Omron HD-1500 Assembly Instructions Manual
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Omron HD-1500 Assembly Instructions Manual

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HD-1500 Platform
Assembly Instructions
According to Machinery Directive 2006/42/EC (ANNEX VI)
18407-150

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Summary of Contents for Omron HD-1500

  • Page 1 HD-1500 Platform Assembly Instructions According to Machinery Directive 2006/42/EC (ANNEX VI) 18407-150...
  • 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

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

  • Page 4: Manual Information

    Note: This illustration is provided as a sample. It will not literally appear in this manual. Item Explanation Item Explanation Level 1 heading 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 HD-1500 Platform Assembly Instructions (18407-150)

  • Page 5: Special Information

    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 Assembly Instructions (18407-150)
  • Page 6 Manual Information HD-1500 Platform Assembly Instructions (18407-150)

  • Page 7: Sections In This Manual

    Sections in this Manual Sections in this Manual Introduction Overview Specifications Installation Operation HD-1500 Platform Assembly Instructions (18407-150)

  • Page 8: Table Of Contents

    Operator Panel ............................1-9 1-3-7 Pendant..............................1-10 1-3-8 Light Strips and Discs .......................... 1-10 1-3-9 Speakers..............................1-10 1-3-10 User Access Panel ..........................1-11 1-3-11 Wireless Antennas ..........................1-11 1-3-12 Interlock Switches ..........................1-12 1-3-13 Electronics Bay ............................. 1-12 HD-1500 Platform Assembly Instructions (18407-150)
  • Page 9 Electrical Connections ........................3-8 3-4-1 Wireless Antenna Connections ......................3-8 3-4-2 User Access Panel Connections ......................3-9 Attaching the Payload ........................3-17 3-5-1 Payload Structure Mounting Points ....................3-17 Attaching Warning Labels ......................3-20 Safety Commissioning ........................3-21 HD-1500 Platform Assembly Instructions (18407-150)
  • Page 10 CONTENTS 3-7-1 Safety Commissioning Procedure ...................... 3-21 Section 4 Operation Releasing the Brakes ........................4-2 Manually Pushing the AMR ......................4-3 AMR Response During Protective Stops ..................4-4 Index HD-1500 Platform Assembly Instructions (18407-150)

  • Page 11: 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 12: 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 13 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 Assembly Instructions (18407-150)

  • Page 14: 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 Assembly Instructions (18407-150)

  • Page 15: Dangers

    Lock-Out, Tag-Out (LOTO) instructions prior to any installation and mainte- nance work performed on or near these items. Implementing methods to circumvent the need for a person to enable the AMR's motor power at startup is prohibited. HD-1500 Platform Assembly Instructions (18407-150)
  • Page 16 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 17: Cautions

    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 18 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 Assembly Instructions (18407-150)

  • Page 19: 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 20 • 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 21 Precautions for Safe Use • 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. HD-1500 Platform Assembly Instructions (18407-150)

  • Page 22: 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 23 • 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 24 • The position of the antenna is critical to correct operation. You must make sure to attach a new an- tenna to the correct location etched on the base plate. • After removing the skin panels, place them inner-side down so that the outer surfaces do not get scratched. HD-1500 Platform Assembly Instructions (18407-150)

  • Page 25: Regulations And Standards

    EMC, Part 6-2: Immunity Emissions Standard for Industrial Environments. • EN ISO 10218-1 Safety Requirements For Industrial Robots • EN 61204-7 used in conjunction with EN 62477-1 low-voltage switch mode power supplies (Charg- ing Station only). HD-1500 Platform Assembly Instructions (18407-150)
  • Page 26 Provision of this information shall be without prejudice to the intellectual property rights of Omron Robotics and Safety Technologies, Inc. Statement of Service for Partly Completed Machinery...
  • Page 27 Provision of this information shall be without prejudice to the intellectual property rights of Omron Robotics and Safety Technologies, Inc. Statement of Service for Partly Completed Machinery...

