Omron LD-60 User Manual
  1. Manuals
  2. Brands
  3. Omron Manuals
  4. Robotics
  5. LD-60
  6. User manual

Omron LD-60 User Manual

Hide thumbs Also See for LD-60:
Table of Contents

Advertisement

Quick Links

LD-60/90 Platform
User's Manual
I611-E-06

Advertisement

Table of Contents
loading

Related Manuals for Omron LD-60

Summary of Contents for Omron LD-60

  • Page 1 LD-60/90 Platform User's Manual I611-E-06...
  • Page 2 The information contained herein is the property of Omron Robotics and Safety Technologies, and shall not be reproduced in whole or in part without prior written approval of Omron Robotics and Safety Technologies The information herein is subject to change without notice and should not be construed as a commitment by Omron Robotics and Safety Technologies The documentation is periodically reviewed and revised.

  • Page 3: Table Of Contents

    Qualification of Personnel Payload Movement and Transfer Multi-AMR Avoidance 2.4 Environment General Environmental Conditions Public Access Clearance Obstacles Safety Scanning Laser Emergency Stop Safety System Overspeed Faults 2.5 Intended and Non-intended Use Intended Use 11970-000 Rev M LD-60/90 Platform User's Manual...
  • Page 4 Mapping Overview Mapping Tasks 4.3 Acceleration, Deceleration, and Rotation Limits 4.1 Configuring for an Overhanging Payload 4.4 Supplemental Information Laser Setup Chapter 5: Payload Structures 5.1 Safety Warning Label Warning Lights Warning Buzzer LD-60/90 Platform User's Manual 11970-000 Rev M...
  • Page 5 Battery Indicators and Controls Docking Station Manually Charging the Battery Balancing the Battery 7.4 Operator Panel Screen E-Stop ON Button OFF Button Brake-Release Button 7.5 Other Controls and Indicators Light Discs and Beacon 11970-000 Rev M LD-60/90 Platform User's Manual...
  • Page 6 Rear Sonar Units Sonar Controller Light Discs Operator Panel Wheels and Tires Drive Assemblies Front or Rear Casters Safety Scanning Laser LD Platform Core E-Stop and Safety Laser Commissioning Accessing the Payload Bay LD-60/90 Platform User's Manual 11970-000 Rev M...
  • Page 7 9.9 High-Accuracy Positioning System (HAPS) 9.10 Electrostatic Discharge (ESD) Skins Chapter 10: Technical Specifications 10.1 Dimension Drawings 10.2 Platform Specifications Physical Performance Sensors Battery Outputs 10.3 Docking Station Specifications Chapter 11: Glossary Appendix A.1 Parts List 11970-000 Rev M LD-60/90 Platform User's Manual...
  • Page 9 Date Revised Content Code April, 2017 Original release August, 2017 Corrections and improvements. February, Corrections and improvements. 2018 October, 2018 Corrections and improvements. February, Corrections and improvements. 2019 April, 2021 Corrections and improvements. 11970-000 Rev M LD-60/90 Platform User's Manual...

  • Page 11: Chapter 1: Introduction

    LD Platform OEM is available in two versions, designed to carry loads up to 60 kg (132 lb) for the LD-60 and 90 kg (198 lb) for the LD-90 platform. Where appropriate, differences between the models are called out. Otherwise, this manual applies to both platforms.
  • Page 12 For most applications, you will want to customize the platform with a payload structure, attached to the top of the platform, for some combination of picking up, transporting, and LD-60/90 Platform User's Manual 11970-000 Rev M...

  • Page 13: Body And Drive

    The drive-wheels have independent spring-suspension, with solid, foam- filled tires. The wheels are at the platform's mid-line, so the platform can turn in place. Figure 1-2. Drives in LD Platform (in red) 11970-000 Rev M LD-60/90 Platform User's Manual...

  • Page 14: What's Included - Basic Components

    Controller (MARC) firmware. It also runs the SetNetGo OS. The core is housed inside the platform. Figure 1-4. LD Platform OEM Core location The core comes pre-loaded with ARAM and MARC firmware, and the SetNetGo OS. LD-60/90 Platform User's Manual 11970-000 Rev M...
  • Page 15 Also included is a manual charging cord, so you can charge the battery or a spare bat- tery outside of the platform. Pendant (option) This is used for manually controlling the platform, mostly when making a scan to be used for generating a map. 11970-000 Rev M LD-60/90 Platform User's Manual...

  • Page 16: Optional Components (Partial List)

    Electrostatic Discharge (ESD) Skins ESD skins are black. They are made of a conductive thermoplastic sheet, grounded to the chassis in a way that prevents electrostatic buildup. LD-60/90 Platform User's Manual 11970-000 Rev M...

  • Page 17: Software Overview

    Refer to the LD Platform Peripherals User's Guide for details on the touchscreen. 1.3 Software Overview A fair amount of software is involved in setting up and running an LD Platform OEM. The platform comes with the following software: 11970-000 Rev M LD-60/90 Platform User's Manual...

  • Page 18: Flow Core

    Before your AMR can perform autonomous mobile activities, you need to make a map of its operating space, and configure its operating parameters. MobilePlanner software has the tools to make this map and perform this configuration. LD-60/90 Platform User's Manual 11970-000 Rev M...

  • Page 19: Setnetgo

    The SetNetGo interface in the MobilePlanner software is for configuring the platform’s Ethernet settings, upgrading software, and performing systems diagnostics, such as retrieving log files. It is accessible when connected via the maintenance and management Ethernet ports, or via wireless Ethernet if enabled. 11970-000 Rev M LD-60/90 Platform User's Manual...

