Omron HD-1500 Platform User Manual
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Omron HD-1500 Platform User Manual

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HD-1500 Platform
User's Manual
I645-E-03

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  • Page 1 HD-1500 Platform User's Manual I645-E-03...
  • Page 2 Every precaution has been taken in the preparation of this manual. Nevertheless, OMRON assumes no responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained in this publica- tion.

  • Page 3: Intended Audience

    Thank you for purchasing the HD-1500 Autonomous Mobile Robot (referred to as AMR in this docu- ment). This manual is OMRON's original instructions describing the setup, operation, and user maintenance of the AMR. This manual does not describe all configuration steps that you perform using the software supplied with an AMR.

  • Page 4: Manual Information

    Special Information Level 2 heading Manual name Level 3 heading Page tab with the number of the main section Step in a procedure Page number Special Information Special information in this manual is classified as follows: HD-1500 Platform User's Manual (I645)
  • Page 5 Precautions on what to do and what not to do to ensure proper operation and performance. Additional Information Additional information to read as required. This information is provided to increase understanding or make operation easier. Version Information Information on differences in specifications and functionality between different versions. HD-1500 Platform User's Manual (I645)
  • Page 6 Manual Information HD-1500 Platform User's Manual (I645)

  • Page 7: Sections In This Manual

    Sections in this Manual Sections in this Manual Overview Specifications Installation Operation Troubleshooting Maintenance HD-1500 Platform User's Manual (I645)

  • Page 8: Table Of Contents

    Skins ............................1-8 1-2-4 AMR Controller..........................1-9 1-2-5 Battery ............................1-9 1-2-6 E-STOP Buttons........................1-10 1-2-7 Operator Panel ..........................1-10 1-2-8 Pendant ............................. 1-11 1-2-9 Light Strips and Discs .......................1-12 1-2-10 Speakers ...........................1-12 1-2-11 Charging Station ........................1-12 1-2-12 Charging Contacts ........................1-13 HD-1500 Platform User's Manual (I645)
  • Page 9 2-3-3 Battery Environmental Specifications..................2-9 2-3-4 Pendant Environmental Specifications..................2-10 Laser Specifications ......................2-11 Battery Specifications ......................2-12 HAPS Specifications......................2-13 Charging Station Specifications..................2-14 Other Specifications ......................2-15 2-8-1 Safety Functions ........................2-15 2-8-2 Drive Train..........................2-17 2-8-3 Operator Panel Screen ......................2-17 HD-1500 Platform User's Manual (I645)
  • Page 10 AMR Start-up ..........................4-4 AMR Shut-down ........................4-5 AMR Controller LED Indicators ....................4-6 Workspace..........................4-7 4-5-1 Physical Barriers .........................4-8 4-5-2 Logical Barriers ...........................4-9 4-5-3 Obstacles ............................4-9 4-5-4 Environmental Hazards .......................4-9 4-5-5 Restricted Zones ........................4-10 4-5-6 Operating Hazard Zones ......................4-10 HD-1500 Platform User's Manual (I645)
  • Page 11 Lost ............................4-40 4-19-5 Stopped or Booting ........................4-40 4-19-6 Stopped with Warning .......................4-40 4-19-7 Obstacle Detected........................4-40 4-19-8 Charging............................4-41 4-20 Pendant Operation.......................4-42 4-20-1 Driving with the Pendant ......................4-42 4-21 Warning Buzzer ........................4-44 4-22 Safety Laser Scanner Zones....................4-45 HD-1500 Platform User's Manual (I645)
  • Page 12 6-8-4 Cleaning Lasers Lenses......................6-16 6-8-5 Cleaning Caster Treads ......................6-16 6-8-6 Cleaning Drive Wheels......................6-16 Replacing Items ........................6-18 6-9-1 Removing and Replacing Skins ....................6-18 6-9-2 Light Disc LED Replacement Procedure...................6-22 6-9-3 Light Strip LED Replacement Procedure ..................6-24 HD-1500 Platform User's Manual (I645)
  • Page 13 Battery Shipping Crate Information .................... A-4 A-1-3 Docking Target Shipping Crate Information ................A-5 A-1-4 AMR Shipping Crate Information ....................A-6 Parts List..........................A-9 Side Laser Configuration ....................A-11 Input and Output Control ....................A-13 Index HD-1500 Platform User's Manual (I645)

  • Page 14: Terms And Conditions Agreement

    Omron’s exclusive warranty is that the Products will be free from defects in materials and work- manship for a period of twelve months from the date of sale by Omron (or such other period ex- pressed in writing by Omron). Omron disclaims all other warranties, expressed or implied.

  • Page 15: Application Considerations

    • Omron Companies shall not be responsible for the user’s programming of a programmable Product, or any consequence thereof. • Omron Companies shall not be responsible for the operation of the user accessible operating sys- tem (e.g. Windows, Linux), or any consequence thereof.
  • Page 16 Terms and Conditions Agreement Errors and Omissions Information presented by Omron Companies has been checked and is believed to be accurate; how- ever, no responsibility is assumed for clerical, typographical or proofreading errors or omissions. HD-1500 Platform User's Manual (I645)

  • Page 17: Safety Precautions

    This example shows a general precaution for something that you must do. The triangle symbol indicates precautions (including warnings). The specific operation is shown in the triangle and explained in text. This example indicates a precaution for high temperatures. HD-1500 Platform User's Manual (I645)

  • Page 18: Dangers

    The Charging Station, battery, and AMR transfer high electric power and contain hazard- ous voltages. You must take necessary precautions to avoid electric shock. Follow ap- propriate Lock-Out, Tag-Out (LOTO) instructions prior to any installation and mainte- nance work performed on or near these items. HD-1500 Platform User's Manual (I645)
  • Page 19 AMR cannot stop reliably within the default zones. OMRON is not responsible for any risks in- curred by modifying safety zone sizes or other Safety Laser Scanner settings.
  • Page 20 Battery and Charging Station Improper installation of the Power Supply Box could result in a tipping hazard. You must make sure that the Power Supply Box is safely and properly installed. HD-1500 Platform User's Manual (I645)
  • Page 21 The Charging Station has AC power inside. Its covers are not interlocked. You must dis- connect the power prior to maintenance work. Replace the battery only with an OMRON factory-supplied battery intended for use in the AMR. Do not use batteries intended for use in other OMRON AMR models.
  • Page 22 If a payload or payload structure projects or overhangs the outer dimensions of the AMR, make the following considerations. • Contact your OMRON representative to change the size of the Safety Laser Scanners' zones. • Repeat the safety commissioning procedure.

  • Page 23: Cautions

    AMR within its designated workspace, poor or improper localization may result in incor- rect path planning. To ensure safety, you must always install physical barriers where there is a risk of property damage or personal hazard. HD-1500 Platform User's Manual (I645)
  • Page 24 Personnel should not be near the AMR when it is rotating with no forward motion. The electronics bay has high current components that are exposed when side skins are removed. Avoid contact with electrical terminals to prevent electric shock. HD-1500 Platform User's Manual (I645)

  • Page 25: Precautions For Safe Use

    It should be shipped and stored in the supplied packaging, which is designed to prevent damage from normal shock and vibration. • OMRON recommends storing and securing the pendant when not in use to prevent an unauthorized person from operating the AMR.
  • Page 26 • Never access the interior of the AMR while it is connected to the Docking Target. • Only use chargers and batteries supplied by OMRON. The charger shall only be used to charge an HD-1500 AMR battery. • Avoid shorting the battery terminals or connectors.
  • Page 27 • After you remove or replace the skins, you must make sure that the light strips and discs are opera- tional once the AMR is powered back ON. • Physical immobilization might cause motors in the AMR to overheat. HD-1500 Platform User's Manual (I645)

  • Page 28: Precautions For Correct Use

    • Do not connect user-supplied equipment to the Ethernet switches located in the electronics bay. • Rough or uneven floors can degrade the drive wheels, and shorten their life span. • Replacement of the differential drive train, casters, and wheels require an OMRON service engineer. Contact your local OMRON representative for more information.
  • Page 29 • If the loaded AMR is too heavy to move manually, it is recommended that you seek additional help or remove the payload. • OMRON recommends that you train personnel on the safe use of the brake release button and pro- cedures for safely pushing an AMR.
  • Page 30 • The AMR's internal clock must be set correctly to ensure that accurate timestamps are present in the Debug Info file. Refer to the Fleet Operations Workspace Core User's Manual (Cat. No. I635) for more information. HD-1500 Platform User's Manual (I645)

  • Page 31: Regulations And Standards

    • CAN/CSA C22.2.107.2 Battery Chargers (Charging Station). • ANSI/CAN/UL/ULC 2271 Standards for Safety Batteries for use in Light Electric Vehicle (LEV) Appli- cations (Battery). Conformance to KC Certification When you use this product in South Korea, observe the following precautions. HD-1500 Platform User's Manual (I645)
  • Page 32 Regulations and Standards This product meets the electromagnetic compatibility requirements for business use. HD-1500 Platform User's Manual (I645)

