Omron LD-250 User Manual
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Omron LD-250 User Manual

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LD-250 Platform
User's Guide
I642-E-02

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Summary of Contents for Omron LD-250

  • Page 1 LD-250 Platform User’s Guide I642-E-02...
  • Page 2 The information contained herein is the property of Omron Robotics and Safety Technologies, Inc., and shall not be reproduced in whole or in part without prior written approval of Omron Robotics and Safety Technologies, Inc. The information herein is subject to change without notice and should not be con- strued as a commitment by Omron Robotics and Safety Technologies, Inc.

  • Page 3: Table Of Contents

    Configure the Maintenance Network Obtain a DebugInfo File from SetNetGo Chapter 2: Safety 2.1 General Hazards 2.2 What to Do in an Emergency Releasing the Brakes to Move the LD-250 Manually Releasing an E-Stop 2.3 Dangers, Warnings, and Cautions Alert Levels Alert Icons Special Information 2.4 User's Responsibilities...
  • Page 4 Battery Installation Procedure 3.6 Attaching the Payload Structure and Options Attach the Payload Structure Attach LD-250 Options E-Stop Jumper on the LD-250 Core 3.7 Installing the Docking Station Docking Station Features and Parts Docking Station Requirements Required Tools and Fasteners Wall Bracket Mount 3.8 Installing Software on your Windows PC...
  • Page 5 Mounting Locations in the Payload Bay AMR Coordinate System Center of Gravity (CG) 5.3 Payload-Related Tradeoffs 5.4 Connections Between the LD-250 and a Payload Structure Operator Panel (HMI) on the Payload E-Stop Considerations when Removing the Operator Panel Optional Connections Chapter 6: Connectivity 6.1 Connections Required for Set Up...
  • Page 6 Indications Provided by Light Discs Light Outputs LD-250 Core Status Indicators 7.6 Sensors Lasers Rear Sensor Other Sensors 7.7 Start up the LD-250 LD-250 Start Up Procedure Joystick Controls and Description Chapter 8: Maintenance 8.1 Considerations During Maintenance 8.2 After Completing Maintenance 8.3 Safety Considerations when Performing Maintenance...
  • Page 7 Accessing the Payload Bay Removing and Installing Skins Restoring the Configuration Chapter 9: Options 9.1 Fleet Manager for Multi-AMR Coordination Hybrid LD-60, LD-90, and LD-250 AMR Fleets 9.2 Spare Battery 9.3 Payload Structure Bumpers 9.4 Call Buttons and Door Boxes 9.5 Acuity Localization 9.6 Touchscreen...
  • Page 8 Sensors ESD Compliance 10.3 Docking Station Specifications Chapter 11: Modify the Safety Zones 11.1 Default Safety Zones 11.2 Relevant AMR Operating Parameters 11.3 Equipment Required to Modify OS32C Safety Zones Chapter 12: Glossary LD-250 Platform User's Guide 20472-000 Rev B...
  • Page 9 Revision History Revision Date Revised Content Code 1.0, Rev (A) November 2019 Original Release. 2.0, Rev (B) December 2019 Added missing information. Correction of errors. 20472-000 Rev B LD-250 Platform User's Guide...

  • Page 11: Chapter 1: Introduction

    Payload Structure—Any passive or dynamic device attached to and possibly powered by the LD-250. This could be as simple as a crate for carrying objects such as factory parts or as complicated as a robotic arm that picks up and manipulates factory parts.

  • Page 12: Autonomous Navigation

    E-Stop button (one each side) LD-250 Autonomous Navigation The LD-250 combines hardware and mobile-robotics software to provide an adaptive, mobile platform to transport your payload. After it scans physical features in its environment, the LD- 250 navigates safely and autonomously to any accessible destination. It moves continuously and without human intervention, autonomously recharging itself as necessary.

  • Page 13: Localization

    Chapter 1: Introduction The LD-250 uses range data from a Safety Scanning Laser as its primary means of detecting obstacles and of maintaining an accurate understanding of its location in the environment. Additionally, it uses data from the following sensors: A low front or toe laser to detect objects below the plane of the main laser.

  • Page 14: Chassis And Drive Train

    Each LD-250 uses a two-wheel, differential-drive, with passive casters front and rear for bal- ance. The drive-wheels have independent spring suspension, with solid, polyurethane tread. The wheel axles are located near its center line, making the LD-250 highly maneuverable and able to rotate in place.

  • Page 15: What's Included - Basic Components

    Other sensor components such as a gyroscope and accelerometer. The amplifiers that supply power to the drive wheels. Figure 1-3 LD-250 Core Location (A) in the LD-250,Secured by Two Vented Brackets (B) One battery. Shipped separately from the LD-250 to comply with dangerous goods shipping reg- ulations.
  • Page 16 A USB flash drive containing software and documentation. In addition to the items included with every LD-250, you need at least one joystick per robot fleet. Use this joystick to manually drive the LD-250 and to create a digitized map of the work environment.
  • Page 17 SetNetGo OS. See: Maintenance Ethernet Connection on page 67. Push latch. Figure 1-6 Joystick Controls Callout Control Function AMR speed control. AMR steering and direction of travel. Map goal creation button. Movement trigger. 20472-000 Rev B LD-250 Platform User's Guide...

  • Page 18: Optional Features And Components (Partial List)

    1.2  Product Description Optional Features and Components (Partial List) Several additional options and features are available for the LD-250. See also: Options on page 187. Fleet Manager—Use an EM2100 appliance and the Fleet Operations Workspace soft- ware to operate a fleet of AMRs, for multi-AMR coordination and job management. A second Fleet Manager provides redundancy and manual failover for fleet operations.

  • Page 19: Software Overview

    You will receive several warning alerts before the license expires. LD-250 Software The minimal operating configuration for an LD-250 consists of the AMR managed by a human Operator using a Microsoft Windows PC and optionally from an Android or iOS tab- let.
  • Page 20 User-Supplied Components and System Requirements To configure and manage LD-250 you require a personal computer (PC) running a supported version of Microsoft Windows®. The PC requires: Ethernet connection. Omron recommends that you use a high-speed wireless con- nection.
  • Page 21 Chapter 1: Introduction ARAM The Advanced Robotics Automation Management software (ARAM) runs on the LD-250 Core. It is software included with your FLOW Core license. ARAM is responsible for the following AMR functions and features: Interaction with on-board sensors such as the safety scanning laser, optional side laser or included rear sensor.
  • Page 22 For more information, see: Fleet Operations Workspace Core User's Guide. Mobile Autonomous Robot Controller (MARC) The LD-250 Core contains a digital signal processor (DSP) that runs the MARC firmware. This firmware controls low-level AMR functions, including: LD-250 Platform User's Guide...

  • Page 23: Setnetgo

    AMR. SetNetGo The SetNetGo OS runs on the LD-250 Core and EM2100 appliance. It is the host OS in which the FLOW components ARAM and ARAMCentral run. SetNetGo has a Web graphical user interface that you access either from a Web browser or from within MobilePlanner as a tab.

  • Page 24: How Can I Get Help

    Acuity Localization, HAPS, and rear-facing laser.) Support Contact your local Omron Support if you have problems with your LD-250 that are not described in this manual. When you contact support, it is useful to provide a DebugInfo file. This is a collection of con- figuration, log, and system status files that support personnel can use for debugging and troubleshooting.