  • Page 20: How Can I Get Help

    Table 1-1. Related Manuals Manual Title Description Mobile Robot LD Safety Contains general safety information for all Omron Robotics and Guide (Cat. No. I616) Safety TechnologiesLD Platform OEM-based AMRs. FLOW Core User's Guide Covers MobilePlanner software, the SetNetGo OS, and most of (Cat.
  • Page 21 If MobilePlanner is available, use MobilePlanner’s SetNetGo interface to access SetNetGo. Otherwise, open a web browser, enter the URL: https://1.2.3.4, then confirm security certificates. Regardless of how you accessed SetNetGo, you should now have a window similar to the fol- lowing: 11970-000 Rev M LD-60/90 Platform User's Manual...
  • Page 22 NOTE: Before preparing a support request, the AMR's internal clock needs to be correctly set to ensure accurate timestamps in the debug file. For more information, please refer to the FLOW Core User's Manual. LD-60/90 Platform User's Manual 11970-000 Rev M...

  • Page 23: Chapter 2: Safety

    Do not use unauthorized parts. Do not turn on the platform without the antennas in place. Although the lasers used are Class 1 (eye-safe), we recommend you not look into them. 11970-000 Rev M LD-60/90 Platform User's Manual...

  • Page 24: Releasing An E-Stop

    - Danger, Warning, or Caution - to indicate the severity of the hazard. The text following the signal word will specify what the risk is, and how to avoid it. LD-60/90 Platform User's Manual 11970-000 Rev M...
  • Page 25 AMR will not try to drive there. These need to be continuous at the site, so that the AMR can’t plan a path to drive around or between them to the dropoff. 11970-000 Rev M LD-60/90 Platform User's Manual...

  • Page 26: Special Information

    NOTE: Information for more effective use of the product. Additional Information: Offers helpful tips, recommendations, and best prac- tices. Version Information: Information on differences in specifications for different versions of hardware or software. LD-60/90 Platform User's Manual 11970-000 Rev M...

  • Page 27: User's Responsibilities

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

  • Page 28: Qualification Of Personnel

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

  • Page 29: Environment

    CAUTION: PERSONAL INJURY RISK Personnel who work with or around the AMR should not stand close to the AMR when it is turning in place (with no forward motion). 11970-000 Rev M LD-60/90 Platform User's Manual...

  • Page 30: Obstacles

    Following table displays overspeed fault conditions. NOTE: The motion settings such as AbsoluteTransVelMax, that limit maximum allowable velocities in the robot software (ARAM), have no effect on the safety system. LD-60/90 Platform User's Manual 11970-000 Rev M...

  • Page 31: Intended And Non-Intended Use

    Gentle slopes — wheelchair ramps are a good example of the amount of slope the robot can safely climb. Temperature — 5 to 40°C, with a recommended humidity range of 5% to 95%, non-con- densing. 11970-000 Rev M LD-60/90 Platform User's Manual...

  • Page 32: Non-Intended Use

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

  • Page 33: Battery Safety

    110 2.7 Additional Safety Information Contact your local Omron Support for other sources of safety information: Mobile Robot LD Safety Guide (Cat. No. I616) The Mobile Robot LD Safety Guide (Cat. No. I616) provides detailed information on safety for LD Platform OEMs.
  • Page 34 2.8  Disposal electronic products should be disposed of separately from the municipal waste system via des- ignation collection facilities. For information about disposal of your old equipment, contact your local Omron Support. LD-60/90 Platform User's Manual 11970-000 Rev M...

  • Page 35: Chapter 3: Setup

    Do not lay the crate on its side or any other non-upright position. This could damage the platform. The crate with pallet for the platform measures 1441 x 787 x 762 mm , and weighs 70 kg . 11970-000 Rev M LD-60/90 Platform User's Manual...

  • Page 36: Battery

    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, contact your local Omron Support imme- diately. Retain the containers and packaging materials. These items may be necessary to settle claims or, at a later date, to relocate the equipment.

  • Page 37: Battery

    The Docking station and Starter kit, if present, are packed in a separate box sitting on top of the platform box. The Docking station carton's dimensions in cm are 50.165 x 50.169 x 41.103. 11970-000 Rev M LD-60/90 Platform User's Manual...
  • Page 38 1. Remove plastic bands and unwrap the cling film. Figure 3-2. Boxes Ship Wrapped with Cling Wrap 2. Unload the top box, if present. This contains the Docking station and Starter kit. Figure 3-3. Unloading Top Box LD-60/90 Platform User's Manual 11970-000 Rev M...
  • Page 39 Chapter 3: Setup 3. Open lower box containing the Platform. Figure 3-4. Padding at the Corners 4. Remove the rectangular box cap, placed on top of the Platform for protection. Figure 3-5. Rectangular Box Cap 11970-000 Rev M LD-60/90 Platform User's Manual...
  • Page 40 7. Lift the robot using two people holding the grips at each side of the cardboard carrier. WARNING: Heavy object. To avoid muscle strain or back injury, lifting with two people and proper lifting techniques is required. LD-60/90 Platform User's Manual 11970-000 Rev M...
  • Page 41 Chapter 3: Setup Figure 3-8. Robot Being Lifted by its Cardboard Carrier 8. Remove the plastic protective sheet. Figure 3-9. Protective Plastic Sheet Being Removed 11970-000 Rev M LD-60/90 Platform User's Manual...
  • Page 42 For each side of the platform: a. Remove the platform side skins. See Removing and Installing Skins on page 150. LD-60/90 Platform User's Manual 11970-000 Rev M...
  • Page 43 Figure 3-13. Wheel Pin c. Reinstall the two side skins. 12. Install the battery in the platform. The platform brakes cannot be released until the battery is installed. Refer to Installing the Battery on page 44. 11970-000 Rev M LD-60/90 Platform User's Manual...

  • Page 44: Battery

    No tools are needed for either the removal or installation of the battery door skin. NOTE: After removing the skin, place it inner-side down, so the outer surface doesn't get scratched. LD-60/90 Platform User's Manual 11970-000 Rev M...
  • Page 45 Chapter 3: Setup Figure 3-14. Pulling the Bottom of the Rear Platform Cover Out Figure 3-15. Lowering the Battery Door Platform Skin 11970-000 Rev M LD-60/90 Platform User's Manual...
  • Page 46 The battery has recesses at the front and the back for easier lifting. Figure 3-16. Battery Recesses, for Gripping A single person can lift and replace the battery. Use one hand in each of the grips, as shown in the following figure. LD-60/90 Platform User's Manual 11970-000 Rev M...
  • Page 47 5. Close the battery compartment door to secure the battery in place. Closing the battery compartment door holds the battery tightly in place to keep it from shifting inside the compartment. 6. Reinstall the battery door platform skin. 11970-000 Rev M LD-60/90 Platform User's Manual...