  • Page 33: Related Manuals

    W521) Digital I/O Units. NX-series Analog I/O Units User's Manual for Analog Describes the information necessary to use NX-series Input Units and Analog Output Units (Cat. No. W522) Analog Input Units and Analog Output Units. HD-1500 Platform User's Manual (I645)

  • Page 34: Glossary

    Debug Info File A zip file downloaded from SetNetGo that contains detailed information about the status of the system used by OMRON engineers for trouble- shooting. Docking Target A fixed object that is connected to the Power Supply Box that the AMR docks to that is used for autonomous charging.
  • Page 35 In MobilePlanner, a virtual container with a series or sequence of nested tasks and / or goals typically used to perform the same sequence of dis- crete functions in different tasks. A representation of the AMR's environment within MobilePlanner that it uses for navigation. HD-1500 Platform User's Manual (I645)
  • Page 36 The radius of the circle that the AMR will travel when turning while moving forward. Wizard A guide within a software user interface that assists the user in performing an operation or function. Workspace The intended operating area of the AMR. HD-1500 Platform User's Manual (I645)

  • Page 37: Revision History

    A manual revision code appears as a suffix to the catalog number on the front and back covers of the manual. I645-E-03 Cat. No. Revision code Revision code Date Revised content August 2021 Reformatted and updated. August 2020 Minor modifications December 2020 Original production HD-1500 Platform User's Manual (I645)
  • Page 38 Revision History HD-1500 Platform User's Manual (I645)

  • Page 39: Overview

    Additional E-STOP Buttons ................1-22 1-6-3 Additional Signal Beacons................1-22 1-6-4 Additional Warning Buzzers ................1-23 1-6-5 Side Lasers ....................1-23 1-6-6 Spare Battery ....................1-24 1-6-7 High-accuracy Positioning System..............1-24 1-6-8 Top Plate ....................... 1-25 Software ......................1-26 HD-1500 Platform User's Manual (I645)
  • Page 40 MobilePlanner Software ................1-28 1-7-5 ARCL Programming Language ..............1-29 1-7-6 Integration Toolkit ..................1-29 1-7-7 SetNetGo Software ..................1-30 Payload Considerations ................1-31 1-8-1 Payload Structures ..................1-31 1-8-2 Power Consumption ..................1-33 Coordinate System ..................1-34 HD-1500 Platform User's Manual (I645)

  • Page 41: Intended Use

    OMRON does not provide the method of loading the payload on or off the AMR. It is the end user's responsibility to perform a complete task-based risk assessment in accordance with EN ISO 12100, and ensure safe transfer of the payload.
  • Page 42 Keep a minimum of 30 cm away from the AMR charging contacts. • Do not expose the AMR to rain or moisture. CAUTION Personnel must not be near the AMR while it is rotating with no forward motion. HD-1500 Platform User's Manual (I645)
  • Page 43 • Make sure that any person working with or near an AMR is trained and has read and under- stands this document and the Mobile Robot HD Safety Manual (Cat. No. I647). • Mechanically maintain and service AMRs for proper operation of all control and safety func- tions. HD-1500 Platform User's Manual (I645)

  • Page 44: Features And Components

    Several laser sensors are provided on the AMR for navigation and safety. The Safety Laser Scanner, optional Side Lasers, and Low Lasers are Class 1 type that use invisible laser radiation and are safe under all conditions of normal use. HD-1500 Platform User's Manual (I645)

  • Page 45: Drive Train And Suspension

    1 Overview Precautions for Safe Use • Although the lasers used are Class 1 (eye-safe), OMRON recommends that you not look into the laser light. The maximum permissible exposure cannot be exceeded when viewing lasers with the naked eye. • Lasers cannot reliably detect glass, mirrors, and other highly-reflective objects. Use caution when operating the AMR in areas that have these types of objects.

  • Page 46: Skins

    Precautions for Correct Use • Rough or uneven floors can degrade the drive wheels, and shorten their life span. • Replacement of the differential drive train, casters, and wheels require an OMRON service engineer. Contact your local OMRON representative for more information.

  • Page 47: Amr Controller

    A rechargeable lithium ion battery consisting of 8 modules provides power to the entire AMR and any accessories. The battery can be automatically recharged while in the AMR, or it can be removed and charged sepa- rately. HD-1500 Platform User's Manual (I645)

  • Page 48: E-Stop Buttons

    Consider all safety factors related to the location of the integrated E-STOP button when relocat- ing the operator panel. Screen A high-resolution, high-brightness screen provides operational status, wireless signal strength, battery level, IP address, AMR identification, faults, and up to six lines of instructions. 1-10 HD-1500 Platform User's Manual (I645)

  • Page 49: Pendant

    The pendant has a 3-position enable switch that puts the AMR in a protective stop state unless an operator is present and holding the switch in the center position. Additional Information A Pendant is required for one or more AMRs. 1-11 HD-1500 Platform User's Manual (I645)

  • Page 50: Light Strips And Discs

    Verify that the speakers are audible, and the sound level is at the same level as needed during the operation. 1-2-11 Charging Station The Charging Station enables the AMR to charge autonomously. 1-12 HD-1500 Platform User's Manual (I645)

  • Page 51: Charging Contacts

    The User Access Panel also provides space for mounting user-supplied control devices if required, such as an NX-series EtherCAT Coupler unit with various NX-series I/O units attached. The User Access Panel is protected with a removable cover. 1-13 HD-1500 Platform User's Manual (I645)

  • Page 52: Input And Output Control

    AMR. This is to ensure that the internal components are isolated and protect- ed from unauthorized and unsafe access. 1-14 HD-1500 Platform User's Manual (I645)

  • Page 53: Electronics Bay

    You can access the electronics bay compartment from the right or left side of the AMR if the skins are removed. 1-2-19 Payload Mounting Surface Payloads are mounted directly to the top of the AMR chassis. Several mounting points are available for various payload designs. 1-15 HD-1500 Platform User's Manual (I645)

  • Page 54: Autonomous Navigation

    • Editing the workspace map to include features that restrict the AMR's operation in specific areas, such as preferred lines, resisted areas, and movement parameter sectors to reduce speed. • Editing the AMR's configuration to affect its behavior in all locations, such as restricting its maximum speed. 1-16 HD-1500 Platform User's Manual (I645)

  • Page 55: Information Labels

    FF is reserved for internal use. Product Origin Information Product origin information is provided. Alerts and Compliance General alerts and compliance information is provided. 1-4-2 Docking Target Information Label The Docking Target information label is described below. 1-17 HD-1500 Platform User's Manual (I645)

  • Page 56: Power Supply Box Information Label

    FF is reserved for internal use. Product Origin Information Product origin information is provided. Alerts and Compliance General alerts and compliance information is provided. 1-4-3 Power Supply Box Information Label The Power Supply Box information label is described below. 1-18 HD-1500 Platform User's Manual (I645)
  • Page 57 X for October, Y for November, and Z for December. FF is reserved for internal use. Product Origin Information Product origin information is provided. Alerts and Compliance General alerts and compliance information is provided. 1-19 HD-1500 Platform User's Manual (I645)

  • Page 58: Model Numbers

    Top Plate (factory installed) • Side Lasers (factory installed) • 37480-10214 HD-1500 AMR • Charging Station • Dual HAPS sensor (factory installed) • Pendant • Top Plate (factory installed) • Side Lasers (factory installed) 1-20 HD-1500 Platform User's Manual (I645)

  • Page 59: Optional Items

    AMR within its designated workspace, poor or improper localization may result in incorrect path planning. To ensure safety, you must always install physical barriers where there is a risk of property damage or personal hazard. 1-21 HD-1500 Platform User's Manual (I645)

  • Page 60: Additional E-Stop Buttons

    The AMR must include highly visible indicators appropriate for its application. In most cases, the light discs and the light strips in front and back of the AMR provide sufficient indication, but this must be evaluated when a payload structure is implemented. 1-22 HD-1500 Platform User's Manual (I645)

  • Page 61: Additional Warning Buzzers

    Access Panel Connections on page 3-15 for more information. Additional Information You can optionally supply an LED signal tower which includes a built-in warning buzzer, or a dedicated warning buzzer. Contact your OMRON representative for more information on the available options. 1-6-5...

  • Page 62: Spare Battery

    A protective covering needs to be installed when applying the magnetic tape to the floor to prevent damage from the AMR traffic. OMRON does not provide the protective coverings with the HAPS op- tion. The protective covering must be supplied by the user.

  • Page 63: Top Plate

    1 Overview Additional Information Contact your OMRON representative for information about the HAPS sensor replacement. 1-6-8 Top Plate An optional Top Plate is available that can be attached to the AMR chassis. This Top Plate is used to protect the AMR, but it is not required. The AMR can be ordered with or without a Top Plate depending on the application requirements.

  • Page 64: Software

    Access to software features is permitted by use of a USB license dongle that contains secure, encrypt- ed electronic copies of the operating licenses. Some licenses might have a restricted term and expire after a specific date. You will receive several warning alerts before the license expires. 1-26 HD-1500 Platform User's Manual (I645)

  • Page 65: Aram Software

    Refer to the Fleet Operations Workspace Core User's Manual (Cat. No. I635) for instructions on how to configure I/O connections. 1-7-3 ARAMCentral Software ARAMCentral runs on the Fleet Manager as part of the Fleet Operations Workspace software. 1-27 HD-1500 Platform User's Manual (I645)

  • Page 66: Mobileplanner Software

    Fleet Manager by specifying the unique map identifier for that Docking Target. This configuration can be shared with identically-equipped AMRs in your fleet. The map generated by one AMR can be shared across a fleet, with both identical and non-identical OMRON AMRs. MobilePlanner can also be used for the following functions.