  • Page 25: Configure The Maintenance Network

    Configure the Maintenance Network on page 25. Configure the Maintenance Network Use this procedure only if you have not configured your LD-250 for access over a wireless net- work. Instead, you use a hardwired connection to the LD-250 maintenance port. (See: Main- tenance Ethernet Connection on page 67.)

  • Page 26: Obtain A Debuginfo File From Setnetgo

    To access the DebugInfo file, see: Obtain a DebugInfo File from SetNetGo on page 26. Obtain a DebugInfo File from SetNetGo After you access SetNetGo as described in the preceding sections, you will see the following screen: Figure 1-10 SetNetGo Status Tab LD-250 Platform User's Guide 20472-000 Rev B...
  • Page 27 1. In the SetNetGo screen, click the Status tab and then select Debug Info to activate the Download debug info button. 2. Click Download debug info. 3. When prompted, save the downloaded file, and attach it to your support request email. See: Support on page 24. 20472-000 Rev B LD-250 Platform User's Guide...

  • Page 29: Chapter 2: Safety

    Chapter 2: Safety This chapter describes important personal safety considerations. All persons that operate an LD-250 or work in the vicinity of an LD-250 must read and understand this information. 2.1 General Hazards This section describes potentially hazardous situations and conditions.

  • Page 30: What To Do In An Emergency

    D foam or dry chemical extinguisher, or a CO extinguisher. The LD-250 has two E-Stop buttons, one on either side of the chassis (a red push-lock button on a yellow background). The Operator Panel (if used) provides an additional E-Stop button.

  • Page 31: Releasing An E-Stop

    Use the localization feature in MobilePlanner or the Localize at Goal feature in ARAM. The LD-250 Core provides a brake release circuit that you can use to add a brake release but- ton to your payload in a convenient location. See: User Interface (Brake and E-Stop) on page 103.

  • Page 32: Dangers, Warnings, And Cautions

    This is a generic alert icon. Any This identifies a hazardous entan- specifics on the risk will be in glement situation. the text following the signal word. This identifies a hazardous elec- This identifies a fire risk. trical situation. LD-250 Platform User's Guide 20472-000 Rev B...
  • Page 33 You can also use the configuration parameters FrontPaddingAtSlowSpeed and FrontPad- dingAtFastSpeed to increase the AMR's safety clearances. This causes the AMR to decelerate as it approaches a hazard. See Fleet Operations Workspace Core User's Guide. 20472-000 Rev B LD-250 Platform User's Guide...

  • Page 34: Special Information

    Mobile Robot LD Safety Guide for safe AMR operation. Mechanically maintain and service AMRs for proper operation of all control and safety functions. Understanding Electrical Hazards WARNING: ELECTROCUTION RISK The docking station has AC power inside. Docking station covers are not inter- locked. LD-250 Platform User's Guide 20472-000 Rev B...

  • Page 35: Magnetic Field Hazards

    Magnetic Field Hazards The docking funnel creates a strong magnetic field. This component is located on the under- side of the LD-250. Persons using medical implants should not approach the docking funnel. WARNING: MAGNETIC FIELD - MEDICAL IMPLANT RISK Magnetic fields can be hazardous if you have a medical implant. Keep a min- imum of 30 cm (12 inches) away from the LD-250 when its underside is exposed during maintenance procedures.

  • Page 36: Payload Movement And Transfer

    Configurable Warning Buzzer The LD-250 has a configurable warning buzzer. Configure this buzzer as appropriate for the facility in which the AMR operates. By default, the buzzer sounds when the AMR is moving in any direction other than forward motion.

  • Page 37: Fleet Management

    An AMR can be unsafe if operated under environmental conditions other than those specified in this manual. Environmental Hazards—These are areas where it is unsafe for the LD-250 to operate. For example, steep ramps (greater than 1:12 or 4.7 degrees unloaded), docks, or shelves.

  • Page 38: Public Access

    Omron does not intend the LD-250 for use in uncontrolled areas without risk analysis. For example, in areas open to general public access. Use of the LD-250 in such areas requires that you deploy additional safety measures not described in this guide. For assistance, contact your local Omron Support.

  • Page 39: Obstacles

    The LD-250 provides active warning features such as a warning buzzer, speech syn- thesis, and warning indicator lights. The LD-250 Core provides user ports that enable you to add warning indicators to your payload structure. See: Indications Provided by Light Discs Light Outputs on page 127.

  • Page 40: Safety System Overspeed Faults

    2.6 Intended and Non-intended Use Intended Use The LD-250 is designed to operate in indoor industrial environments. In general, if a wheel- chair user can safely and easily navigate the environment (open, and mostly flat with only gentle inclines and wide doorways), then it is navigable by an LD-250.

  • Page 41: Non-Intended Use

    The battery has exceeded its temperature limits and the LD-250 will shut down immediately. The LD-250 has an ingress protection rating of IP20 and is not liquid-proof. Keep floors dry because liquids might get into the AMR. Damp, dusty, or greasy floors might also cause its drive wheels to slip or skid.

  • Page 42: Modifications

    AMRs. 2.7 Battery Safety The LD-250 requires one lithium ion battery. Use only the battery of the correct model number supplied by Omron. The FLOW software determines whether the battery is the correct type for the LD-250.

  • Page 43: Battery Safety Precautions

    Contact your local Omron Support for other sources of safety information. Mobile Robot LD Safety Guide The Mobile Robot LD Safety Guide is included with your LD-250 and provides detailed inform- ation about safe operation of your LD-250. It also provides resources for information about rel- evant standards. 2.9 Disposal Dispose of in accordance with applicable regulations.

  • Page 45: Chapter 3: Setup

    Chapter 3: Setup This chapter describes how to set up your LD-250 and configure it for operation. It includes information for optional features. 3.1 Overview of LD-250 Setup Setup tasks consist of preparing the LD-250 for use by unpacking it and completing some mechanical configuration such as installing the battery and the docking station.

  • Page 46: Transport And Storage

    Use only a forklift, pallet jack, or similar device to move the shipping crate. Keep the LD-250 in an upright position in a clean, dry area that is free from condensation. Do not lay the crate on its side or any other non-upright position. This could damage the LD-250.

  • Page 47: Battery Shipment

    Operating Limits - The Battery shuts down and there is no power to the LD-250 Core. The LD-250's software alerts you in the Operator Panel and the MobilePlanner software UI when the Battery temperature is within 3°C (37.4°F) of any limit.

  • Page 48: Unpacking Considerations

    Doing so might cause damage to the skins or under-body components. LD-250 Packaging The LD-250 arrives in a carton secured by poly strapping to a pallet. Use only the pallet, and a rated lifting device to move the shipment. WARNING: PERSONAL INJURY OR PROPERTY DAMAGE RISK Follow all unpacking safety instructions and use appropriate tools and equip- ment.
  • Page 49 Protective filler (2) Foam corners (4) Plywood pallet Figure 3-2 LD-250 Packaging Unpack as follows: 1. Make sure you have 1.5 m (5 feet) of clear working space around the pallet. 2. Remove any weatherproof film or plastic sheet material and carefully cut the poly strap- ping with a sharp safety blade.
  • Page 50 T30 Torx driver (F), which you will need later to move theLD- 250. 3. Remove the filler (D) and carton (C) containing the docking station, and then lift the filler off the carton. 4. Lift off the plywood ramp and set it aside temporarily. LD-250 Platform User's Guide 20472-000 Rev B...
  • Page 51 7. Place the ramp in the end of the pallet, so that the two bolts in the pallet engage with the holes in the ramp (E). Before you can move the LD-250 off its pallet, you must first disengage the drive motors to allow the drive wheels to move freely. To do this: Remove both side skins so that you can access the drive train.
  • Page 52 2. During shipping, the casters are prevented from movement by chocking strips on the plywood package base. Be aware that it requires some effort to push the LD-250 over these strips. 3. Pushing from the top edge of the chassis using the push points (A) and steadying the LD-250 at push points (B), carefully roll the LD-250 over the caster chocks and down the ramp.