  • Page 48: Attaching The Payload Structure And Options

    P/N 12730-000L. An E-Stop button would be user-sup- plied. Refer to User Interface on page 90. NOTE: See the following figure. Figure 3-19. E-Stop Jumper on LD Platform Core LD-60/90 Platform User's Manual 11970-000 Rev M...

  • Page 49: Installing The Docking Station

    You should ensure the light remains visible under all operating conditions, so that, regardless of your payload structure design, any people near the AMR can see it. 3.8 Installing the Docking Station The automated docking station can either manually or automatically charge your platform's battery. 11970-000 Rev M LD-60/90 Platform User's Manual...
  • Page 50 1. Attach the docking station mounting bracket to a wall, with the bottom edge of the bracket 98±20 mm above the floor, using user-supplied anchors and screws. There is lee- way, so you can adjust the height a little bit. LD-60/90 Platform User's Manual 11970-000 Rev M...
  • Page 51 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. Their locations are shown in the fol- lowing figure. Tighten to 9 N·m. 11970-000 Rev M LD-60/90 Platform User's Manual...
  • Page 52 The floor plate comes with three screws, so you will have two spares. The docking station and floor plate do not need to be attached to the floor, as the weight of the AMR on the floor plate will keep the docking station from moving. LD-60/90 Platform User's Manual 11970-000 Rev M...
  • Page 53 Figure 3-22. Underside of Docking Station Foot, Showing Screw Locations NOTE: These are the three locations for the M4 x 12 flat-head screws. Two are already in place, and need to be removed before attaching the plate. 11970-000 Rev M LD-60/90 Platform User's Manual...
  • Page 54 3.8  Installing the Docking Station Figure 3-23. Docking Station, Mounted on Floor Plate Figure 3-24. Docking Station Floor Plate Dimensions (units are mm [inches]) LD-60/90 Platform User's Manual 11970-000 Rev M...
  • Page 55 Set the height of the contacts so that the roller is high enough to stay in contact with the plat- form as it is docking, but low enough so that the bi-level of the roller guides the paddle under the platform. 11970-000 Rev M LD-60/90 Platform User's Manual...

  • Page 57: Chapter 4: Configuration

    Figure 4-1. (A) PC, (B) Cat 5 Ethernet, and (C) Maintenance Access Panel If you do not have wireless yet, you can connect MobilePlanner through the wired Ethernet port (Maintenance LAN) and set up the wireless network later. 11970-000 Rev M LD-60/90 Platform User's Manual...

  • Page 58: Setting Up Wireless Ethernet

    NOTE: For all of the following settings, work with your IT group to verify the correct IP, radio, and security settings. The following applies to the wireless Ethernet supported by the platform. LD-60/90 Platform User's Manual 11970-000 Rev M...
  • Page 59 Auto, 802.11a, 802.11b, 802.11g, 802.11n, 802.11ac Channel Set Wireless Watchdog IP Address Wireless Watchdog Max Count 0 disables this. Security Settings Encryption: Disabled WEP 64-bit WEP 128-bit TKIP/RC4 CCMP/AES TKIP/CCMP/AES Authentication: OPEN WPA-PSK 11970-000 Rev M LD-60/90 Platform User's Manual...

  • Page 60: Mapping

    You can also create your own virtual elements for application-specific AMR-workspace interactions. LD-60/90 Platform User's Manual 11970-000 Rev M...

  • Page 61: Mapping Tasks

    For use-cases where the payload can’t be decreased, or the CG can’t be brought within the recommended limits, our Field Service department can work with your system designer to input your needs into our models. Contact your local Omron Support for details. From the MobilePlanner software, Config: Robot Physical > Absolute Movement Maximums Check the Show Expert + Parameters to see or modify these parameters.

  • Page 62: Configuring For An Overhanging Payload

    4.4 Supplemental Information Laser Setup For most installations, the defaults for the lasers should be appropriate, and will not require any user adjustment. Laser setup and configuration for optional or additional lasers is covered LD-60/90 Platform User's Manual 11970-000 Rev M...
  • Page 63 Laser_1 Settings are for the main scanning laser, used both for safety and localization. Laser_2 Settings are for the low front laser (TiM). Laser_3 Tilted and Laser_4 Tilted are for the side lasers (TiM). 11970-000 Rev M LD-60/90 Platform User's Manual...

  • Page 65: Chapter 5: Payload Structures

    Transporter, (C) Cart Transporter, (D) User Custom, and (E) LD Platform OEM The image above shows some of the available pre-designed Omron payload structures, as well as an outline of a user custom-designed payload structure. The platform provides the mobility and navigation you will need, as well as power and I/O connections between the platform and your payload structure, so the two can work effectively together.

  • Page 66: Warning Lights

    NOTE: The weight of your payload structure plus the weight of the parts it is carrying must not exceed the rated capacity of your platform. LD-60/90 Platform User's Manual 11970-000 Rev M...

  • Page 67: Power Consumption

    Many customers have found it prudent to build a protective guard over the side lasers, to pro- tect the lasers from impact. Ensure that any such guard does not block the laser beam. 11970-000 Rev M LD-60/90 Platform User's Manual...
  • Page 68 In the preceding figure, all of the M6 self-clinching nuts (B) have a torque limit of 3 N·m . CAUTION: PROPERTY DAMAGE RISK Do not exceed this torque when attaching your payload structure to these self- clinching nuts. See NOTE that follows. LD-60/90 Platform User's Manual 11970-000 Rev M...