  • Page 67: Arcl Programming Language

    Precautions for Correct Use The Integration Toolkit only runs on an EM2100 appliance configured as a Fleet Manager. Refer to the Fleet Operation Workspace Core Integration Toolkit User’s Guide (Cat. No. I637) for more information. 1-29 HD-1500 Platform User's Manual (I645)

  • Page 68: Setnetgo Software

    The SetNetGo operating system runs on the AMR Controller and the EM2100 appliance. It is the host operating system in which the FLOW components ARAM and ARAMCentral run. Additional Information Refer to the Fleet Operations Workspace Core User's Manual (Cat. No. I635) for more informa- tion. 1-30 HD-1500 Platform User's Manual (I645)

  • Page 69: Payload Considerations

    The AMR provides threaded mounting holes for payload structure attachment. The mounting holes provide a secure and adaptable method of attaching payload structures to the chassis. A payload 1-31 HD-1500 Platform User's Manual (I645)
  • Page 70 If a payload or payload structure projects or overhangs the outer dimensions of the AMR, make the following considerations. • Contact your OMRON representative to change the size of the Safety Laser Scanners' safety zones. • Repeat the safety commissioning procedure.

  • Page 71: Power Consumption

    Refer to the power limits specified in 2-8-4 USER PWR Connector on page 2-18 and 2-8-5 REG PWR Connector on page 2-18 for more information. Overload Duration Overcurrent Level Continuous 50 A 100 ms 100 A 1 ms 200 A 1-33 HD-1500 Platform User's Manual (I645)

  • Page 72: Coordinate System

    The origin of the vertical coordinate Z is set at ground level (Z=0). The value of Z is required when you calculate the mount position of optional items such as Side Lasers. Positions of optional items like this are set in MobilePlanner. Rear +θ Right Left Front 1-34 HD-1500 Platform User's Manual (I645)

  • Page 73: Specifications

    USER PWR Connector ................. 2-18 2-8-5 REG PWR Connector..................2-18 2-8-6 SCPU Connector................... 2-19 2-8-7 LIGHTS Connector..................2-19 2-8-8 IO 1 Connector ....................2-19 2-8-9 IO 2 Connector ....................2-20 2-8-10 COMMS Connector ..................2-20 HD-1500 Platform User's Manual (I645)

  • Page 74: Performance Specifications

    With CAPS: ±8 mm, ±0.5° • Stop position repeatability (fleet) To a position: ±70 mm • To standard target: ±35 mm, ± 2° • With HAPS: ±10 mm, ±0.75° • With CAPS: ±16 mm, ±0.5° HD-1500 Platform User's Manual (I645)

  • Page 75: Physical Specifications

    A = Rear caster pivot point to Center of Gravity B = Front caster pivot point to Center of Gravity C = Drive wheel to Center of Gravity Power Supply Box Dimensions Physical dimensions of the Power Supply Box are provided below. HD-1500 Platform User's Manual (I645)
  • Page 76 Physical dimensions of the Docking Target are provided below. 1315 255 100 1256 1306 325 297 User Access Panel Dimensions Physical dimensions for the User Access Panel are provided below. User-supplied DIN rail is shown in the following figure for reference. HD-1500 Platform User's Manual (I645)

  • Page 77: Weights

    114 109 4X Ø 4.8 THRU 2-2-2 Weights Weights are provided in the table below. Item Weight AMR (no battery or accessories) 437 kg Battery 69.5 kg Power Supply Box 108 kg Docking Target 27.5 kg HD-1500 Platform User's Manual (I645)

  • Page 78: Payload Center Of Gravity

    AMR's direction of motion (side-to-side). Z is the vertical dimension (height). Refer to 1-9 Coordinate System on page 1-34 for more information. A 3D view of the recommended payload center of gravity is shown below. HD-1500 Platform User's Manual (I645)
  • Page 79 2 Specifications A top view of the recommended payload center of gravity is shown below. A front view of the recommended payload center of gravity is shown below. HD-1500 Platform User's Manual (I645)
  • Page 80 2 Specifications A side view of the recommended payload center of gravity is shown below. HD-1500 Platform User's Manual (I645)

  • Page 81: Environmental Specifications

    Environmental specifications for the battery are provided below. Item Specification Ambient operating temperature 5 to 40°C -20 to 60°C (less than 2 weeks) Storage temperature -20 to 35°C (more than 2 weeks) Humidity 5% to 95%, non-condensing HD-1500 Platform User's Manual (I645)

  • Page 82: Pendant Environmental Specifications

    Environmental specifications for the pendant are provided below. Item Specification Ambient operating temperature 0 to 40°C Storage temperature -20 to 65°C Humidity 5% to 95%, non-condensing Altitude 2000 m Pollution degree Ingress protection class IP30 2-10 HD-1500 Platform User's Manual (I645)

  • Page 83: Laser Specifications

    Scanning plane Horizontal plane 65 mm from floor surface. Side Laser Scanning plane Vertical plane Laser class Class 1 in accordance with the following standards: • IEC 60825-1 • CDRH 21 CFR 1040.10 • 1040.11 2-11 HD-1500 Platform User's Manual (I645)

  • Page 84: Battery Specifications

    With no payload: approximately 12.5 hours Duty cycle (depth of discharge) 80% Voltage 48-56 VDC (52.8 VDC nominal) Capacity 70 Ah nominal Energy 3.7 kWh nominal Recharge time 40 minutes (from empty to full) Life span Approximately 9000 cycles 2-12 HD-1500 Platform User's Manual (I645)

  • Page 85: Haps Specifications

    Magnetic tape width x length 25 mm x 300 mm Magnetic tape orientation South up (markers north up) Separation from tape 20 to 30 mm Protective covering tape (recommended) Mighty Line Safety Floor Tape, Solid (102 mm width) 2-13 HD-1500 Platform User's Manual (I645)

  • Page 86: Charging Station Specifications

    6.84 kW Input protection method 25 A branch-rated circuit breaker Short circuit current rating (SCCR) 5 kA Material Aluminum and Mild steel User-supplied conductor type Copper Grounding class Class 1 Fused at 150 A. 2-14 HD-1500 Platform User's Manual (I645)

  • Page 87: Other Specifications

    The final functional safety rating is to be cal- culated using the given PFHd value (logic and output) combined with the user-supplied emergency stop (input) PFHd values. 2-15 HD-1500 Platform User's Manual (I645)
  • Page 88 The AMR lin- ear speed is limited to 1800 mm/s (both forward and backward). If the cal- culated speed exceeds this speed limits, the AMR protective stop is trig- gered. 2-16 HD-1500 Platform User's Manual (I645)

  • Page 89: Drive Train

    Casters Cast iron wheels with polyurethane tread Caster dimensions 203.2 mm diameter. x 120.7 mm wide Brakes 195 N⋅m holding torque Steering Differential 2-8-3 Operator Panel Screen Operator Panel screen specifications are provided below. 2-17 HD-1500 Platform User's Manual (I645)

  • Page 90: User Pwr Connector

    REG power connector. Simultaneous inrush loads might trip the over current protection at the battery. You should use external current limiting devices to prevent transient current over- load. 2-18 HD-1500 Platform User's Manual (I645)

  • Page 91: Scpu Connector

    Rated input voltage Digital inputs: 24 VDC (15 to 28.8 VDC) Analog inputs: -10 to 10 VDC (-15 to 15 VDC max.) Input current Digital inputs: 3.5 mA typical at 24 VDC, rated current 2-19 HD-1500 Platform User's Manual (I645)

  • Page 92: Io 2 Connector

    TE Connectivity Micro Mate N Lok., 2 x 7 User-supplied mating connector TE Connectivity Micro Mate N Lok receptacle (part number: 1-794617-4) User-supplied mating connector pins TE Connectivity AMP connectors, 20-24 AWG (part number 1-794610-2) Communication types RS-232, RS-422, CAN Bus 2-20 HD-1500 Platform User's Manual (I645)
  • Page 93 Software Configuration.................. 3-31 3-9-3 Goals and Tasks.................... 3-32 3-10 Attaching Warning Labels ................3-35 3-11 Safety Commissioning ................3-36 3-11-1 Safety Commissioning Procedure ..............3-36 3-12 Map Creation Overview ................3-37 3-12-1 Basic Mapping Tasks..................3-38 HD-1500 Platform User's Manual (I645)

  • Page 94: Installation Introduction

    Refer to 3-10 Attaching Warning Labels on page 3-35 for more information. Perform safety commissioning. Refer to 3-11 Safety Commissioning on page 3-36 for more information. Generate a map for the AMR. Refer to 3-12 Map Creation Overview on page 3-37 for more information. HD-1500 Platform User's Manual (I645)

