw you removed from the old caster. Use Loctite 263. Torque to 27 N·m (20 ft·lbf). If you removed the battery for this procedure: 1.
  • Page 172 10.8  Replacing Non-Periodic Parts Retain the screw, washer, and lock washer for mounting the new caster. 2. Remove the caster from the cart. Front Caster Installation 1. Put the new caster in place, and attach with the M10 screw and washers you removed from the old caster.
  • Page 173 Chapter 10: Maintenance Brake Cable Wire, with Ball End, Fits into Slot and Hole Shaft of Pin Slides Inside Caster Mounting Screw Flat Top of Blunt End Retains Spring Blunt End Presses Against Caster Wheel Figure 10-21. Brake Pin 6. Remove the brake pin with spring from the inner brake cable wire. Save the brake pin and spring for reassembly.

  • Page 174: Cart Brake Release

    10.8  Replacing Non-Periodic Parts the caster mounting screw. 5. Make sure the spring, previously removed from the brake pin, is in place on the brake pin. The wide end goes up, against the caster mounting screw. 6. Insert the ball end of the inner wire into the hole in the brake pin, with the inner wire in the slot above the hole.

  • Page 175: Ld Platform Core

    Chapter 10: Maintenance 1. Remove the cart top plate. See Removing Top Plate on page 151. 2. Disconnect the end of the cable from the brake control mechanism. a. Disconnect the inner wire from the lever cable clamp. b. Disconnect the lever cable from the lever cable anchor. 3.
  • Page 176 10.8  Replacing Non-Periodic Parts Figure 10-23. Core Mounting Bracket 7. Remove the Sonar 1 cable from the core. This cable is too short to allow the core to be lifted, until the cable is removed. 8. Gently lift the LD Platform core up, until you have access to the internal connections. 9.

  • Page 177: E-Stop And Safety Laser Commissioning

    AIV. The speed zones are listed in the following table. (When you press the Drive button in the wizard, the wizard will display the maximum AIV speed.) Maximum Speed (mm/s) Zone LD-105CT LD-130CT 14766-000 Rev E LD Platform Cart Transporter User's Guide...
  • Page 178 10.8  Replacing Non-Periodic Parts Maximum Speed (mm/s) Zone LD-105CT LD-130CT 1125 1350 1350 1350 1. From the MobilePlanner software, select: Main Menu > Robot > Safety Commissioning 2. Follow the on-screen instructions to complete the test. You can print a certificate after successful completion of the commissioning.

  • Page 179: Chapter 11: Technical Specifications

    Chapter 11: Technical Specifications 11.1 Dimension Drawings 144.6 416.0 1393.2 504.9 1306.7 Ø101.6 133.1 626.6 84.0 195.0 1073.3 Units are mm Figure 11-1. Overall LD Platform Cart Transporter Dimensions Figure 11-2. Coupling Plate Dimensions, Arms Removed 14766-000 Rev E LD Platform Cart Transporter User's Guide...

  • Page 180: Specifications

    11.2  Specifications 8x M6 Threads 234.44 295.4 234.44 234.44 234.44 845.82 480.06 591.82 Units in mm Figure 11-3. Cart Dimensions If you have a factory-supplied cart, these preceding dimensions show where you will attach your payload. 11.2 Specifications LD Platform Cart Transporter Physical Description Specification Physical...

  • Page 181: Ld Platform Cart Transporter Performance

    Caster diameter 75 mm nominal LD Platform Cart Transporter Performance Description Specification Performance Max payload LD-105CT: 105 kg (231 lb) LD-130CT: 130 kg (287 lb) Run-time 15 h continuous, approx. Swing radius Platform or Platform and Cart:  698.5 mm Turn radius...

  • Page 182: Battery Output

    11.2  Specifications Description Specification Weight 19 kg (42 lb) Voltage 22-30 VDC Capacity 72 Ah Energy 1.84 kWh nominal Recharge time 4 h, approx. Life span Approximately ≥ 2000 Cycles Sensors Safety Scanning Laser 1 at front of platform, 201 mm (7.9 inches) height 240°, 15 m range, Class 1, eye-safe PLd Safety per ISO-13849...

  • Page 183: Cart

    Chapter 11: Technical Specifications Maximum Nominal Actual Description Current 22 – 30 VDC battery 10 A Switched 22 – 30 VDC battery 10 A Safe, Switched * 10 A Switched and 10 A Safe, Switched share the 10 A of current. Cart Description Specification...
  • Page 184 11.2  Specifications Description Specification (free-standing) with included floor plate Indicators Power on - blue Charging - yellow Connector For out-of-platform battery charging LD Platform Cart Transporter User's Guide 14766-000 Rev E...
  • Page 186 OMRON ADEPT TECHNOLOGIES, INC. No. 438A Alexandra Road # 05-05/08 (Lobby 2), 4550 Norris Canyon Road, Suite 150, San Ramon, CA 94583 U.S.A. © OMRON Corporation 2017 All Rights Reserved. Alexandra Technopark, Tel: (1) 925-245-3400/Fax: (1) 925-960-0590 In the interest of product improvement,...

This manual is also suitable for:

Ld-130ct

Table of Contents