  • Page 69: Center Of Gravity (Cg)

    As much as possible, you should keep the payload structure CG centered on the platform, and as low (close to the platform top) as possible. This will give you the best stability, particularly 11970-000 Rev M LD-60/90 Platform User's Manual...
  • Page 70 NOTE: These figures show the limits of where to place the payload structure CG. You should try to keep your CG as close to the center of these figures as pos- sible. 60 kg LD-60/90 Platform User's Manual 11970-000 Rev M...
  • Page 71 Direction (units in mm) Figure 5-6. Longitudinal View, 60 kg, (A) Vertical Direction, (B) Longitudinal Direction (units in mm) Figure 5-7. Transverse View, 60 kg, (A) Vertical Direction, (C) Transverse Direction (units in mm) 11970-000 Rev M LD-60/90 Platform User's Manual...
  • Page 72 Figure 5-8. Top View, 60 kg, (B) Longitudinal Direction, (C) Transverse Direction (units in mm) 90 kg Figure 5-9. Isometric View, 90 kg, (A) Vertical Direction, (B) Longitudinal Direction, (C) Transverse Direction (units in mm) LD-60/90 Platform User's Manual 11970-000 Rev M...
  • Page 73 Chapter 5: Payload Structures Figure 5-10. Longitudinal View, 90 kg, (A) Vertical Direction, (B) Longitudinal Direction (units in Figure 5-11. Transverse View, 90 kg, (A) Vertical Direction, (C) Transverse Direction (units in mm) 11970-000 Rev M LD-60/90 Platform User's Manual...

  • Page 74: Connections Between Platform And Payload Structure

    The Operator screen, E-Stop, Brake-release, ON, and OFF can be "moved" using a single con- nector (the HMI Panel connector). This allows you to put many of the more common operator controls somewhere on your payload structure with just one cable. LD-60/90 Platform User's Manual 11970-000 Rev M...

  • Page 75: Option Connections

    158. Many other connections are available. For details and specifications of available con- nections, refer to Connectivity on page 77. Option Connections The platform provides connectors for user-supplied payload bumpers that you can place on the payload structure. 11970-000 Rev M LD-60/90 Platform User's Manual...

  • Page 77: Chapter 6: Connectivity

    6.2 Payload Bay Connections - Core These connections are available for use with standard and user-supplied accessories. The antennas come with the platform. The Pendant is an option, but at least one is required per fleet for map-making. 11970-000 Rev M LD-60/90 Platform User's Manual...
  • Page 78 6.2  Payload Bay Connections - Core NOTE: Standard connectors, such as audio, are not covered here. This includes all of the connectors on the right side of the core, labeled (G) in the following fig- ure. LD-60/90 Platform User's Manual 11970-000 Rev M...

  • Page 79: Ld Platform Core Front, Upper

    DB9M Port 1 and Port 2, general use CAN Bus B DB9F Consult your local Omron Support for use. Digital I/O (HDB44F) HDB44F 16 digital inputs, in 4 banks of 4. Each bank can be wired as active high or active low depending on the connection of the BANK# terminal.
  • Page 80 0 – 30 V Range, R = ~3.9 kΩ INPUT_1.3 Input_1.3 0 – 30 V Range, R = ~3.9 kΩ INPUT_1.4 Input_1.4 0 – 30 V Range, R = ~3.9 kΩ BANK1 Common for INPUT_1.X LD-60/90 Platform User's Manual 11970-000 Rev M...
  • Page 81 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 OUTPUT_11 Output_11 OUTPUT_12 Output_12 OUTPUT_13 Output_13 OUTPUT_14 Output_14 OUTPUT_15 Output_15 11970-000 Rev M LD-60/90 Platform User's Manual...
  • Page 82 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 VBAT_IO_OUT1 VBAT @ 0.5 A Max 41 - 44 LD-60/90 Platform User's Manual 11970-000 Rev M...
  • Page 83 Current at V = +24 VDC I ≤ 6 mA NOTE: The input current specifications are provided for reference. Voltage sources are typically used to drive the inputs. Figure 6-3. Typical Digital Input Wiring Example   11970-000 Rev M LD-60/90 Platform User's Manual...
  • Page 84 = 0.5 A) ≤ 0.14 Ω @ 85°C Output leakage current ≤ 5 μA DC short circuit current limit 0.7 A ≤ I ≤ 1.7 A Figure 6-4. Typical Digital Output Wiring Example LD-60/90 Platform User's Manual 11970-000 Rev M...
  • Page 85 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 Low Front Laser, optional Side Lasers 11970-000 Rev M LD-60/90 Platform User's Manual...
  • Page 86 /dev/ttyUSB5 (side lasers) RS232_VERT2_RXD /dev/ttyUSB6 (side lasers) RS232_FOOT_RXD /dev/ttyUSB7 (low front laser) 5V_SW3 USB_3_Power 5 V @ 1 A (shared with USB port 3) SW_20V_FOOT Foot_Laser_Power 20 V @ 150 mA (low front laser) LD-60/90 Platform User's Manual 11970-000 Rev M...