  • Page 95: Charging Station Installation

    • The Power Supply Box must be installed according to the local regulations or codes, and by authorized personnel or licensed electricians. • The Power Supply box and the Docking Target must be properly secured to the wall or floor prior to operation. HD-1500 Platform User's Manual (I645)

  • Page 96: Repositioning The Docking Target Power Connector

    When fastening the Docking Target, screw the mounting brackets directly to the wall or to the floor and tighten to torque of 9 N⋅m. When fastening the Power Supply Box, screw the mounting brackets directly to the wall or the floor and tighten to a torque of 61 N⋅m HD-1500 Platform User's Manual (I645)
  • Page 97 • After making adjustments to the charging paddle, carefully observe the AMR as it approaches the Docking Target and be prepared to press an E-STOP button if alignment is not correct. • Do not over-torque the charging paddle adjustment screws if they reach their limits. HD-1500 Platform User's Manual (I645)

  • Page 98: Electrical Considerations

    • 5 wire WYE (jumper configuration as WYE) supports 380 to 480 VAC line to line. • 5 wire WYE (jumper configuration as Delta) supports 200 to 277 VAC line to line. Use the figures below to understand the 3-phase wiring configuration options. HD-1500 Platform User's Manual (I645)

  • Page 99: Commissioning Procedure

    Once the wiring is complete and the facility power cable is connected to the electrical access panel properly, you can enable the AC facility power. Confirm that the circuit breakers inside the electrical access panel are in ON positions (top / up position). HD-1500 Platform User's Manual (I645)
  • Page 100 Turn the Power Supply Box main disconnect switch located on the electrical access panel to ON position (vertical). This will allow the facility AC power to energize the Power Supply Box. Confirm that the blue LED on the Power Supply Box turns ON to complete this procedure. HD-1500 Platform User's Manual (I645)

  • Page 101: Battery Installation Procedure

    WARNING Always use safe lifting practices when removing or installing the battery. Precautions for Safe Use Only use chargers and batteries supplied by OMRON. The charger shall only be used to charge an HD-1500 AMR battery. Precautions for Correct Use During the initial AMR installation and configuration, install a fully-charged battery.
  • Page 102 Push the battery all the way into the AMR and then close the battery door. The battery door secures the battery in place and prevents it from shifting inside the compart- ment. Install the AMR front skin to complete the procedure. 3-10 HD-1500 Platform User's Manual (I645)

  • Page 103: Network Connections

    Connect the Ethernet cable from the PC to the AMR Maintenance Ethernet Port. Verify the PC network settings by accessing the network adapter properties on your PC for the network that will be used as the AMR connection. 3-11 HD-1500 Platform User's Manual (I645)

  • Page 104: Wireless Connection

    DNS Server(s) SSID for the AMR Network Mode for the net- Infrastructure work Radio Mode Auto 802.11b/g 802.11ac/n 802.11 (802.11a/b/g Only) Channel Set Wireless Watchdog IP Address Security Encryption Disabled WEP 64-bit WEP 128-bit 3-12 HD-1500 Platform User's Manual (I645)
  • Page 105 • EAP-TLS Username: • Password: • Private key: • Download or Create New • Private key length: 1024 or 2048 bit Hostname: • Upload certificate: • Certificate password (if needed): • Validate Server Certificate: 3-13 HD-1500 Platform User's Manual (I645)

  • Page 106: Electrical Connections

    • Two dipole antennas with reverse SMA plug and 90° pivot (137 mm in length) Additional Information • Contact your local OMRON representative if longer extension cables or different antennas are required. • The AMR Controller provides two connections for wireless antennas. Refer to 1-2 Features and Components on page 1-6 for more information.

  • Page 107: User Access Panel Connections

    The cover may become adhered to the AMR chassis over time. Threaded holes in the cover are pro- vided for use with the fastening screws to extract the cover in this condition. The following connections are available on the User Access Panel. 3-15 HD-1500 Platform User's Manual (I645)
  • Page 108 The REG PWR connector on the User Access Panel provides regulated 24 VDC power and is typically used for payload structure control devices. Use the information below to understand all REG PWR connections. Additional Information Refer to 2-8-5 REG PWR Connector on page 2-18 for connector type and specifications. 3-16 HD-1500 Platform User's Manual (I645)
  • Page 109 The following figure shows the pin arrangements for the SCPU connector on the AMR. PIN 7 PIN 1 PIN 12 PIN 6 The information in the table below describes the signal designations for the SCPU connector. 3-17 HD-1500 Platform User's Manual (I645)
  • Page 110 • 2-8-1 Safety Functions on page 2-15 • 4-15 Emergency Stop on page 4-32 • 4-16 Protective Stops on page 4-34 • 4-16-1 AMR Response During Protective Stops on page 4-34 3-18 HD-1500 Platform User's Manual (I645)
  • Page 111 Use the information below to understand all IO 1 connections. The following figure shows the pin arrangements for the IO 1 connector on the AMR. 3-19 HD-1500 Platform User's Manual (I645)
  • Page 112 -10 to +10 VDC analog in- Input4+ Connected to chassis for shielding A circuit diagram is provided below for the digital inputs. IN0 to IN7 REG PWR 0 VDC A circuit diagram is provided below for the analog inputs. 3-20 HD-1500 Platform User's Manual (I645)
  • Page 113 9 and 10 Ground NX-OD4256 OUT4 24 VDC sourcing (PNP) digital output Ground NX-OD4256 OUT5 24 VDC sourcing (PNP) digital output OUT6 OUT7 16 and 17 Ground NX-DA3603 -10 to +10 VDC analog output 3-21 HD-1500 Platform User's Manual (I645)
  • Page 114 Use this connector to transfer user-defined programs to the NX102 unit for application-specific functionality such as I/O control or ARCL command operations. This connector can also be used for periodic updates to the safety control system issued by OMRON. 3-22...

  • Page 115: Attaching The Payload

    Nut Considerations on page 3-24 for more information. Precautions for Correct Use Do not exceed 10 kN per payload structure mounting point. Mounting points are arranged in a longitudinal and transverse pattern. Mounting point dimensions are provided in the following figure. 3-23 HD-1500 Platform User's Manual (I645)
  • Page 116 A maximum torque of 65 N⋅m should be applied. Rivet Nut Flange Rivet Nut Flange Fastener Fastener Washer Washer Payload Payload AMR Mounting AMR Mounting Surface Rivet Nut Surface Rivet Nut Correct Installation Incorrect Installation 3-24 HD-1500 Platform User's Manual (I645)

  • Page 117: Overhanging Payloads

    AMR cannot stop reliably within the default zones. OMRON is not responsible for any risks incurred by modifying safety zone sizes or other Safety Laser Scanner set- tings.

  • Page 118: Relocating The Operator Panel

    Refer to 6-9-4 Operator Panel Replacement / Removal Procedure on page 6-25 for information about removing the Operator Panel. Refer to Operator Panel Dimensions on page 2-5 for more information about Operator Panel dimen- sions. 3-26 HD-1500 Platform User's Manual (I645)

  • Page 119: Side Laser Relocation To The Payload Structure

    Side Lasers must be removed from the AMR before mounting them on the payload structure. Refer to 3-8-1 Side Laser Removal from the AMR on page 3-27 for more information. If Side Lasers are required but not present on the AMR, contact your local OMRON representative for more information about ordering, installing, and configuring them.
  • Page 120 Take care to prevent the Side Laser from falling when removing these screws. If the Side Laser falls, it could scratch the lens and damage the unit. The other three screws are used for alignment purposes. Avoid altering the position of these screws. Remove the Side Laser from the AMR. 3-28 HD-1500 Platform User's Manual (I645)
  • Page 121 Reinstall the laser cover protective fin using the previously removed M6 screws. Apply Loctite 243 or equivalent and tighten to a torque of 7.5 N⋅m. Install the previously removed AMR skins to complete this procedure. 3-29 HD-1500 Platform User's Manual (I645)

  • Page 122: Haps Installation And Configuration

    The following sections provide details about HAPS tape and marker installation and other configura- tion requirements. If HAPS sensors are required but not present on the AMR, contact your local OMRON representative for more information about ordering, installing, and configuring them.