  • Page 53: Battery Carton

    Access the Battery Compartment Remove the LD-250's battery access skin to access the battery compartment door. 1. Make sure that the LD-250 is powered off and that you press and lock one of its E-Stop buttons. 2. Lift the latch (A) to detach the battery access skin, and lift the skin up and away from the chassis (B).
  • Page 54 3.5  Installing the Battery Figure 3-7 Remove the LD-250's Latched Battery Access Skin 3. If necessary, use the security key (A) to unlock the battery compartment door and slide the latch (B) to open the door. Observe the correct power cable routing as you open the door.

  • Page 55: Battery Installation Procedure

    Chapter 3: Setup Figure 3-8 Open the LD-250's Lockable Battery Door Battery Installation Procedure Make sure you install a fully-charged battery. The battery has recessed handles at each end for easier lifting. The battery weighs 19 kg (42 lb). You might require a two-person lift to handle it safely.
  • Page 56 1. Lift and slide the new battery into the battery compartment, with its connection ports facing outward, toward the rear of the LD-250. 2. Attach the battery power and data cables to the connectors at the rear of the battery.

  • Page 57: Attaching The Payload Structure And Options

    4. Reinstall the LD-250's battery access skin and close the latch to secure it in place. Do not power on the LD-250 until you have read the appropriate sections of this user's guide. 3.6 Attaching the Payload Structure and Options...

  • Page 58: Installing The Docking Station

    The exact implementation of this warning light depends on the design of your payload. Use the LD-250 Core's Light Pole connector to power and control the warning light. Make sure that the light remains visible under all operating conditions so that people can always see it.

  • Page 59: Docking Station Features And Parts

    Power indicator LED (blue). Charging indicator LED (amber). Power inlet socket and power switch. Charging paddle. This is articulated and spring loaded to make good contact with the AMR's charging contacts. Electrical contacts. 20472-000 Rev B LD-250 Platform User's Guide...

  • Page 60: Docking Station Requirements

    User-supplied structural screws such as decking screws (f not using 3/16 inch) toggle bolts into drywall) M5 x 4 Stainless steel shoulder bolts and washers (supplied with the dock- ing station. Refer to Figure 3-14 for dimensions and fastener placement. LD-250 Platform User's Guide 20472-000 Rev B...

  • Page 61: Wall Bracket Mount

    1. Fasten the docking station mounting bracket to a wall, with the bottom edge of the bracket 98±20 mm (3.8±0.8 inches) above the floor. 2. Fasten two shoulder bolts, each with a washer, into the rear of the docking station. Tighten to 9 N·m (80 in-lb). 20472-000 Rev B LD-250 Platform User's Guide...
  • Page 62 Screw the base of the docking station directly to the floor, using three user-supplied screws. For dimensions of the available holes in the base, refer to Figure 3-14. Omron recommends M5 self-tapping screws that are suitable for the substrate (wood, concrete, etc.) Floor-mount, with Floor Plate (Temporary Use Only) Use this method temporarily, and only for experimenting with docking locations.
  • Page 63 After you install the docking station, create a docking goal on the workspace map and con- figure your AMRs to use the dock for recharging. (See the Fleet Operations Workspace Core User's Guide.) 20472-000 Rev B LD-250 Platform User's Guide...
  • Page 64 Set the height of the contacts so that the roller is high enough to stay in contact with the LD- 250 as it is docking, but low enough so that the roller guides the paddle under the LD-250. LD-250 Platform User's Guide...

  • Page 65: Installing Software On Your Windows Pc

    SetNetGo Web UI, which you also use to perform additional setup tasks. Some software is licensed for a short period to enable you to set up and configure the LD-250. The software directs you to send an e-mail to Omron. to obtain a term license. See the software documentation for more information.

  • Page 67: Chapter 4: Configuration

    The LD-250 navigates using a digitized map of its workspace. You use the MobilePlanner cli- ent software on a Windows PC to create the map and download it to the LD-250. Map creation is a required step before you can continue on to the Operation chapter of this manual.
  • Page 68 LD-250 Maintenance port Use the following procedure to set up the network on the LD-250. 1. Connect an Ethernet cable from the Maintenance Ethernet port on the LD-250 to an Eth- ernet port on your Microsoft Windows PC.
  • Page 69 Minimum specification Cat 5 Ethernet Cable. Microsoft Windows PC with Ethernet LAN port. LD-250 Maintenance Ethernet port (under a door in the rear skin). 2. In the Windows desktop Open or Search box (or at a command prompt) type the fol- lowing command and press Enter: ncpa.cpl...

  • Page 70: Setting Up Wireless Ethernet

    3. Verify that the SetNetGo Web UI opens. Setting Up Wireless Ethernet A single LD-250 can operate without a wireless network. For example, if it is the sole AMR in a workspace and it does not need to share the workspace with other AMRs. However, if you have more than one AMR sharing the same workspace, you must manage them as a fleet.
  • Page 71 Signal Strength—A signal of >=-40 dBm is the ideal WiFi signal strength, -60 dBm is the recommended minimum. Omron recommends that you use wireless network industry best practices to conduct a com- prehensive workspace survey and test your wireless service.

  • Page 72: Create A Workspace Map

    Map Description Before you can use your LD-250, you must create a digitized map of its designated workspace. The map records the shape and location of permanent physical features in the workspace. These features are walls, corners, doors, columns and large immovable fixtures such as machines or fixed industrial shelving.

  • Page 73: Mapping Tasks

    Using the Drawing Tools and then Adding Goals and Docks. See the Fleet Operations Workspace Core User's Guide for more information. Transfer the working map to the Fleet Manager, or back to the LD-250, if you have only one AMR, to perform autonomous mobile actions.

  • Page 74: Acceleration, Deceleration, And Rotation Limits

    AbsoluteMaxRotDecel -32767 32767 a: The LD-250's safety system generates a fault if the velocity is in the range -300 mm/s to -2500 mm/s. After you determine your parameter values, set them as follows: 1. Open the MobilePlanner software, Config tab.

  • Page 75: Supplemental Information

    Restore option to revert the LD-250 to its default configuration You can obtain the default config file from your local Omron Support if you accidentally lose or overwrite it. Use MobilePlanner or the SetNetGo Web interface to preserve a copy of the original file.

  • Page 77: Chapter 5: Payload Structures

    Chapter 5: Payload Structures A payload structure is any mechanical equipment that you attach to the LD-250 for the pur- pose of performing a task. It might be as simple as shelves to receive bins of parts or as com- plex as a robot arm.

  • Page 78: Warning Buzzer

    Power requirements for any electrical devices on the payload. Serviceability and maintenance requirements. Adding weight to the LD-250 tends to have less effect on battery run time than does increasing electrical power consumption. Operating your AMR over soft surfaces (such as carpet) significantly shortens battery runtime than compared to hard surfaces.

  • Page 79: Power Consumption

    250 us Payload Bay Access The area between the LD-250 and your payload structure is the payload bay. This is where you access the LD-250 Core's power and I/O connectors, in addition to any mechanical fasteners that secure your payload to the LD-250.