  • Page 87: Ld Platform Core Rear, Upper

    #=1 or 2 LD Platform Core Rear, Upper Figure 6-5. Rear Upper Core NOTE: The connectors in the top row of the rear upper core mate with Molex Mini-Fit Jr™ 5557 series receptacles. 11970-000 Rev M LD-60/90 Platform User's Manual...
  • Page 88 Directly connected to the externally-mounted Main- Shielded tenance Ethernet, Auto-MDIX. Pendant DB9F Directly connected to the externally-mounted Pendant port HMI Panel HDB15F Operator screen, E-Stop, Brake_Rel, ON, OFF Sonar 2 DB9M Not used Pendant Connector type DB9F Pendant LD-60/90 Platform User's Manual 11970-000 Rev M...
  • Page 89 Connector type Mini-Fit 2 x 3 Light tower (user-supplied) Designation Notes Designation Notes Cable shield VBAT_IO_ VBAT @ 0.5A Max (shared with OUT4 DIO) LIGHT_P1 LIGHT_P3 Green LIGHT_P2 Yellow or LIGHT_P4 Buzzer orange 11970-000 Rev M LD-60/90 Platform User's Manual...
  • Page 90 Pins 7 & 14 short when E-STOP_CH2 is closed OFF_BUTTON Short to FBAT_ALWAYS to signal OFF (min 1 s pulse) START_BUTTON Short to FBAT_ALWAYS to signal ON (min 1 s pulse) MOTOR_BRAKE Short to FBAT_ALWAYS for manual brake release LD-60/90 Platform User's Manual 11970-000 Rev M...
  • Page 91 If you are using a user-supplied E-Stop, you must run the Safety Com- missioning to verify the E-Stop’s functionality before putting the AMR into ser- vice. For more information, see E-Stop and Safety Laser Commissioning on page 148 11970-000 Rev M LD-60/90 Platform User's Manual...
  • Page 92 Voltage of the Battery Ground High Power to Amplifiers Front Panel E-STOP HMI Connector User E-STOP Note: Jumper closed when not used, MUST open both channels independently if used. Bumper Left User Interface Connector LD-60/90 Platform User's Manual 11970-000 Rev M...
  • Page 93 USER_BUMPER_5 Short to E-STOP_SRC to signal bumper hit Rear center bumper sensor. USER_BUMPER_6 Short to E-STOP_SRC to signal bumper hit Rear left bumper sensor. 7, 8 E-STOP_SRC 12 V E-STOP Source Output @ 10 mA 11970-000 Rev M LD-60/90 Platform User's Manual...
  • Page 94 Limit to < 5 A per pin. 11, 12* SAFE_VBAT_OUT SW_VBAT_OUT34 gated by dual-channel E-STOP relays *9, 10, 11, and 12 share the 10 A of current. HMI Panel Connector type HDB15F Operator screen, E-Stop, Brake_Rel, ON, OFF LD-60/90 Platform User's Manual 11970-000 Rev M...

  • Page 95: 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. 11970-000 Rev M LD-60/90 Platform User's Manual...
  • Page 96 Light Discs on the platform sides Sonar 1, DB9M Connection to Sonar Module RS-422 (Rear sonar sensors) Charge Mini-Fit Sr.,  2-pin Contacts HDB15F Reserved USB x 3 USB Type A Reserved LIDAR HDB26M Safety Scanning Laser LD-60/90 Platform User's Manual 11970-000 Rev M...

  • Page 97: Internal Data Pinouts

    Bead filter to GND 6, 7 CANH_A CAN Communication differential pair 8, 9 SW_12V_WHEEL WheelLight_Power 12 V @ 1 A Max (switched in SW) NOTE: Sonar 1 is covered in Sonar 1 on page 95. 11970-000 Rev M LD-60/90 Platform User's Manual...

  • Page 98: Internal Power Pinouts

    IN_C1 IN_C2 Pin 10 +  18: Current < 600 mA Internal Power Pinouts Bumper ® Connection Mini-Fit 2 x 4 Connector type DB9F Front bumpers NOTE: The single front bumper uses four sensors for operation. LD-60/90 Platform User's Manual 11970-000 Rev M...
  • Page 99 RIGHT+ Right Speaker RIGHT- LEFT+ Left Speaker LEFT- Batt Comm. ® Connector type Mini-Fit 2 x 3 Battery control Pin No. Designation Notes RS232_BATT_RXD RS232_BATT_TXD Connections to the Battery Control FBAT_ALWAYS START_BUTTON OFF_BUTTON 11970-000 Rev M LD-60/90 Platform User's Manual...

  • Page 101: Chapter 7: Operation

    Do not allow the platform to drive through an opening that has an automatic gate/door unless the door and platform are configured correctly with the Call/Door Box option. Refer to the LD Platform Peripherals User's Guide for details on the Call/Door Box. 11970-000 Rev M LD-60/90 Platform User's Manual...

  • Page 102: Obstacles

    If the drive wheels slip it can potentially affect operating duration and nav- igation accuracy. Use a slip meter (such as the Reagan Scientific BOT-3000e) to measure the floor’s coef- ficient of friction. The slip meter must: LD-60/90 Platform User's Manual 11970-000 Rev M...

  • Page 103: User's Responsibilities

    For best performance, OMRON recommends that all floor steps or door thresholds have a roun- ded profile or are filled to ease the transition between surface planes.

  • Page 104: Getting Stuck

    Paths are not pre-programmed, but instead are generated dynamically onboard the platform. Paths are updated many times per second to maintain a smooth trajectory and to account for As configured either by the factory or through your own parameter changes. LD-60/90 Platform User's Manual 11970-000 Rev M...

  • Page 105: Power And Charging

    If the red light blinks constantly, the battery needs service. Connecting the battery to a platform will write an error code to the log, which will allow Service to better troubleshoot the problem. 11970-000 Rev M LD-60/90 Platform User's Manual...

  • Page 106: Docking Station

    Connecting and disconnecting the AMR with network and onboard clients will not disturb the charging state (though moving the AMR will, of course). The station supplies ample power for all onboard systems while charging its battery, so you can continue operating those systems while charging. LD-60/90 Platform User's Manual 11970-000 Rev M...
  • Page 107 If this happens, you have to wait for the fuse to cool down, turn the switch to off (0) and then back to on (1). 11970-000 Rev M LD-60/90 Platform User's Manual...

  • Page 108: Manually Charging The Battery

    3 seconds will begin the charging process and energize the port. The side port will de-energize automatically when the user disconnects the battery. There is about a 10-second delay between when you connect the battery cable and when the charging LED turns on. LD-60/90 Platform User's Manual 11970-000 Rev M...
  • Page 109 Some users manually charge a spare battery, and swap that for the battery inside the platform. Typically, this is done at the start of each shift, so the AMR is available for the entire shift without recharging. 11970-000 Rev M LD-60/90 Platform User's Manual...

  • Page 110: Balancing The Battery

    NOTE: The longer you wait to balance a battery, the longer it will take to balance. A battery that is badly out of balance can take well over 10 hours to balance after charging. LD-60/90 Platform User's Manual 11970-000 Rev M...