  • Page 123: Software Configuration

    The HAPS parameters are configured using the MobilePlanner software. Use the following procedures to configure the AMR physical and operational configurations. Additional Information Refer to the Fleet Operations Workspace Core User's Manual (Cat. No. I635) for more informa- tion. 3-31 HD-1500 Platform User's Manual (I645)

  • Page 124: Goals And Tasks

    AMR along the tape, stopping at markers along the tape. There will be no goals on the tape itself. FollowGuide Task The FollowGuide task has the following parameters: • successCriteria 3-32 HD-1500 Platform User's Manual (I645)
  • Page 125 Determines how the AMR will manage failures when disengaging. • EngageOnlyIfFromGoal This should be set to False or blank when using FollowGuide. • lockModeduringMacro Boolean value to decide if the AMR mode will be locked during the engage process. 3-33 HD-1500 Platform User's Manual (I645)
  • Page 126 Selection to suppress the goal driving so that the AMR does not drive back to the goal location be- tween goals. Do not set this to suppress macros as they are needed to use the Engage macro of each succes- sive goal. 3-34 HD-1500 Platform User's Manual (I645)

  • Page 127: 3-10 Attaching Warning Labels

    • Any additionally required safety labels for the payload structure or specific to the end-use ap- plication shall be evaluated by the user as part of the risk assessment. 3-35 HD-1500 Platform User's Manual (I645)

  • Page 128: 3-11 Safety Commissioning

    Connect to the AMR and start the MobilePlanner software. Select Main Menu > Robot > Safety Commissioning. Follow the on-screen instructions to complete the test. You can print a certificate after successful completion of the commissioning. 3-36 HD-1500 Platform User's Manual (I645)

  • Page 129: 3-12 Map Creation Overview

    AMR to avoid. Use a preferred-direction zone to keep the AMR to the preferred side of a hall- way. The AMR is able to travel on the alternate side of the zone if the preferred side is blocked. 3-37 HD-1500 Platform User's Manual (I645)

  • Page 130: Basic Mapping Tasks

    AMR if you have only one in operation. The Fleet Manager automatically uploads the new map to each AMR in your fleet as soon as the AMR becomes idle. • Save map collections and deploy your AMR in any of your workspaces by selecting the appropriate map file. 3-38 HD-1500 Platform User's Manual (I645)

  • Page 131: Operation

    Charging the Battery ..................4-23 4-11-5 Balancing the Battery ..................4-25 4-11-6 Storing Batteries.................... 4-26 4-12 Operator Panel ..................... 4-27 4-12-1 Main Screen ....................4-27 4-12-2 ON Button...................... 4-27 4-12-3 OFF Button....................4-28 4-12-4 Brake Release Button ................... 4-28 HD-1500 Platform User's Manual (I645)
  • Page 132 4-23 Wireless Considerations ................4-58 4-23-1 Signal Availability ..................4-58 4-23-2 Bandwidth...................... 4-58 4-23-3 Port Forwarding..................... 4-58 4-24 Motion Limits ....................4-59 4-25 Emergency Situations ................. 4-60 4-26 Tilt Detection....................4-61 4-27 Interlock Switches..................4-62 HD-1500 Platform User's Manual (I645)

  • Page 133: Payload Movement And Transfer

    Your facility should provide such fail-safe interlocks between the AMR and any facility equipment with which it interfaces. After you attach your payload to the AMR, verify the correct operation of the fail- safe as part of your risk assessment. HD-1500 Platform User's Manual (I645)

  • Page 134: Amr Start-Up

    Implementing methods to circumvent the need for a person to enable the AMR's mo- tor power at start-up is prohibited. Additional Information Refer to 4-18 Light Discs and Optional Beacon States on page 4-36 for more information about start-up state indicators. HD-1500 Platform User's Manual (I645)

  • Page 135: Amr Shut-Down

    • Avoid moving the AMR while it is powered OFF. If you manually move the AMR while it is powered OFF, it may not be able to determine its current location when it is powered ON again. Use the localization feature in MobilePlanner to localize the AMR if this occurs. HD-1500 Platform User's Manual (I645)

  • Page 136: Amr Controller Led Indicators

    The AMR Controller has 12 indicator LEDs that give a visual overview about its status. The following figure displays the AMR controller LED indicator lights. Refer to the AMR Controller User's Guide (Cat. No. I650) for more information. HD-1500 Platform User's Manual (I645)

  • Page 137: Workspace

    • Dust, dirt, grease, and water (or other liquids) can affect wheel traction, as well as operation of the drive wheels. If the drive wheels slip, it can potentially affect operat- ing duration, stopping distance, and navigation accuracy. HD-1500 Platform User's Manual (I645)

  • Page 138: Physical Barriers

    • Visibility: Mark all physical barriers to make sure that the AMR's Safety Laser Scanners can detect them easily. Barriers must extend above and below the laser's sensing plane, particularly if the floor is not flat. HD-1500 Platform User's Manual (I645)

  • Page 139: Logical Barriers

    Environmental hazards are areas where it is unsafe for the AMR to operate. Provide physical barriers that the AMR can detect accurately with its Safety Laser Scanners so that it does not attempt to drive near the hazard. HD-1500 Platform User's Manual (I645)

  • Page 140: Restricted Zones

    AMR or its payload. These payload transfer stations shall be designated as operating hazard zones as defined in this section of the man- ual. 4-10 HD-1500 Platform User's Manual (I645)

  • Page 141: Clearances

    Set a 2500 mm distance between the Docking Target goal (defined in the map) and the dock goal po- sition of the AMR using MobilePlanner. This distance provides sufficient room for the AMR to align with the Docking Target during the docking operation. 4-11 HD-1500 Platform User's Manual (I645)
  • Page 142 An example of this is shown below, utilizing floor markings to draw attention to the docking area hazard zones. 4-12 HD-1500 Platform User's Manual (I645)

  • Page 143: Narrow Passageway Behavior (Linear)

    AMR’s configuration to reduce the speed. These widths are practical for linear speeds of less than 300 mm/sec. Additional Information Use the Door Goals feature on the map for pre-alignment when the AMR travels through narrow passageways. 4-13 HD-1500 Platform User's Manual (I645)

  • Page 144: Narrow Passageway Behavior (Non-Linear)

    As displayed in the following figure, the distance between the edge of the door opening and the adja- cent wall is 250 mm. Make AMR tasks and configuration changes to optimize operation of the AMR in narrow doorways. 4-14 HD-1500 Platform User's Manual (I645)
  • Page 145 4 Operation End Goal 6000 3000 2000 9000 Start Goal 2000 Doorway 3000 U-Turn Clearance 4-15 HD-1500 Platform User's Manual (I645)

  • Page 146: Minimum Lane Width

    4 Operation Minimum Lane Width The minimum lane width for two AMRs passing each other in a linear passageway is 2500 mm. 2500 End Goal Start Goal 2500 Start Goal End Goal 4-16 HD-1500 Platform User's Manual (I645)

  • Page 147: 4-10 Immobilization

    • 6-4 Lifting the AMR on page 6-6. • 4-13 Releasing the Brakes on page 4-30. • 4-14 Manually Pushing the AMR on page 4-31. • 5-4-1 Low Battery Recovery on page 5-6. • Section 5 Troubleshooting on page 5-1. 4-17 HD-1500 Platform User's Manual (I645)

  • Page 148: 4-11 Battery And Charging

    • Only use chargers and batteries supplied by OMRON. The charger shall only be used to charge an HD-1500 AMR battery.

  • Page 149: Removing The Battery

    • You must wear proper Personal Protective Equipment (PPE) for removing, instal- ling, and lifting the battery or when working around a leaking battery. • At least 3 people are required to lift the battery. 4-19 HD-1500 Platform User's Manual (I645)
  • Page 150 The battery door rests on the floor and allows you to use it as a ramp. Use the handle to pull the battery out enough so you can disconnect the cable from the com- munications port. 4-20 HD-1500 Platform User's Manual (I645)

  • Page 151: Charging Station

    • If power cords lie on the ground, you must make sure that they are highly visible to prevent tripping hazards and must be protected from physical damage with barriers or covers. 4-21 HD-1500 Platform User's Manual (I645)
  • Page 152 The Power Supply Box will not automatically charge a battery if it is absolutely depleted. Pressing the Service button on the Power Supply Box during a charging session will interrupt charg- ing. Disconnect the battery and then reconnect to resume charging. 4-22 HD-1500 Platform User's Manual (I645)

  • Page 153: Charging The Battery

    • Do not press the Service button on the Power Supply Box if the yellow DC POWER LED indi- cator is flashing when there is no battery connected. Contact your OMRON representative if this condition is present.
  • Page 154 AMR. Refer to Charg- ing a Battery Outside of the AMR on page 4-25 for more information. If you move the AMR during the charging process, the charging will stop and re-docking is required to resume. 4-24 HD-1500 Platform User's Manual (I645)

  • Page 155: Balancing The Battery

    Simultaneous charging configurations are not possible. • Do not press the Service button on the Power Supply Box if the yellow DC POWER LED indi- cator is flashing when there is no battery connected. Contact your local OMRON representa- tive if this condition is present.

  • Page 156: Storing Batteries

    You will need to determine the optimum interval for your application. OMRON recom- mends this mode if you are not charging the battery while it is inside the AMR. If you see a reduction in run-time, you should perform a battery exchange more frequently.

  • Page 157: 4-12 Operator Panel

    • Enable motors after an emergency stop has occurred. • An LED ring around the button illuminates solid green when the AMR is ON while the brake is not engaged, and also during power-up, power-down operations. 4-27 HD-1500 Platform User's Manual (I645)

  • Page 158: Off Button

    Access to the SetNetGo web interface is always enabled on this port and does not require a password or software license. Additional Information Refer to 3-4 Network Connections on page 3-11 for more information. 4-28 HD-1500 Platform User's Manual (I645)

  • Page 159: Main Disconnect Switch

    Pendant Port The pendant port is used to connect a handheld pendant to the AMR. This is typically used when driv- ing the AMR manually. Disconnect the pendant from the pendant port during normal operation. 4-29 HD-1500 Platform User's Manual (I645)

  • Page 160: 4-13 Releasing The Brakes

    Manually moving a fully-loaded AMR while using the brake release button is not rec- ommended. If you must manually move a fully-loaded AMR, make sure to do this safely as this could result in personal injury or property damage. 4-30 HD-1500 Platform User's Manual (I645)

  • Page 161: 4-14 Manually Pushing The Amr

    • Only qualified personnel who have read and understood this manual and the Mobile Robot HD Safety Manual (Cat. No. I647) should manually move the AMR. • OMRON recommends that you train personnel on the safe use of the brake release button and procedures for safely pushing an AMR.