  • Page 80: Payload Dimensions And Design

    The payload, and anything it carries, must not extend below the height of the payload bay. If the payload blocks any of the LD-250's sensors, it cannot function correctly. If you install optional rear or side-mount lasers, make sure that the payload structure does not interfere with the laser's beams.

  • Page 81: Mounting Locations In The Payload Bay

    Mounting Locations in the Payload Bay The payload bay is located under the LD-250's top skin. It provides access to the LD-250 Core for power and data connections, and attachment points for your payload structure.
  • Page 82 These extrusions bear the main structural load of any payload, transferring stresses directly to the LD-250's formed steel chassis. You can easily adjust and move your payload in rela- tionship to the LD-250's center of gravity (see: Center of Gravity (CG) on page 86).
  • Page 83 Chapter 5: Payload Structures Figure 5-3 T-Nut Extrusion Locations on the Top Plate 20472-000 Rev B LD-250 Platform User's Guide...
  • Page 84 Figure 5-4 shows the approximate positions of the clip nuts relative to the edge of the top plate and its center lines. You can obtain the CAD and engineering drawing sources from the Omron Web site if you need to determine the precise locations. LD-250 Platform User's Guide...
  • Page 85 Chapter 5: Payload Structures Figure 5-4 Position of the Clip Nuts Around the Payload Bay 20472-000 Rev B LD-250 Platform User's Guide...

  • Page 86: Amr Coordinate System

    5.2  Considerations AMR Coordinate System Omron AMRs use the X, Y, Z and Theta (θ coordinate system. This information is relevant for some of the procedures used in this manual, such as identifying which are the left or right skins. For example, the joystick port is located in the rear left skin. The origin of the coordinate system is the AMR's center of rotation, not its geometric center.
  • Page 87 Geometric Center—The center of two lines bisecting the LD-250's outline. Center of Gravity—The unloaded LD-250's center of gravity. X and Y Axis Mid-lines—Lines that cross in the geometric center of the LD-250. AMR Coordinate System—The X,Y,Z, and Theta reference system relating the AMR to its environment, and to the relative position of other devices such as the optional side lasers.
  • Page 88 5.2  Considerations Figure 5-6 Front View (Y) of Recommended Payload CG (mm) Figure 5-7 Side View (X) of Recommended Payload CG (mm) LD-250 Platform User's Guide 20472-000 Rev B...
  • Page 89 Chapter 5: Payload Structures Figure 5-8 3D View of Recommended Payload CG (mm) Figure 5-9 Top View (Z) of Recommended Payload CG (mm) 20472-000 Rev B LD-250 Platform User's Guide...

  • Page 90: Payload-Related Tradeoffs

    This is necessary so that the AMR remains consistent and safe in operation. Contact your local Omron Support If your parameters differ from those described in this sec- tion. In general, you must reduce the maximum acceleration, deceleration, and rotational velo- cities.

  • Page 91: E-Stop Considerations When Removing The Operator Panel

    Operator panel (HMI). See Touchscreen on page 188. Many other LD-250 Core connections are available. For details and specifications of available connections, refer to Connectivity on page 93.

  • Page 93: Chapter 6: Connectivity

    The two connections outside of the payload bay are the Joystick port and the Maintenance Eth- ernet port, which are located under an access door on the rear of the LD-250 (see: Figure 4-1). Both external ports are connected to the LD-250 Core inside the payload bay.

  • Page 94: Core Front, Upper

    500 mA. May be used with loads connected to VBAT, AUX_20V, _12V, or _5V. You must stay within the allowed current capacity of the VBAT or AUX power supplies. Digital I/O The LD-250 Core's Digital I/O HDB44F connector provides the user with digital inputs and out- puts for payload customization. LD-250 Platform User's Guide...
  • Page 95 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 OUTPUT_5 Output_5 OUTPUT_6 Output_6 OUTPUT_7 Output_7 OUTPUT_8 Output_8 OUTPUT_9 Output_9 OUTPUT_10 Output_10 20472-000 Rev B LD-250 Platform User's Guide...
  • Page 96 6.2  Payload Bay Connections - LD-250 Core Designation Pin No. Hardware Software Notes OUTPUT_11 Output_11 OUTPUT_12 Output_12 OUTPUT_13 Output_13 OUTPUT_14 Output_14 OUTPUT_15 Output_15 OUTPUT_16 Output_16 VBAT_IO_OUT4 VBAT @ 0.5 A Max (shared with light pole) VBAT_IO_OUT3 VBAT @ 0.5 A Max VBAT_IO_OUT2 VBAT @ 0.5 A Max...
  • Page 97 Chapter 6: Connectivity Digital Input Specifications The following tables describe specifications for the LD-250 Core's digital inputs. Table 6-1 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 4 to 30 VDC Operational current range 0 to 7.5 mA...
  • Page 98 6.2  Payload Bay Connections - LD-250 Core Callout Side 1 (Left) Callout Side 2 (Right) I/O Connector User-Supplied Equipment Equivalent Circuit F Terminal Block Input Bank 1 Typical User Input Signal Input Bank 2 Part Present Sensor Input Bank 3...
  • Page 99 Equivalent Circuit Typical User Loads Analog I/O The LD-250 Core's Analog I/O HDB15M connector is reserved for internal use only. Contact your local Omron Support before attempting to use these circuits. Aux Sensors The LD-250 Core's Aux Sensors HDB15M connector provides circuits used by the Low Front Laser and optional Side Lasers (tilted lasers).

  • Page 100: Core Rear Upper Connectors

    6.2  Payload Bay Connections - LD-250 Core RS232 1 and 2 The LD-250 Core's RS232 1 and 2 DB9M connector provides two ports for use with peripheral devices such as the HAPS sensors (See: High-Accuracy Positioning System (HAPS) on page 190.) If not used for other devices, you can also use the ports for port forwarding information from other RS232 devices.
  • Page 101 Use the Joystick for manual driving and mapping. Power Connections The LD-250's battery provides conditioned 5, 12, and 20 VDC, and raw (battery) 22 - 30 VDC power to the LD-250’s accessory electronics, including the LD-250 Core and laser LIDAR (Light Detection And Ranging).
  • Page 102 Each supply has an associated LED which, when lit, indicates that the port is actively powered. See LD-250 Core Status Indicators on page 132. When you press an E-Stop button (or if a the rear sensor or a user bumper contacts an obstacle), it disconnects the Safe 22 - 30 VDC.
  • Page 103 E-Stop. Motor re-engagement occurs because the LD-250 Core is designed to receive a consistent E- Stop signal for at least 250 ms. Signals that engage and disengage in under 250 ms cause the LD-250 Core to interpret the signal as a bumper press, which automatically re-engages the motors.
  • Page 104 6.2  Payload Bay Connections - LD-250 Core Commissioning to verify that the E-Stop functions properly before returning an AMR to service. Figure 6-6 E-Stop Chain Diagram Callout Description Callout Description Standard Circuits User E-STOP User-Supplied Circuits User Interface Connector E-STOP Source...
  • Page 105 Chapter 6: Connectivity User Bumper ® The LD-250 Core's User Bumper Mini-Fit  2 x 4 connector provides 6 circuits for optional user-supplied payload bumpers. Pin No. Designation Notes USER_BUMPER_1 Short to E-STOP_SRC to signal bumper hit Front left bumper sensor.
  • Page 106 *9, 10, 11, and 12 share the 10 A of current. HMI Panel (Operator Panel) The LD-250 Core's HMI panel HDB15F connector provides circuits for the Operator Panel screen and its buttons (ON, OFF, EMERGENCY OFF, and Brake Release.). Designation Pin No.