  • Page 111: Operator Panel

    The screen is a color TFT, 320 x 240 pixels, 8.89cm diagonal. It can display 256K colors, and is backlit. NOTE: If the backlight times out, tapping lightly on the screen turns it back on. 11970-000 Rev M LD-60/90 Platform User's Manual...
  • Page 112 Robot ID Status/ Faults/ Instructions (up to six lines) The main screen can display up to six messages, in order of importance. The main screen will display only one fault at a time. LD-60/90 Platform User's Manual 11970-000 Rev M...

  • Page 113: E-Stop

    It can also be used to restore power after an E-Stop has been released. NOTE: If your battery is P/N: 12072-000, a docked and charging robot will ignore the OFF button until it leaves the docking station. 11970-000 Rev M LD-60/90 Platform User's Manual...

  • Page 114: Off Button

    Blue arcs on each side of the platform will appear to rotate in the direction of the platform's travel, to let nearby people know that it is moving (or about to move). Beacon blinks green. LD-60/90 Platform User's Manual 11970-000 Rev M...
  • Page 115 Turn Signal with Warning (doesn't prevent driving, such as low battery) Same as Turn Signals, but both the blue rotating arc and blinking segment are orange. The moving arc and the blinking segment have independent timing. 11970-000 Rev M LD-60/90 Platform User's Manual...
  • Page 116 Lost When the AMR is lost, the light discs each display two orange arcs, traveling from the 6 o'clock to the 12 o'clock position and back, in opposite directions. Beacon blinks yellow. LD-60/90 Platform User's Manual 11970-000 Rev M...
  • Page 117 The light discs blinks red in an E-Stop condition. Beacon blinks red. Booting 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. Beacon alternates green, yellow, then red. 11970-000 Rev M LD-60/90 Platform User's Manual...
  • Page 118 7.5  Other Controls and Indicators LD-60/90 Platform User's Manual 11970-000 Rev M...
  • Page 119 Object detected in safety zone Orange Left+Right Yellow Blink Lost Half-circles Green/White Partial Circle/- Green normally, Red Blink Charging moving small arc if E-Stopped Blink Blink E-Stop, stops driving Blue Left+Right Green/Yellow/Red Booting Half-circles 11970-000 Rev M LD-60/90 Platform User's Manual...

  • Page 120: Ld Platform Core Status Indicators

    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 LD-60/90 Platform User's Manual 11970-000 Rev M...

  • Page 121: Sensors

    The only two times the platform will back up is when docking on the docking station, or when the bumper has hit an obstacle. In the latter case, the platform will back up just enough to freely rotate without touching the obstacle. 11970-000 Rev M LD-60/90 Platform User's Manual...

  • Page 122: Other Sensors

    Pendant port located on the rear side of the core in the payload bay. IMPORTANT: We recommend locking the Pendant up when not in use, to pre- vent an unauthorized person from operating an AMR. LD-60/90 Platform User's Manual 11970-000 Rev M...
  • Page 123 Pendant. eAlthough the safety scanning laser is integrated with the emer- gency stop circuit at all times, the operator must maintain full control of the pendant functions and the AMR when the pendant is in use. 11970-000 Rev M LD-60/90 Platform User's Manual...

  • Page 125: Chapter 8: Maintenance

    Safety Scanning Laser Platform Sonar Controller Low Front Laser Rear Sonar X4 (2 pairs transducers) Light Disc x2 Battery Door Skin Front Bumper Pendant/Ethernet Access Panel Front Caster x2, Drive Wheel x2, Rear Caster x2 11970-000 Rev M LD-60/90 Platform User's Manual...

  • Page 126: Safety Aspects While Performing Maintenance

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

  • Page 127: Safety Measures Prior And After Maintenance

    Lift on each side of the laser, under the upper side of the laser slot. Do not lift at the center - there is no supporting frame. Do not lift anywhere else! Refer to the following illustration: 11970-000 Rev M LD-60/90 Platform User's Manual...

  • Page 128: Rear Lifting Area

    Lift at the center underside of the platform, where the skin has a cutout section. Do not lift any- where else! Lift from the frame, not the skin. Refer to the following illustration: LD-60/90 Platform User's Manual 11970-000 Rev M...

  • Page 129: Safety Inspection

    Warning Labels Check all warning labels on the AMR every week for presence and legibility. Replace any labels that are missing or illegible. The labels, with our part numbers, are: 11970-000 Rev M LD-60/90 Platform User's Manual...
  • Page 130 There is a medical implant label on the underside of the platform, on the docking fun- nel. This magnet is only exposed during maintenance, when the platform is tipped on its side. Yellow circle surrounding the E-Stop button, 11229-167 This is labeled EMERGENCY STOP. No Riding Label, 18178-000 LD-60/90 Platform User's Manual 11970-000 Rev M...
  • Page 131 8.3% The Incline label is placed on the front-right of the top plate. Automatic Vehicle Label, 18623-000 CAUTION AUTOMATIC VEHICLE An Automatic Vehicle label is attached to the rear skin of the platform. 11970-000 Rev M LD-60/90 Platform User's Manual...

  • Page 132: Cleaning

    Keep the axles free of carpet, hair, string, or anything that could wrap around and bind up the platform’s drive. Lasers Occasionally clean the lenses of the navigation laser and any other lasers used. Use only a soft cloth with alcohol-based, non-abrasive cleaners, and wipe thoroughly. LD-60/90 Platform User's Manual 11970-000 Rev M...

  • Page 133: Cleaning Casters On Esd Platforms

    6. Use a wipe wetted with Isopropyl Alcohol to thoroughly clean the casters. 7. After cleaning all casters, carefully tilt the platform upright. 8. Un-pin and lower the drive assemblies. 9. Re-install the payload structure if it was removed. 11970-000 Rev M LD-60/90 Platform User's Manual...

  • Page 134: Maintaining And Replacing Batteries

    The battery is expected to last for approximately 2000 recharge cycles. NOTE: There are no user-serviceable parts inside the battery case. Do not open IMPORTANT: Replace the battery only with a Omron Robotics and Safety Tech- nologies factory-supplied battery. Dispose of the battery according to all local and national environmental regulations regarding electronic components.
  • Page 135 The battery has recesses at the front and the back for easier lifting. Figure 8-4. Battery Recesses, for Gripping A single person can lift and replace the battery. Use one hand in each of the grips, as shown in the following figure. 11970-000 Rev M LD-60/90 Platform User's Manual...