  • Page 162: 4-15 Emergency Stop

    Use the following procedure to recover from an emergency stop event. Make sure that all surrounding areas are clear before you release the E-STOP button so that the AMR has room to maneuver. Rotate the E-STOP button to release it. 4-32 HD-1500 Platform User's Manual (I645)
  • Page 163 • There is a two-second delay between when the ON button is pressed and the AMR resumes its activity. During the two seconds, the AMR scans its path for potential obstacles and will resume its commanded motion if there is adequate space to maneuver. 4-33 HD-1500 Platform User's Manual (I645)

  • Page 164: 4-16 Protective Stops

    Protective Stop Au- tomatic Reset Driving HIGH HIGH No Change HIGH Driving Protective Stop Au- tomatic Reset Stopped HIGH STO Active, Brakes HIGH engaged Stopped HIGH HIGH No change HIGH Stopped STO Active, Brakes engaged 4-34 HD-1500 Platform User's Manual (I645)

  • Page 165: 4-17 Overspeed Protection

    If this fault occurs frequently, the operating conditions leading up to this event should be investigated. Contact your OMRON representative for support. If the problem is not resolved, the AMR may stop operating in order to prevent the use of the potentially degraded brakes. Generally, the degradation of the motor brakes requires hundreds of these occurrences.

  • Page 166: Light Discs And Optional Beacon States

    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. An optional beacon will blink green during this operation. 4-36 HD-1500 Platform User's Manual (I645)

  • Page 167: Stopped Or Booting

    A small white arc travels back and forth between the two ends of the green arc. An optional beacon will blink green during this operation. 100% 4-37 HD-1500 Platform User's Manual (I645)
  • Page 168 0 to 180 cw 0 to 180 ccw 0 to 270 cw 0 to 90 ccw full circle full circle 100% Additional Information The state of charge displayed is continuous and not limited to 25% increments. 4-38 HD-1500 Platform User's Manual (I645)

  • Page 169: Light Strips And Optional Beacon States

    The light strip pulses red while the AMR is in an emergency stop state. The LED pulses at a 0.25 Hz frequency as it fades ON and OFF. An optional beacon will blink red during this operation. 4-39 HD-1500 Platform User's Manual (I645)

  • Page 170: Lost

    There is a two-second delay between the end of an obstacle detection condition and the AMR resuming its activity. During the two seconds, the AMR scans its path for potential obstacles. It will remain stopped until its path is clear. 4-40 HD-1500 Platform User's Manual (I645)

  • Page 171: Charging

    An optional beacon will blink green during this operation. ≤ 25% 25 to 50% 50 to 75% 75 to 95% ≥ 95% Additional Information The state of charge displayed is continuous and not limited to 25% increments. 4-41 HD-1500 Platform User's Manual (I645)

  • Page 172: 4-20 Pendant Operation

    • It is the end user's responsibility to make sure that the speed is appropriate for the payload that the AMR carries, and that the speed does not cause the AMR to move uncontrollably. • OMRON recommends storing and securing the pendant when not in use to prevent an unau- thorized person from operating the AMR.
  • Page 173 To stop the AMR, you can release the three-position enabling device or depress it completely. This will disable the drive motors. You can also release the directional control stick which will bring the AMR to a full stop (this does not disable power to the motors). 4-43 HD-1500 Platform User's Manual (I645)

  • Page 174: 4-21 Warning Buzzer

    • For 2 seconds prior to starting motion any time it has stopped moving for at least 10 seconds. This includes the first motion after start-up. • For 2 seconds when an emergency stop or a protective stop from hardware-based safety zones is triggered. 4-44 HD-1500 Platform User's Manual (I645)

  • Page 175: 4-22 Safety Laser Scanner Zones

    AMR cannot stop reliably within the default zones. OMRON is not responsible for any risks incurred by modifying safety zone sizes or other Safety Laser Scanner set- tings.
  • Page 176 Enabled when the AMR is driving at 0 to 20 mm/s very slow speeds with the Pendant 0 to 3 degrees/s disconnected. Refer to Moving at Very Slow Speeds on page 4-55 for more information. 4-46 HD-1500 Platform User's Manual (I645)
  • Page 177 Safety zone pairs 1 to 6 are used when the AMR is driving straight with minimal turning (0 to 12 degrees/s). Safety Zone Pair Applicable Speed 115 to 275 mm/s 275 to 580 mm/s 580 to 890 mm/s 890 to 1228 mm/s 1228 to 1530 mm/s 1530 to 1800 mm/s 4-47 HD-1500 Platform User's Manual (I645)
  • Page 178 Safety Zone Pair 5 3000 3000 2000 2000 1000 1000 -1000 -1000 AMR Y-axis AMR Y-axis  Rotating While Driving Slowly Safety zone pairs 8 to 10 are used when the AMR is rotating in place. 4-48 HD-1500 Platform User's Manual (I645)
  • Page 179  Moving Slowly Safety zone pair 11 is used when the AMR is driving slowly. Safety Zone Pair Applicable Speed 275 mm/s and 12 to 60 degrees/s 580 mm/s and 12 to 14 degrees/s 4-49 HD-1500 Platform User's Manual (I645)
  • Page 180 12 to 18 degrees/s 23 and 37 1228 to 1530 mm/s 18 to 24 degrees/s 24 and 38 1228 to 1530 mm/s 24 to 30 degrees/s 25 and 39 1228 to 1530 mm/s 30 to 45 degrees/s 4-50 HD-1500 Platform User's Manual (I645)
  • Page 181 2000 2000 1000 1000 -1000 -1000 AMR Y-axis AMR Y-axis Safety Zone Pair 28 (Turning Right) Safety Zone Pair 14 (Turning Left) 3000 3000 2000 2000 1000 1000 -1000 -1000 AMR Y-axis AMR Y-axis 4-51 HD-1500 Platform User's Manual (I645)
  • Page 182 2000 2000 1000 1000 -1000 -1000 AMR Y-axis AMR Y-axis Safety Zone Pair 17 (Turning Left) Safety Zone Pair 31 (Turning Right) 3000 3000 2000 2000 1000 1000 -1000 -1000 AMR Y-axis AMR Y-axis 4-52 HD-1500 Platform User's Manual (I645)
  • Page 183 2000 2000 1000 1000 -1000 -1000 AMR Y-axis AMR Y-axis Safety Zone Pair 34 (Turning Right) Safety Zone Pair 20 (Turning Left) 3000 3000 2000 2000 1000 1000 -1000 -1000 AMR Y-axis AMR Y-axis 4-53 HD-1500 Platform User's Manual (I645)
  • Page 184 2000 2000 1000 1000 -1000 -1000 AMR Y-axis AMR Y-axis Safety Zone Pair 37 (Turning Right) Safety Zone Pair 23 (Turning Left) 3000 3000 2000 2000 1000 1000 -1000 -1000 AMR Y-axis AMR Y-axis 4-54 HD-1500 Platform User's Manual (I645)
  • Page 185 AMR. Safety zone pair 42 is used when the AMR is moving at very slow speeds without the pendant con- nected. 4-55 HD-1500 Platform User's Manual (I645)
  • Page 186 AMR when docking. Safety Zone Pair Applicable Speed 0 to 20 mm/s and 3 to 12 degrees/s 20 to 115 mm/s and 0 to 12 degrees/s 4-56 HD-1500 Platform User's Manual (I645)
  • Page 187 4 Operation Safety Zone Pair 41 3000 2000 1000 -1000 AMR Y-axis The following figure provides dimensions of the AMR unprotected area at the front of the AMR. Front 4-57 HD-1500 Platform User's Manual (I645)

  • Page 188: 4-23 Wireless Considerations

    Port forwarding can be configured between the USER LAN network and the wireless network. This al- lows the onboard NX102 controller to send and receive messages via the wireless network. Contact your local OMRON representative for more information. 4-58 HD-1500 Platform User's Manual (I645)

  • Page 189: 4-24 Motion Limits

    Precautions for Safe Use For payload applications where you cannot easily reduce the size and weight of the payload, or if the AMR’s center of gravity is not within the recommended limits, contact your OMRON repre- sentative. Additional Information Use the configuration area in MobilePlanner to make parameter changes.