  • Page 107: Internal Ld-250 Core Connections

    Internal LD-250 Core Connections This section describes internal LD-250 Core connections not normally accessible to the end- user. These connections are on the lower part of the LD-250 Core, below the payload bay and covered by a vented plate. They are listed here only so that you can reconnect them during LD-250 Core replacement or other service operation.
  • Page 108 6.2  Payload Bay Connections - LD-250 Core Figure 6-7 Internal Connectors on the LD-250 Core (Front) NOTE: The Bumper, Speakers, and Batt Comm. connectors on the internal LD- 250 Core mate with Molex Mini-Fit Jr™ 5557 series receptacles. NOTE: The Charge Contacts and Battery Power connectors on the internal LD- 250 Core mate with Molex Mini-Fit Jr™...

  • Page 109: Internal Data Pinouts

    Comm. For Molex Mini-Fit Jr™ 5557 series receptacles Internal Data Pinouts Light Discs The LD-250 Core's Light Discs DB9F connector provides circuits for the Motion and status indicator light disc on each side of the LD-250. Designation Pin No. Hardware...

  • Page 110: Internal Power Pinouts

    IN_C1 IN_C2 Internal Power Pinouts Bumper This circuit contains only the Jumper 20758-000L that identifies an LD-250 Core. The Jumper is tethered to the chassis to make sure that you use the correct core type. Speakers ® The LD-250 Core's Speakers Mini-Fit 2 x 2 connector provides circuits for the two loud- speakers.
  • Page 111 Notes RIGHT+ Right Speaker RIGHT- LEFT+ Left Speaker LEFT- Batt Comm ® The LD-250 Core's Batt Comm Mini-Fit 2 x 3 connector provides a battery control circuit Pin No. Designation Notes RS232_BATT_RXD RS232_BATT_TXD Connections to the Battery Control FBAT_ALWAYS START_BUTTON...

  • Page 113: Chapter 7: Operation

    7.1 Operating Environment Intended Use The LD-250 is designed to operate in indoor industrial environments. In general, if a wheel- chair user can safely and easily navigate the environment (open, and mostly flat with only gentle inclines and wide doorways), then it is navigable by an LD-250.

  • Page 114: Side Clearance

    Such traction problems can affect both braking and accuracy. Side Clearance The LD-250 is intended to operate in an environment that has a generally flat and level floor. There should be no doors or other restricted areas that are too narrow for the AMR to pass through.

  • Page 115: Obstacles

    If the LD-250 enters high-traffic areas, take appropriate precautions to alert people in those areas that an LD-250 might enter. If the traffic consists of other machines, adjust the LD-250's operating parameters and the oper- ating parameters of other machines to reduce the risk of a collision.

  • Page 116: Avoiding Potential Immobilization Risks

    7.1  Operating Environment Conform to standards ANSI B101.3, A137.1, A326.3. Be validated according to ASTM F2508-13. The recommended coefficient of friction for floors in the LD-250’s work space is in the range: 0.55 – 1.0. Steps and Gaps Typical floor characteristics that are considered to be steps include any height difference caused by floor stab settling, expansion gaps, or cracks.

  • Page 117: Typical Operation

    LD-250 driven off a ledge LD-250 driven over a wide floor gap (drive wheels have no traction.) If you lift or manually push the LD-250 to correct any of these situations, refer to: Lifting the LD-250 Safely on page 145.

  • Page 118: Power And Charging

    If the red light blinks after pressing the SHOW LEVEL button, the battery is depleted and needs a recharge. If the red light blinks constantly, the battery needs service. Connecting the battery to a LD-250 will write LD-250 Platform User's Guide...

  • Page 119: Docking Station

    Docking Station The automated docking station provides both a manual and an automated method of rechar- ging and balancing your LD-250 battery. Autonomous Battery Charging on a Docking Station During normal, autonomous operation, the AMR recharges its battery automatically at a dock- ing station.
  • Page 120 CAUTION: SHOCK RISK To prevent accidental power-on during servicing, disconnect and remove the power cable during all docking station service operations. Store the power cable remotely from the in-service docking station. LD-250 Platform User's Guide 20472-000 Rev B...

  • Page 121: Manually Charging The Battery

    If the battery is too low, you might need to charge it outside the LD-250. 2. While holding the brake release button, push the LD-250 backward onto the docking sta- tion.

  • Page 122: Balancing The Battery

    AMR is not operating. You can also use this port to charge a spare battery while the primary battery is in the LD-250. However, you cannot charge both batteries at the same time. The battery port is disabled while an AMR is on the dock and charging.

  • Page 123: Operator Panel

    It remains out of service until you correct the parameter values. In this charging mode, Omron recommends that you exchange batteries at least at a weekly interval. If you observe a reduction in AMR run time, decrease the exchange interval.

  • Page 124: Status Screen

    It is normal for the status screen to go dark (sleep) during operation. Tap lightly on the screen to resume the display. Default and Sample Screen Contents The following image shows the first screen that appears during boot-up: Figure 7-5 Initial Boot Screen LD-250 Platform User's Guide 20472-000 Rev B...

  • Page 125: E-Stop Buttons

    E-Stop Buttons The LD-250 has three E-Stop buttons, one on each side and one on the Operator Panel (HMI). An E-Stop button is colored red and latches (locks) when pressed. When you press an E-Stop button, The AMR decelerates to a controlled stop, then disables its motors and engages its brakes.

  • Page 126: Positioning An Optional Payload E-Stop

    The right side and left side E-Stop buttons alone do not meet the 600 mm reach requirement of relevant safety standards because the E-Stop buttons are close to the front of the LD-250. An operator should be able to easily reach an E-Stop button from any approach angle without need to reach across the moving AMR or any moving payload parts.

  • Page 127: Brake Release Button

    Driving Straight Blue arcs on each side of the LD-250 will appear to rotate in the direction of the LD-250's travel, to let nearby people know that it is moving (or about to move). If used, the Beacon blinks green.
  • Page 128 Turn Signal (for turns greater than 30 deg/sec) The blue drive indicators will include a blinking orange segment at the front of one light disc to indicate that the LD-250 is about to turn in the direction of the signal. If used, Beacon blinks green.
  • Page 129 Chapter 7: Operation Driving Slowly, Scanning Laser E-Stop Inactive When driving under 300 mm/s, the LD-250's Safety Scanning Laser does not generate an E- Stop, however it still actively performs safety checking and successfully avoids obstacles. The pattern is essentially the same as driving, except the background blinks orange. The moving arc and the blinking segment have independent timing.
  • Page 130 When booting, the light discs displays two blue arcs, traveling from the 6 o'clock to the 12 o'clock position and back, in opposite directions. If used, the Beacon alternates green, yellow, then red. LD-250 Platform User's Guide 20472-000 Rev B...
  • Page 131 Object detected in safety zone Orange Left+Right Yellow Blink Lost Half-circles Green/White Partial Circle/- Green normally, Blink Charging moving small arc Red if E-Stopped Blink Blink E-Stop, stops driving Blue Left+Right Green/Yellow/Red Booting Half-circles 20472-000 Rev B LD-250 Platform User's Guide...