  • Page 136: Replacing Non-Periodic Parts

    Closing the battery compartment door holds the battery tightly in place to keep it from shifting inside the compartment. 6. Reinstall the battery door platform skin. 8.7 Replacing Non-Periodic Parts Replace the following parts on an as-needed basis. LD-60/90 Platform User's Manual 11970-000 Rev M...

  • Page 137: Docking Station Roller And Bearing

    NOTE: The following procedure applies only to legacy docking stations. The only user-serviceable fuses are in the docking station. The two external AC fuses are loc- ated between the power switch and the AC power plug. 11970-000 Rev M LD-60/90 Platform User's Manual...

  • Page 138: Docking Station Internal Fuse

    NOT interlocked. Remove the power cord at the charger. 1. Remove the ten screws from the back cover of the docking station. Two of these are on the sides, near the bottom. LD-60/90 Platform User's Manual 11970-000 Rev M...

  • Page 139: Rear Sonar Units

    5. Reinstall the docking station rear cover, and secure with the ten screws previously removed. Rear Sonar Units The platform's four rear sonar units can be replaced individually. All four sonar units are identical, although two are used as emitters and two as receivers, in pairs. 11970-000 Rev M LD-60/90 Platform User's Manual...

  • Page 140: Sonar Controller

    5. Connect the sonar cable to the new sonar unit's lead. 6. Reinstall the rear covers. Sonar Controller The sonar controller is located in the payload bay. Figure 8-11. (A) Sonar Controller, (B) Core LD-60/90 Platform User's Manual 11970-000 Rev M...

  • Page 141: Light Discs

    Operator Panel The Operator panel will typically be located on a user-supplied payload structure, so the removal and replacement of this will vary from one AMR to another. It plugs into the HMI 11970-000 Rev M LD-60/90 Platform User's Manual...

  • Page 142: Wheels And Tires

    Refer to Removing and Installing Skins on page 150. The light disc PCA cable will still be attached. 5. Disconnect the cable from the light disc PCA, so you can move the side skin completely away from the platform. LD-60/90 Platform User's Manual 11970-000 Rev M...
  • Page 143 Remove the three nuts and four screws (and their washers) holding the drive assembly to the platform. Retain these nuts, screws, and washers for attaching the new drive assembly. 11970-000 Rev M LD-60/90 Platform User's Manual...
  • Page 144 If you saved a wheel pin when you uncrated the platform, you can use that. An M5 x 10 screw also works well for this. See Spring-Compression Hole (arrow) on page 143. LD-60/90 Platform User's Manual 11970-000 Rev M...

  • Page 145: Front Or Rear Casters

    Implant wearers stay back 30 cm from the underside of the platform, which is exposed during certain maintenance procedures when the plat- form is tipped on its side. Regardless of whether you removed the battery: 11970-000 Rev M LD-60/90 Platform User's Manual...
  • Page 146 1. Return the platform to its upright position. 2. Reinstall the battery, connect the power and data cables, and close the battery com- partment door. 3. Reinstall the battery door skin. 4. Reinstall the side skins. LD-60/90 Platform User's Manual 11970-000 Rev M...

  • Page 147: Safety Scanning Laser

    This cable is too short to allow the core to be lifted until the cable is removed. 8. Gently lift the core up, until you have access to the internal connections. 9. Remove all of the cables that are attached to the internal core connector panel. 11970-000 Rev M LD-60/90 Platform User's Manual...

  • Page 148: E-Stop And Safety Laser Commissioning

    Next Test on the final screen. E-Stop Commissioning This procedure verifies that pressing the E-Stop button triggers the E-Stop circuitry. This is veri- fied by ensuring that you hear the brakes activate after pressing the E-Stop button. LD-60/90 Platform User's Manual 11970-000 Rev M...

  • Page 149: Accessing The Payload Bay

    E-Stop circuitry trips when an obstacle that the laser should detect is placed in front of the AMR. The speed zones are listed in the table that follows. For the LD-60, each speed zone rep- resents 300 mm/s, so if the maximum speed is 1500, six zones should be reported. (When you press the Drive button in the wizard, the wizard will display the maximum AMR speed.)

  • Page 150: Removing And Installing Skins

    Right side skin - covers the LD right drive train. NOTE: Both side skins hold a light disc and cover. Battery door skin - covers the battery access door. Rear skin - covers the LD rear components, and houses the sonar trans- LD-60/90 Platform User's Manual 11970-000 Rev M...
  • Page 151 Front upper skin - Above the safety scanning laser and speakers. Bumper - Above the lower bumper assembly and low front laser. With the exception of the bumper, no tools are needed for either the removal or installation of the platform’s skins. 11970-000 Rev M LD-60/90 Platform User's Manual...
  • Page 152 5. Unplug the light disc connector, and move the side skin away from the platform. Repeat for the other side skin. Front Upper Skin This skin attaches to the chassis the most tightly of any of the skins. LD-60/90 Platform User's Manual 11970-000 Rev M...
  • Page 153 Refer to the following two figures. Figure 8-20. Sonar Leads, with Connectors Still in Chassis 3. Unscrew all four sonar connectors. Ensure that both sides of all connectors are labeled, and match. If not, label them. 11970-000 Rev M LD-60/90 Platform User's Manual...
  • Page 154 1. Grip the skin at the two outer edges. 2. Align the bottom edge of the skin so it slides under the chassis support. 3. Tilt the top of the skin into position. LD-60/90 Platform User's Manual 11970-000 Rev M...
  • Page 155 This should allow the side skin to snap into place, so both sides of the gap stick out the same amount. Repeat for the other side skin. 11970-000 Rev M LD-60/90 Platform User's Manual...
  • Page 156 Hold the skin at the bottom, in the center, with two hands. 2. Hold the skin near the center and, with both hands, tilt the bottom of the skin down, towards the platform chassis. LD-60/90 Platform User's Manual 11970-000 Rev M...