  • Page 190: 4-25 Emergency Situations

    Charging Station, you must turn OFF the Power Supply Box's power using the main disconnect switch. Precautions for Safe Use In case of fire, use a type ABC or type BC dry chemical fire extinguisher. 4-60 HD-1500 Platform User's Manual (I645)

  • Page 191: 4-26 Tilt Detection

    If the AMR tilts 60 degrees or more in any direction, motion will stop and power is removed from any user-supplied equipment. Precautions for Safe Use The tilt detection feature will not prevent an improperly loaded AMR from toppling. 4-61 HD-1500 Platform User's Manual (I645)

  • Page 192: 4-27 Interlock Switches

    The AMR interlock switches shall not be defeated or bypassed as this would energize the AMR and expose the user to potential electrical hazards. Additional Information Refer to 1-2-17 Interlock Switches on page 1-14 for more information about the locations of in- terlock switches. 4-62 HD-1500 Platform User's Manual (I645)
  • Page 193 Battery Charging Problems ................5-6 5-4-3 Leaking Batteries..................... 5-7 Exposure to Liquids..................5-9 AMR Start-up Problems ................5-10 AMR Controller Errors ................. 5-11 Operator Panel Information................. 5-12 5-8-1 Stop Flags ..................... 5-12 5-8-2 Text Messages ....................5-13 HD-1500 Platform User's Manual (I645)

  • Page 194: Collecting Troubleshooting Information

    Click the SetNetGo tab to open its Web Interface. Click Status and select Debug Info from the left pane. Click Download Debug Info and then specify a location to save the file to complete this proce- dure. HD-1500 Platform User's Manual (I645)

  • Page 195: Restoring The Default Configuration

    (Cat. No. Z296) for more information about backup and restore functions for the Safety Laser Scan- ners. Additional Information You can obtain the default Config File from your OMRON representative if you accidentally lose or overwrite it.Contact your local OMRON representative for more information. HD-1500 Platform User's Manual (I645)

  • Page 196: Power Supply Box Problems

    If a spare battery is available, try ER LED OFF and detected. the battery. connecting it directly to isolate red ERROR LED the problem to the suspect bat- ON while a battery tery. is directly connect- ed, outside of the AMR. HD-1500 Platform User's Manual (I645)
  • Page 197 DC been detected. of an absolutely depleted and the red ERROR LED turns POWER LED battery. ON, a problem with the battery flashing. was detected. Contact your local OMRON representative for more information. HD-1500 Platform User's Manual (I645)

  • Page 198: Battery Problems

    A minor problem Contact your local OM- Charing may still be possible, but indicators: has been detect- RON representative. the charging time may be impact- • Yellow DC POWER LED • RED ERROR LED ON HD-1500 Platform User's Manual (I645)

  • Page 199: Leaking Batteries

    • Yellow DC POWER LED OFF. • Red ERROR LED flashing A battery problem Contact your local OMRON representative for message is dis- more information if necessary. played on the Op- erator Panel screen. • No problem indica- A battery connec- Ensure the Power Sup- tions.
  • Page 200 You can contribute to resource conservation and protecting the environment by the proper dis- posal of Waste Electronics and Electrical Equipment (WEEE). All electrical and electronic prod- ucts should be disposed of separately from the municipal waste system according to local ordi- nances using designated collection facilities. HD-1500 Platform User's Manual (I645)

  • Page 201: Exposure To Liquids

    If you suspect that liquid has penetrated the skins or contaminated the AMR's interior, do not attempt to power ON the system and contact your OMRON representative. Power OFF the AMR immediately and then turn the main disconnect switch to the OFF posi- tion .

  • Page 202: Amr Start-Up Problems

    • Check that the skins are in place and fastened correctly and that all interlock switches are satisfied. Refer to 4-27 Interlock Switches on page 4-62 for more information. If the AMR does not start-up after the actions above, contact your local OMRON representative. 5-10...

  • Page 203: Amr Controller Errors

    PSU (power supply unit) board inside the AMR Controller is broken. Such conditions could be the result of ex- cessive shock or vibration, or incor- rect wiring of the AMR. 5-11 HD-1500 Platform User's Manual (I645)

  • Page 204: Operator Panel Information

    AMR or the battery door is not Check that the battery door is com- closed. pletely latched and closed. Check the operation of the interlock switches. Refer to 1-2-17 Interlock Switches on page 1-14 for more in- formation. 5-12 HD-1500 Platform User's Manual (I645)

  • Page 205: Text Messages

    Text Messages Several text messages may be displayed on the Operator Panel screen to indicate operational status, required actions, errors messages, or faults. To troubleshoot specific error messages or faults, contact your local OMRON representative for more information. 5-13 HD-1500 Platform User's Manual (I645)
  • Page 206 5 Troubleshooting 5-14 HD-1500 Platform User's Manual (I645)
  • Page 207 Light Disc LED Replacement Procedure............6-22 6-9-3 Light Strip LED Replacement Procedure ............6-24 6-9-4 Operator Panel Replacement / Removal Procedure ........6-25 6-9-5 Wireless Antenna Replacement Procedure ..........6-26 6-9-6 AMR Charging Contact Replacement Procedure.......... 6-27 HD-1500 Platform User's Manual (I645)

  • Page 208: Maintenance Introduction

    Follow appropriate Lock-Out, Tag-Out (LOTO) instructions prior to any installation and maintenance work performed on or near these items. • Use only the specified tools, equipment, and OMRON-supplied spare parts to serv- ice and maintain the AMR according to the specified service intervals. Failure to do so could result in an unsafe operating state that might result in personal injury or damage to property.
  • Page 209 Always keep electrostatic sensitive devices at least 30 cm away from the AMR skins. Precautions for Correct Use Maintenance of the payload structure is not covered in this document and is the responsibility of the end-user. HD-1500 Platform User's Manual (I645)

  • Page 210: Amr Lock-Out Tag-Out Procedure

    After the voltage is less than 7 VDC, verify that the AMR is de-energized by pressing the ON / OFF button on the Operator Panel and then repeat step 5. After confirming the voltage remains less than 7 VDC, this procedure is complete. HD-1500 Platform User's Manual (I645)

  • Page 211: Charging Station Lock-Out Tag-Out Procedure

    Turn the AC input power OFF by switching the main disconnect switch to the OFF position (horizontal). Lock and tag the main disconnect switch according to your facility requirement and regulations. Verify that the all Power Supply Box LEDs are OFF to complete this procedure. HD-1500 Platform User's Manual (I645)

  • Page 212: Lifting The Amr

    • Forklift, hoist, or other lifting device rated for a minimum of 1100 kg. Perform the appropriate Lock-out Tag-out procedures. Attach the OMRON-supplied lifting rings using to the locations shown in the figures below. There are four bolt holes on the AMR for attaching the lifting rings. Once the lifting rings are attached, tie and secure the straps.
  • Page 213 6 Maintenance Using an overhead hoist or a forklift, lift the AMR. Remove the lifting rings and straps from the AMR to complete this procedure. HD-1500 Platform User's Manual (I645)

  • Page 214: Drive Power Indicator Check Procedure

    Next, release the three-position enabling device. This will remove the high power to the drive motors. Check the drive power indicator light. It must turn OFF to indicate there is no high power going to the drive motors. HD-1500 Platform User's Manual (I645)

  • Page 215: Inspection Intervals

    Connect the pendant to the AMR and drive forward approximately 2 m in order to align the cas- ters in the direction of motion. Release the three-position enabling device to ensure that the AMR is in protective stop mode. HD-1500 Platform User's Manual (I645)

  • Page 216: Amr Charging Contact Inspection

    You will hear a click sound when the brake release button is pressed and then the AMR should roll smoothly. Contact your OMRON representative if the AMR does not move. Refer to 4-14 Manually Pushing the AMR on page 4-31 for more information.
  • Page 217 Use the following information to understand all safety and warning label locations on the Power Supply Box. Two hazardous voltage labels are located on the surface of the Power Supply Box as indicated below. 6-11 HD-1500 Platform User's Manual (I645)
  • Page 218 Use the following information to understand all safety and warning label locations on the Docking Tar- get. The following labels are located on the Docking Target as indicated below. • Two do not step labels. • One hot surface label. • One electric shock label. 6-12 HD-1500 Platform User's Manual (I645)

  • Page 219: Stored Batteries

    • Connect the battery to the Power Supply Box and allow it to completely charge and balance. Additional Information • Refer to 2-3 Environmental Specifications on page 2-9 for more information. • Refer to 4-11 Battery and Charging on page 4-18 for more information. 6-13 HD-1500 Platform User's Manual (I645)

  • Page 220: Cleaning

    To clean the AMR charging contacts, use 320 grit sand paper to remove surface dirt, oxidation, pitting or other contaminants. Then, use a soft cloth with isopropyl alcohol to wipe and clean the surface of the charging contacts. Do not use any other cleaning agents or solvents. 6-14 HD-1500 Platform User's Manual (I645)

  • Page 221: Cleaning The Power Supply Box Cooling Ducts

    Allow these items to cool down prior to servicing. Precautions for Safe Use Prior to cleaning the Charging Station, you must ensure that the AMR is not engaged with the Docking Target. 6-15 HD-1500 Platform User's Manual (I645)

  • Page 222: Cleaning Lasers Lenses

    Clean the caster treads with a mild soapy solution. 6-8-6 Cleaning Drive Wheels The drive wheels provide electrical path to ground and traction during normal operation. They require regular, periodic cleaning to preserve ESD protection capability and overall AMR performance. 6-16 HD-1500 Platform User's Manual (I645)
  • Page 223 Use a lint-free cloth wetted with isopropyl alcohol to thoroughly clean the drive wheel treads. You should also remove any foreign objects embedded in the drive wheel treads (such as small rocks, staples, or screws). Re-install the right and left side skins to complete this procedure. 6-17 HD-1500 Platform User's Manual (I645)