  • Page 132: Core Status Indicators

    7.5  Other Controls and Indicators LD-250 Core Status Indicators The left side of the LD-250 Core has 12 indicator LEDs that indicate subsystem status. Labels on the payload bay provide a description of the LEDs. Figure 7-7 LD-250 Core LED Status LED and Identification Label...

  • Page 133: Sensors

    Low (toe) laser. Safety Scanning Laser The LD-250 Safety Scanning Laser [(A) in Figure 7-8] is an Omron OS32C model. It is a precise scanning and navigation sensor with the following characteristics: Single horizontal plane, parallel to the floor at a height of 190 mm (7.48 inches).

  • Page 134: Rear Sensor

    7.6  Sensors If the LD-250 must operate close to reflective objects, Omron recommends that you use a com- bination of markings on the objects, such as highly visible tape or painted stripes. In addition, specify forbidden sectors in the workspace map so that the LD-250 can plan paths to avoid these objects.
  • Page 135 Know not to stand in or move toward the immediate vicinity of a working AMR. Understand the significance of the warning buzzer. Do not leave or place obstacles where the AMR might not detect the obstacle. 20472-000 Rev B LD-250 Platform User's Guide...
  • Page 136 IMPORTANT: When driving through the computer keyboard, if you press and hold the reverse key the AMR will persistently attempt to move in reverse. This might cause it to reverse into a person or obstacle. LD-250 Platform User's Guide 20472-000 Rev B...

  • Page 137: Other Sensors

    AMR's speed. Wheel encoders also provide the LD-250's navigation system with odometry information (how far each wheel has traveled, and in which direction.) In addition, the LD-250 Core contains an internal gyroscope to track the LD-250's rotational velocity. Rear Sensor...

  • Page 138: Joystick Controls And Description

    AUX power to your payload accessories. Joystick Controls and Description The joystick plugs into an outlet the left rear side of the LD-250, under the small access door of the LD-250. See Maintenance on page 141. This outlet is internally connected to the joystick port located on the rear side of the LD-250 Core in the payload bay.
  • Page 139 Push the directional control button forward or back to make the LD-250 move in that direction. Push the directional control button to the side to make the LD-250 rotate in that direction. Diag- onal positions of the directional control button move the LD-250 in an arc.

  • Page 141: Chapter 8: Maintenance

    WARNING: PERSONAL INJURY OR PROPERTY DAMAGE RISK Use only the specified tools, equipment, lubricants, and Omron-supplied spare parts to service and maintain the LD-250 according to the specified service interval. Failure to do so could result in an unsafe operating state than might result in personal injury or damage to property.

  • Page 142: Considerations During Maintenance

    During initial operation after installation or maintenance, no objects should be within 2 meters of the AMR to ensure adequate clearance should a fault occur. Check that all cables are properly connected and have no visible damage before you replace skins. LD-250 Platform User's Guide 20472-000 Rev B...
  • Page 143 An incorrect setting of the gearbox drive engagement lever. Damaged or disconnected sensors. Check E-Stop operation by pressing an E-Stop Button. Check laser and rear sensor operation with a test obstacle. After performing these checks, return the AMR to autonomous driving. 20472-000 Rev B LD-250 Platform User's Guide...

  • Page 144: Safety Considerations When Performing Maintenance

    Encoder signal cable (light grey). Motor Power cable (black). WARNING: PERSONAL INJURY OR PROPERTY DAMAGE RISK During initial operation after installation or maintenance, no people or objects should be within 3 feet of the AMR for safe clearance if a fault occurs. LD-250 Platform User's Guide 20472-000 Rev B...

  • Page 145: Understanding Electrical Hazards

    8.4 Lifting the LD-250 Safely If you need to lift the LD-250 for any reason, take care to lift from safe lifting points and secure it with safety straps to prevent falling. An appropriate number of persons is required to manu- ally lift an AMR, depending on the base platform weight and the additional weight of its pay- load.

  • Page 146: Wheel Lift Tool

    A wheel lift tool is provided so that you can lift the drive wheels for maintenance tasks. This tool is located on the right side of the LD-250, underneath the side skin as shown in Figure 8-2. Figure 8-2 Location of the Wheel Lift Tool...
  • Page 147 4. Remove the left side skin. See: Remove and Replace the Side Skins on page 183. 5. Repeat Step 1 through Step 3 to raise the other drive wheel, if required. To lower the wheel, refer to Figure 8-3 and: 20472-000 Rev B LD-250 Platform User's Guide...

  • Page 148: Engage And Disengage The Drive Wheel Motors

    LD-250. See: LD-250 Packaging on page 48. You can also disengage the drive wheel motors if you want to manually move the LD-250, as an alternative to using the Brake Release button. See: Brake Release Button on page 127.
  • Page 149 1. If the battery is installed, press an E-Stop button to disable power to the motors for safety during the procedure. 2. If the LD-250 is not on its shipping pallet, chock the casters to prevent the LD-250 from rolling.

  • Page 150: Safety Inspection

    Warning Labels Check all warning labels on the AMR every week for presence and legibility. Contact your local Omron Support to obtain replacement parts for missing or illegible labels. or of you need to move a label to a different location.
  • Page 151 No Riding Label 18178-000 Depending on the design of your payload, you affix this label when you set up the AMR. Automatic Vehicle Label, 18623-000 CAUTION AUTOMATIC Rear skin of the LD-250. VEHICLE 20472-000 Rev B LD-250 Platform User's Guide...

  • Page 152: Cleaning

    Particularly if the change blocks the AMR's ability to scan original workspace fea- tures. Platform Cleaning The following table gives a summary of cleaning procedures for the LD-250. WARNING: PERSONAL INJURY OR PROPERTY DAMAGE RISK Before working on drive assemblies, make sure that you put the AMR into a safe state for maintenance operations.
  • Page 153 This applies to both the drive wheels and the casters. Axles Keep the axles free of fibrous material, plastic film or any materials that might wrap around and bind up the LD-250’s axles. Drive Assemblies Remove any accumulated dirt and dust.

  • Page 154: Lubricating Esd Casters

    The AMR might waste battery power in the differential drives, attempting to overcome prob- lems with sticking casters. Examine casters for wear or damage during the lubrication procedure. See: Cleaning ESD Casters on page 156. You need the following tools and resources: LD-250 Platform User's Guide 20472-000 Rev B...
  • Page 155 Use the following ESD caster lubrication procedure: 1. Press an E-Stop button and power off the LD-250 to put it into a safe working state. and safely lift up the LD-250 so that you can access the casters.

  • Page 156: Cleaning Esd Casters

    Casters on the ESD platform are critical components because they provide the discharge path to ground. ESD require regular, periodic cleaning to preserve ESD protection capability. You must also maintain the LD-250's operating surface to provide a conductive path to ground. See: Environment and Floor on page 115.

  • Page 157: Cleaning The Rear Sensor

    Use the following ESD caster cleaning procedure: 1. Press an E-Stop button and power off the LD-250 to put it into a safe working state. 2. Remove the payload structure, if any part of it prevents access top the skins or casters.