  • Page 157: Chapter 9: Options

    Door Boxes are used to open an automated door, so the AMR can pass through. See LD Platform Peripherals User's Guide. 9.6 Acuity Localization Acuity localization uses an upward-facing camera to localize the platform by imaging over- head lights, which it compares with lights stored in its map. 11970-000 Rev M LD-60/90 Platform User's Manual...

  • Page 158: Touchscreen

    9.7 Touchscreen The Touchscreen is a full-color touch-sensitive screen for displaying information to the Oper- ator, as well as receiving input from the Operator. It is covered in detail in the LD Platform LD-60/90 Platform User's Manual 11970-000 Rev M...

  • Page 159: Side-Mount Lasers

    The optional ESD skins encase the AMR in an electro-conductive surface that provides a skin- to-chassis-to-wheel grounding path that drains off any charge the AMR might accumulate dur- ing operation. Figure 9-2. LD Platform OEM with ESD Skins 11970-000 Rev M LD-60/90 Platform User's Manual...

  • Page 161: Chapter 10: Technical Specifications

    Figure 10-1. Platform Top, Side, and Front Dimensions Showing, (A) Top of Covers, and (B) Mounting Surface (units are in mm ) NOTE: Refer also to Figure 5-2. and Figure 5-3. for mounting hole dimensions for the payload structure. 11970-000 Rev M LD-60/90 Platform User's Manual...

  • Page 162: Platform Specifications

    Figure 10-2. Docking Station Dimensions for, (A) Wall/Floor Mounts, (B) Free Standing, and (C) Wall Mount Bracket (units are in mm ) 10.2 Platform Specifications Physical Description Specification Length 699 mm Width 500 mm Height (body) 383 mm Body clearance 50 mm Weight (with battery) 62 kg LD-60/90 Platform User's Manual 11970-000 Rev M...
  • Page 163 Chapter 10: Technical Specifications Description Specification Rating IP Rating IP20 Cleanroom rating Fed Class 100, ISO Class 5 Pendant IP rating IP56 11970-000 Rev M LD-60/90 Platform User's Manual...

  • Page 164: Performance

    LD-60: 15 mm LD-90: 10 mm NOTE: A speed of 250 -300 mm/s for the LD-60 and 250 mm/s for the LD-90 is required for these steps. Faster or frequent driving over such steps or gaps will shorten the lifespan of the drivetrain components.

  • Page 165: Sensors

    2 on sides of payload structure, user-mounted Low Front Laser 1 in bumper Upward-facing camera 1 on payload structure, user-mounted (Acuity option) Payload Structure bumpers 6 inputs, user-designed and mounted (option) sensors (3 front, 3 rear) 11970-000 Rev M LD-60/90 Platform User's Manual...

  • Page 166: Battery Outputs

    495 x 495.5 x 317 mm Weight 8.2 kg Mounting Wall bracket, directly to floor, or on floor with floor plate Indicators Power on - blue Charging - yellow Connector For out-of-platform battery charging LD-60/90 Platform User's Manual 11970-000 Rev M...

  • Page 167: Chapter 11: Glossary

    A button or switch that allows an AMR to be requested from a remote location, or that enables the system to control an auto- mated door so the AMR can pass through it. CAN bus Controller Area Network. A serial communications protocol that 11970-000 Rev M LD-60/90 Platform User's Manual...
  • Page 168 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 a computer that contains the credentials (e.g., license key) required to run a specific pro-...
  • Page 169 Human Machine Interface. An operator panel is an example of an HMI. HMI post A post on the LD Platform Cart Transporter that supports the two side lasers, the rear facing laser, and the Operator Panel. 11970-000 Rev M LD-60/90 Platform User's Manual...
  • Page 170 In light localization, the mobile robot uses a camera and overhead lights to determine its location. macro In MobilePlanner, a virtual “container” with a series or LD-60/90 Platform User's Manual 11970-000 Rev M...
  • Page 171 A mobile robot’s position (location and heading). 11970-000 Rev M LD-60/90 Platform User's Manual...
  • Page 172 A full-color touch-sensitive screen on mobile robots. Used for dis- playing information to the Operator, as well as receiving input from the Operator. transporter Another name for the LD Platform Cart Transporter. This should LD-60/90 Platform User's Manual 11970-000 Rev M...
  • Page 173 Mobile robots are shipped with wheel pins installed, to protect the drive assembly from damage during transport. wizard A guide within the software user interface that assists the user in setting up the software program. 11970-000 Rev M LD-60/90 Platform User's Manual...

  • Page 174: Appendix

    Robot Battery Battery ANTENNA, 10616- Wireless Antenna on WIRELESS, the payload structure RVRSE SMA Assembly, Skin 21452- ESD Skin set Set, ESD, LD-60 995F Assembly, Skin 21452- Skin set Set, ESD, LD-90 996F LD-60/90 Platform User's Manual 11970-000 Rev M...
  • Page 175 12804- Tim Sensor compatible Bumper Panel, LD, Front Bumper Panel Modified for Tim Sensor Skin, Rear Panel, 21452- LD-60 ESD Rear Panel ESD, LD-60, FRU 701F Skin, Rear Panel, 21452- LD-90 ESD Rear Panel ESD, LD-90, FRU 702F Skin, Rear Panel,...
  • Page 176 Standard Left-side Skin Left Skin, Left Hatch, 21452- ESD Left Hatch LD, ESD 600F Skin, Left Hatch 12804- Standard Left Hatch Docking Station 13091- Fuse located internally Internal Fuse within the Docking sta- tion LD-60/90 Platform User's Manual 11970-000 Rev M...
  • Page 178 OMRON ROBOTICS AND SAFETY TECHNOLOGIES, INC. No. 438A Alexandra Road # 05-05/08 (Lobby 2), 4225 Hacienda Drive, Pleasanton, CA 94588 U.S.A © OMRON Corporation 2021 All Rights Reserved. In the Alexandra Technopark, Tel: (1) 925-245-3400/Fax: (1) 925-960-0590 interest of product improvement, specifications are...

This manual is also suitable for:

Ld-90

Table of Contents