  • Page 224: Replacing Items

    AMRs. WARNING • Use only the specified tools, equipment, and OMRON-supplied spare parts to serv- ice and maintain the AMR according to the specified service intervals. Failure to do so could result in an unsafe operating state that might result in personal injury or damage to property.
  • Page 225 No tools are needed for either the removal or replacement of the front skin. Locate the front skin latches found in the recessed groove as shown in the following figure. The latches also act as recessed handles for easy grip. 6-19 HD-1500 Platform User's Manual (I645)
  • Page 226 No tools are needed for either the removal or installation of the rear skin. Locate the rear skin latches found in the recessed groove as shown in the following figure. The latches also act as recessed handles for easy grip. 6-20 HD-1500 Platform User's Manual (I645)
  • Page 227 Use the following procedure to remove or replace the side skins on the AMR. The same procedure can be used for both the left and right side skins. No tools are needed for either the removal or installation of the rear skin. 6-21 HD-1500 Platform User's Manual (I645)

  • Page 228: Light Disc Led Replacement Procedure

    Use the following procedure to replace the LED light inside the AMR light disc. The following items are required for this procedure. • A replacement LED light. • 7 mm nut driver. • 2.5 mm hex wrench. 6-22 HD-1500 Platform User's Manual (I645)
  • Page 229 Remove the LED light by peeling away from the LED mount plate. Take note of the LED light orientation before removing it. Installing the new LED light in the in- correct orientation will cause the lighting patterns to display in reverse. 6-23 HD-1500 Platform User's Manual (I645)

  • Page 230: Light Strip Led Replacement Procedure

    Remove the LED light by peeling it away from the mounting channel. Take note of the LED light positioning for re-installation. Adhere the replacement LED light to the mounting channel in the same location that was ob- served in step 6. 6-24 HD-1500 Platform User's Manual (I645)

  • Page 231: Operator Panel Replacement / Removal Procedure

    Remove the four locknuts that attach the Operator Panel to the mount bracket using a 7 mm nut driver. The locknuts are located on the back of the mounting bracket as shown below. Remove the Operator Panel from the mounting bracket. 6-25 HD-1500 Platform User's Manual (I645)

  • Page 232: Wireless Antenna Replacement Procedure

    Gently pull the antenna connector off of the AMR adapter coupling. This is a friction fitting which requires very little force. Using a 2.5 mm hex key, remove the two retaining screws that fasten the antenna backing plate to the compartment and then remove the assembly from the AMR. 6-26 HD-1500 Platform User's Manual (I645)

  • Page 233: Amr Charging Contact Replacement Procedure

    There are two sets of two charging contacts at the top and the bottom of the charging slot. This proce- dure applies to both sets of charging contacts. Remove the front skin. Refer to Front Skin Removal and Replacement Procedure on page 6-19 for more information. 6-27 HD-1500 Platform User's Manual (I645)
  • Page 234 Do not disconnect the single power lead from the bus bar. Remove the charging contact assemblies. Two springs are present in the assemblies. These springs are not fastened and may fall out of position. 6-28 HD-1500 Platform User's Manual (I645)
  • Page 235 Attach the contact housing to the base plate. Apply Loctite 222 thread lock compound or equiv- alent to the four M5 screws. Use a 4 mm hex key and tighten to a torque of 4.5 N⋅m to com- plete this procedure. 6-29 HD-1500 Platform User's Manual (I645)
  • Page 236 6 Maintenance 6-30 HD-1500 Platform User's Manual (I645)
  • Page 237 Power Supply Box Shipping Crate Information ..........A-3 A-1-2 Battery Shipping Crate Information ..............A-4 A-1-3 Docking Target Shipping Crate Information............. A-5 A-1-4 AMR Shipping Crate Information..............A-6 Parts List ......................A-9 Side Laser Configuration................A-11 Input and Output Control................A-13 HD-1500 Platform User's Manual (I645)

  • Page 238: A-1 Unpacking

    If the items received do not match the packing slip or have been damaged, do not accept the deliv- ery. If the items received do not match your order, contact your local OMRON representative. • Retain the containers and packaging materials. These items may be necessary to settle claims or to relocate the equipment at a later date.

  • Page 239: Power Supply Box Shipping Crate Information

    • Personal Protective Equipment including eye protection, toe protection, and gloves. • 13 mm socket with impact driver. • 14 mm socket. • Impact driver. • Pry bar. • Four safety-rated slings. • Lifting device rated for at least 1100 kg capacity. HD-1500 Platform User's Manual (I645)

  • Page 240: A-1-2 Battery Shipping Crate Information

    The top cover is used as a ramp to move the battery out of the crate and onto the floor. Unlock the front panel latches and then remove the front panel. Place the rear edge of the top cover over crate's front edge and then remove the protective foam pads. HD-1500 Platform User's Manual (I645)

  • Page 241: A-1-3 Docking Target Shipping Crate Information

    The shipping crate with Docking Target weighs a total of 97 kg. The overall dimensions are provided below. WARNING • At least 2 people are required to lift the Docking Target. • Use safe lifting practices when removing or installing the Docking Target. 1565 HD-1500 Platform User's Manual (I645)

  • Page 242: A-1-4 Amr Shipping Crate Information

    After the Docking Target is placed on the floor, the procedure is complete. A-1-4 AMR Shipping Crate Information The shipping crate with the AMR weighs a total of 739 kg. The overall dimensions are provided below. 1969 1448 HD-1500 Platform User's Manual (I645)
  • Page 243 Remove the 4 screws along the bottom of the sides of the crate, near the bottom edge, using a 13 mm socket and impact driver. These screws attach the housing to the base pallet. Remove three screws on the bottom of the front panel using a 13 mm socket with impact driv- HD-1500 Platform User's Manual (I645)
  • Page 244 • A-1 Unpacking on page A-2 • 4-2 AMR Start-up on page 4-4 • 4-20 Pendant Operation on page 4-42 After the AMR has been driven down the ramp and is located on the floor, this procedure is complete. HD-1500 Platform User's Manual (I645)

  • Page 245: A-2 Parts List

    68910-105 Single bracket for fastening Docking Target to a wall or the floor. Charging power cord 68915-225L 4 m in length. Contact your local OMRON representative for replacement details. AMR charging contact replace- 68129-120 One set of replacement charging contacts ment kit for the AMR.
  • Page 246 4 lifting straps (1.2 m) SCPU Jumper 68410-218L For use when no user-supplied safety devi- ces are present. Top plate 68110-106 The AMR is initially ordered with or without - - - the top plate. A-10 HD-1500 Platform User's Manual (I645)

  • Page 247: A-3 Side Laser Configuration

    +175° and -175°, you must specify two ranges: -175° to -180°, and 180° to 175°. Speci- fying the range of -175° to 175° results in the AMR Controller ignoring a 350° segment, counter- clockwise from 175° to -175°. A-11 HD-1500 Platform User's Manual (I645)
  • Page 248 AMR paths, this number should stay relatively large, such as thirty seconds, so that the AMR does not rediscover the same obstacle multiple times. Con- tact your OMRON representative if you have difficulty adjusting these parameters for your environ- ment.

  • Page 249: A-4 Input And Output Control

    • Refer to the Fleet Operations Workspace Core User's Manual (Cat. No. I635) for more infor- mation. • Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for more informa- tion. A-13 HD-1500 Platform User's Manual (I645)
  • Page 250 Appendices A-14 HD-1500 Platform User's Manual (I645)
  • Page 251 Index HD-1500 Platform User's Manual (I645)
  • Page 252 Coordinate System............1-34 Logical Barriers..............4-9 Low Lasers..............1-6, 1-7 Default Configuration............5-3 Digital Inputs..............3-19 Main Disconnect Switch (AMR)......1-11, 4-29 Digital Outputs..............3-21 Main Disconnect Switch (Charging Station)... 1-12, 4-22 Dimensions Maintenance..............6-1 Docking Target............... 2-4 HD-1500 Platform User's Manual (I645)
  • Page 253 Antenna............1-6, 1-14, 1-32 Safety Commissioning.............3-36 Antenna Relocation............3-14 Safety Devices..............3-17 Bandwidth..............4-58 Safety Laser Scanner..........1-6, 1-7 Connection..............3-12 Safety Laser Scanner Zones........... 4-45 Considerations............. 4-58 Safety Outputs............3-17, 4-32 Signal Availability............4-58 Safety Zone Pairs............4-45 Workspace.................4-7 Screen................1-10 HD-1500 Platform User's Manual (I645)
  • Page 254 Index HD-1500 Platform User's Manual (I645)
  • Page 256 4225 Hacienda Drive, Pleasanton, CA 94588 OMRON ASIA PACIFIC PTE. LTD. U.S.A. No. 438A Alexandra Road # 05-05/08 (Lobby 2), © OMRON Corporation 2021 All Rights Reserved. OMRON (CHINA) CO., LTD. Alexandra Technopark, In the interest of product improvement, Room 2211, Bank of China Tower, Singapore 119967 specifications are subject to change without notice.

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