  • Page 158: Maintaining And Replacing Batteries

    Do not open it. WARNING: PROPERTY DAMAGE RISK Replace the battery only with an Omron factory-supplied battery intended for use in the LD-250. Do not use batteries intended for use in other Omron LD- series AMR models. WARNING: FIRE AND TOXICITY RISK Do not dispose of the battery in a waste stream that might result in incin- eration or crushing.
  • Page 159 1. Shut down the AMR. See: OFF Button on page 126. 2. Remove the battery door LD-250 skin. See: Access the Battery Compartment on page 53. 3. Unlock (if required) then unlatch and open the battery compartment door by sliding the latch (A) to the right (B).
  • Page 160 Figure 8-8 Pull out the LD-250 Battery 5. Using only the hand grip (A) in Figure 8-8, slide the battery out of the LD-250. 6. Support the battery at the bottom (B) as you pull it in the direction of the arrow (C) to prevent it from falling.

  • Page 161: Replacing Non-Periodic Parts

    The battery compartment door holds the battery firmly in place so that it cannot move inside the compartment. 6. Reinstall the battery door LD-250 skin. See: Access the Battery Compartment on page 53. 8.10 Replacing Non-Periodic Parts Replace the parts described in this section accordance to their wear specification or if visual inspection indicates wear or damage.

  • Page 162: Distance Traveled By The Amr

    The roller and bearing guide the AMR onto the docking station, and can become worn after extended use. Symptoms of wear might include the AMR failing to dock accurately and charge or repeated docking attempts. LD-250 Platform User's Guide 20472-000 Rev B...
  • Page 163 Check on and around the roller bearing for metal filings or black powdery residue that indicates abrasion damage. Spin the roller manually to make sure it turns freely and does not bind or lock up. Refer to the following figure for the location of the roller. 20472-000 Rev B LD-250 Platform User's Guide...

  • Page 164: Docking Station Ac Power Fuse

    A thermal fuse in the power switch. This part is not user-serviceable. Contact your local Omron Support if the docking sta- tion's blue power light does not illuminate when connected to a known good power source.

  • Page 165: Docking Station Internal Fuse

    9. Send an AMR to the docking station and confirm that charging starts (the amber Char- ging light illuminates). Contact your local Omron Support if either the power or charging light does not illuminate, or the fuse burns out a second time.
  • Page 166 Retain the screws for reassembly. 2. Remove the docking station's rear cover. 3. Identify the fuse holder shown in Figure 8-16. It is close to the top of the bus-bar (A) in a black screw-top holder (B) LD-250 Platform User's Guide 20472-000 Rev B...

  • Page 167: Light Discs

    6. Send an AMR to the docking station and confirm that charging starts (the amber Char- ging light illuminates). Contact your local Omron Support if either the power or charging light does not illuminate, or the fuse burns out a second time.

  • Page 168: Operator Panel

    To replace the brushes, do this procedure on both sides of the AMR: 1. Starting on either the left side or the right side of the LD-250 remove the rear skin. See: Remove and Replace the Rear Skins on page 184.

  • Page 169: Replace The Drive Wheels

    10. Release the E-Stop and enable the drive motors. See: Releasing an E-Stop on page 31. Replace the Drive Wheels The LD-250 has solid aluminum wheels with polyurethane treads. Depending on the AMR application, the wheel treads have a duration of 10,000 km (6200 miles) before replacement is necessary.
  • Page 170 3. Use a 4 mm hex key to only loosen the four 60 mm M6 bolts (A). 4. Raise the LD-250 on its casters until the drive wheel is off the floor. 5. Use a 4 mm hex key to completely remove the four 60 mm M6 bolts (A).

  • Page 171: Replace Front Or Rear Casters

    9. Apply a drop of threadlocking fluid to each M6 bolt and fasten the bolts by hand, fin- ger-tight. 10. Lower the LD-250 to the floor so that the drive wheel touches the floor in its normal driving position. 11. Use an M4 hex key to hand-tighten each bolt only two turns each in the cross-wise pat- tern (D).
  • Page 172 Figure 8-19 Replacing a Caster Wheel To replace a caster wheel: 1. Put the LD-250 into a safe working state by pressing an E-Stop button. Safely lift up the LD-250 so that you can work underneath. 2. Remove the lower front or rear skin. See: Remove and Replace the Lower Front Skin on page 182 and Remove and Replace the Rear Skins on page 184.
  • Page 173 Caster part no 20301-121. To replace a caster: 1. Put the LD-250 into a safe working state by pressing an E-Stop button. Safely lift up the LD-250 so that you can work underneath. 2. Remove the lower front or rear skin. See: Remove and Replace the Lower Front Skin on page 182 and Remove and Replace the Rear Skins on page 184.

  • Page 174: Core

    Debuginfo file. You might require this information to reconfigure the AMR after you replace the LD-250 Core. See: Obtain a DebugInfo File from SetNetGo on page 26 If you have installed options such as an Acuity Camera or Side Lasers, refer to the LD Platform Peripherals User's Guide for specific information about removing and recon-...
  • Page 175 Use the following procedure to remove the LD-250 Core: 1. Move or remove the payload structure to provide full access to the payload bay. 2. Remove the battery door skin at the rear of the LD-250. See Access the Battery Com- partment on page 53.

  • Page 176: E-Stop And Safety Laser Commissioning

    (attached to the chassis) and that no cables are trapped beneath the core. 3. Use a 2.5 mm hex key to attach the mounting bracket [(E) in Figure 8-21] to the LD-250 Core with four 8 mm M3 socket head cap screws and washers (D).
  • Page 177 To do this test, you must first disable the drive wheels. See: Engage and Disengage the Drive Wheel Motors on page 148. Table 8-3 lists the maximum speed for each speed zone. For the LD-250, each speed zone rep- resents 225 mm/s, so if the maximum speed is 1440, five zones are reported. (Later, when you press the Drive button in the commissioning wizard, it reports the maximum AMR speed.)

  • Page 178: Accessing The Payload Bay

    Depending on the location of fasteners, the load-bearing bars in the payload bay might also permit you to loosen and slide the payload forward or backward to access the LD-250 Core or its cables. A taller or heavier payload structure might include a hinged mount, so that you can tilt it off the LD-250 after you disconnect its retaining fasteners.
  • Page 179 With the exception of the battery door, skins are secured to the chassis by captive M6 flat head Torx plus screws into clip nuts. A Torx driver is supplied with the LD-250. The skins include alignment pins that fit into holes in the chassis to assist you in installing and aligning the skins.
  • Page 180 Small flat-blade screwdriver. Electrical pliers. Figure 8-23 Remove the Top Cover Before you begin, press a side E-Stop button to put the LD-250 into a safe state for maintenance work. To remove the top cover: 1. Use the Torx driver to unfasten all 14 M6 captive screws (A).
  • Page 181 3. Use the Torx driver to fasten all 14 M6 screws (A). Release the E-Stop button to return the LD-250 to service. See: Releasing an E-Stop on page 31. Remove and Replace the Upper Front Skin The front upper skin covers the main safety and navigation laser.
  • Page 182 4. Lift the pins (D) out of the cutouts in the chassis (E). Reverse these steps to replace the upper front skin. Release the E-Stop button to return the LD-250 to service. See: Releasing an E-Stop on page 31. Remove and Replace the Lower Front Skin The lower front skin covers the low (toe) laser and front casters.
  • Page 183 Chapter 8: Maintenance Reverse the steps to replace the skin. Release the E-Stop button to return the LD-250 to service. See: Releasing an E-Stop on page 31. Remove and Replace the Side Skins The side skins provide access to drive train and E-Stop button components. The skins are sym- metric.
  • Page 184 3. Use the Torx driver to fasten the two top Torx screws (B). 4. Use the Torx driver to fasten the two bottom Torx screws (A). Release the E-Stop button to return the LD-250 to service. See: Releasing an E-Stop on page 31. Remove and Replace the Rear Skins The rear skins provide access to the rear sensors, rear casters and drive train components.
  • Page 185 Chapter 8: Maintenance Figure 8-27 Remove the Rear Skins Before you begin, press and E-Stop button to put the LD-250 into a safe state for maintenance work. IMPORTANT: During this procedure, take care that you do not scratch or dam- age the rear sensor array.

  • Page 186: Restoring The Configuration

    A restore operation is required after replacing an LD-250 Core. If you accidentally upload an incorrect configuration file for a different LD model the LD-250 cannot operate. During start up, it detects the incorrect file type and an error message instructs you to run the Recovery Mode procedure.

  • Page 187: Chapter 9: Options

    AMRs complete all jobs that you submit to the job queue. Hybrid LD-60, LD-90, and LD-250 AMR Fleets Hybrid fleets contain both LD-250 and other LD models such as the LD 90. The following con- straints apply to hybrid fleet operations when adding an LD-250 to existing LD-60 and LD-90 fleets.

  • Page 188: Payload Structure Bumpers

    9.3  Payload Structure Bumpers 9.3 Payload Structure Bumpers The LD-250 Core provides User Bumpers connector provides 6 circuits for payload bumpers. See: User Bumper on page 105. IMPORTANT: The User Bumpers connector is not safety-rated and is not part of the E-Stop chain.

  • Page 189: Side Lasers (Supplemental) Lasers

    Lasers can be orientated to detect obstacles at floor level. The optional side lasers connect to the RS-232 Aux Sensors connector on the LD-250 Core. See: Aux Sensors on page 99. Install Side Lasers You require the laser kit consisting of: laser TiM-510, part number 13438-000.

  • Page 190: Configure Side Lasers

    Install the lasers as follows: 1. Remove necessary components to access the LD-250 Core. 2. Connect the J8 cable into the Aux Sensors port on the LD-250 Core. 3. Mechanically mount the lasers to your payload 4. Route the cable to the lasers, using cable ties to keep it clear of moving parts. Allow enough slack for removing the payload.

  • Page 191: Chapter 10: Technical Specifications

    Chapter 10: Technical Specifications This chapter lists the LD-250's specifications, operating requirement and system limits. 10.1 Dimension Drawings 962.60 382.01 380.01 178.36 44.96 271.79 298.21 Figure 10-1 Length Dimensions From Side of AMR Callout Description Inch Length Height to top cover plate...

  • Page 192: Width Measurements

    Drive wheel to center of gravity Caster to center of gravity Caster wheelbase Drive wheel wheelbase Component Weight Mass Characteristic Vehicle weight with skins and battery installed 146 321.9 Vehicle weight without skins Battery weight 18.5 41 LD-250 Platform User's Guide 20472-000 Rev B...

  • Page 193: Capabilities

    Max payload – level 250 Kg AMR Radius 1050 mm Swing radius (see note below) 525 mm Turn radius 0 degrees Translational speed, max 1200 mm/sec Rotational speed, max 120 mm/sec LIDAR Stop position repeatability +/-100 mm 20472-000 Rev B LD-250 Platform User's Guide...

  • Page 194: Overhanging Payloads And The Amr Swing Radius

    25 is a fairly lenient specification. Overhanging Payloads and the AMR Swing Radius If your payload overhangs the default LD-250 footprint, it alters the AMR's swing radius and exponentially affects its maximum safe rotational speed. Should the AMR size increase sig- nificantly, you might need to adjust the AMR's maximum rotation speed to stay within 300 mm/sec or slower.

  • Page 195: Sensors

    (3 front, 3 rear) ESD Compliance The LD-250 provides a path for ESD grounding through the casters. While adequate to protect the LD-250 and any other equipment it touches, this method is not IEC compliant. Keep both the floor and casters clean so that there is adequate conductivity. See: Cleaning ESD Casters on page 156.

  • Page 196: Docking Station Specifications

    Wall bracket, directly to floor, or on floor with floor plate Indicators Power on - blue Charging - amber Connector For manual charging of spare batteries NOTE: The LD-250 can also use older model docking stations that use a 10 A time-lag fuse. LD-250 Platform User's Guide 20472-000 Rev B...

  • Page 197: Chapter 11: Modify The Safety Zones

    This section describes how to modify the Omron OS32C safety laser’s integrated safety zones. Your LD-250's OS32C safety laser is pre-programmed with safety zones sized for its shape and kinematics. If your payload overhangs the AMR's default dimensions or you change the value of AbsoluteMaxTransDecel, you must adjust the AMR's safety zones accordingly.

  • Page 198: Relevant Amr Operating Parameters

    11.2  Relevant AMR Operating Parameters Figure 11-1 shows the default zone sizes and specifications. Figure 11-1 LD-250 Safety Zone Sizes and Speeds Callout Description Safety zone dimension in mm, width by length. Safety zone number and relative size. The safety zone length increases with AMR speed.

  • Page 199: Equipment Required To Modify Os32C Safety Zones

    3. The OS32C Configuration Tool.  See:  https://industrial.omron.us/en/products/os32c. 4. OS32C Laser, properly installed, leveled, and cabled on the target AMR. Follow the instructions in the Laser documentation, available for download from the Omron Web site in your locale. You should follow an iterative process of testing and adjusting the safety zone sizes using suit- able sample obstacles (specified in industry standards) to determine that the fully-loaded AMR can decelerate and stop safely.

  • Page 201: Chapter 12: Glossary

    AMR can pass through it. CAN bus Controller Area Network. A serial communications protocol that allows electronic control units and devices to communicate with each other. 20472-000 Rev B LD-250 Platform User's Guide...
  • Page 202 RS-232. debuginfo file A zip file downloaded from SetNetGo that contains detailed information about the status of the system, used by Omron engineers for troubleshooting. dongle A small hardware device attached to an AMR core or an EM2100 appli- ance that contains the credentials (license keys) required to run FLOW Core software.
  • Page 203 (either PICKUP or DROPOFF). The Enterprise Manager receives all job requests from Advanced Robotics Command Language. joystick A hand-held, external input device for manually driving mobile robots, primarily used for map creation. Connects to the mobile robot’s JOYSTICK connection port. 20472-000 Rev B LD-250 Platform User's Guide...
  • Page 204 A specific route (a series of tasks, goals, or macros) that the robot will follow without human intervention. payload Anything the mobile robot carries. payload bay The area between the platform and the payload structure. LD-250 Platform User's Guide 20472-000 Rev B...
  • Page 205 The radius of the circle that a mobile robot will use when turning in place (with no forward motion). tasks Instructions for the robot to perform certain actions like reading inputs, 20472-000 Rev B LD-250 Platform User's Guide...
  • Page 206 Mobile robots are shipped with wheel pins installed, to protect the drive assembly from damage during transport. LD-250 Platform User's Guide 20472-000 Rev B...
  • Page 207 OMRON AUTOMATION AMERICAS HEADQUARTERS • Chicago, IL USA • 847.843.7900 • 800.556.6766 • automation.omron.com OMRON CANADA, INC. • HEAD OFFICE OMRON ELETRÔNICA DO BRASIL LTDA • HEAD OFFICE Toronto, ON, Canada • 416.286.6465 • 866.986.6766 • automation.omron.com São Paulo, SP, Brasil • 55.11.2101.6300 • www.omron.com.br OMRON ELECTRONICS DE MEXICO •...

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