  • Page 28: Related Manuals

    Related Manuals Use the following related manuals for reference. Manual Title Description HD-1500 Platform User's Manual (Cat. No. I645) Contains information necessary to install, operate, maintain and troubleshoot HD-1500 AMRs. HD Mobile Robot Safety Manual (Cat. No. I647) Contains general safety information for HD-1500 AMRs.

  • Page 29: Glossary

    Ambient Operating Temperature The temperature range of the AMR's environment in which continued oper- ation is possible. This term is used to refer to the HD-1500 autonomous mobile robot. AMR Controller The AMR's main computing system that provides all navigational controls and mobile robot application interfaces.
  • Page 30 Pickup A job segment where an AMR typically acquires a payload. Polo The AMR firmware that controls motors and also computes the AMR's heading readings and other low-level operating conditions to ARAM. HD-1500 Platform Assembly Instructions (18407-150)
  • Page 31 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 Assembly Instructions (18407-150)

  • Page 32: Revision History

    Revision History Revision History A manual revision code appears as a suffix to the catalog number on the front and back covers of the manual. Revision code Date Revised content July 2021 Original production HD-1500 Platform Assembly Instructions (18407-150)

  • Page 33: Overview

    Additional Warning Lights ..................1-16 1-5-4 Additional Warning Buzzers .................. 1-17 1-5-5 Top Plate ........................1-17 Software ........................1-18 1-6-1 System Requirements .................... 1-18 Payload Considerations ..................1-20 1-7-1 Payload Structures ....................1-20 Coordinate System ....................1-23 HD-1500 Platform Assembly Instructions (18407-150)

  • Page 34: Assembly Instructions

    1 Overview Assembly Instructions This manual is OMRON's original instructions describing the setup and assembly of an HD-1500 Au- tonomous Mobile Robot (AMR). The assembly instructions in this document detail all safety-related aspects of the AMR, as partly-com- pleted machinery. It also identifies the interface between the partly-completed machinery and the final machinery.

  • Page 35: 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 36 • Operate the AMR in hazardous environments where there is explosive gas, an oil mist, or a corrosive atmosphere. • Operating the AMR in an environment that contains ionizing radiation. • Using non-approved batteries or charging systems. HD-1500 Platform Assembly Instructions (18407-150)
  • Page 37 • 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 Assembly Instructions (18407-150)

  • Page 38: Features And Components

    Several laser sensors are provided on the robot 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 Assembly Instructions (18407-150)

  • Page 39: Skins

    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 40: Battery

    There are five E-stop buttons located on the AMR. One button is located on the Operator panel and there are two buttons located on each side of the AMR. The Pendant also has an integrated E-stop button. Additional Information Additional E-stop buttons can be added to the payload structure. HD-1500 Platform Assembly Instructions (18407-150)

  • Page 41: Operator Panel

    A brake release button is provided in the event of an emergency or abnormal situation where the AMR needs to be manually moved. Pendant Port Connect the Pendant to the pendant port when driving the AMR manually. HD-1500 Platform Assembly Instructions (18407-150)

  • Page 42: Pendant

    Two speakers are used as a means to audibly notify personnel of an approaching AMR. Speech and sound tasks control the speakers' audio as the AMR navigates the workspace. Refer to Fleet Operations Workspace Core User's Manual (Cat. No. I635) for more information. HD-1500 Platform Assembly Instructions (18407-150)

  • Page 43: User Access Panel

    Two wireless antennas are factory-installed on the top of the AMR to provide optimal range. These wireless antennas are tamper resistant and low profile. They can also be relocated if a payload struc- ture obscures them. 1-11 HD-1500 Platform Assembly Instructions (18407-150)

  • Page 44: Interlock Switches

    You can access the electronics bay compartment from the right or left side of the AMR if the skins are removed. 1-3-14 Payload Mounting Surface Payloads are mounted directly to the top of the AMR chassis. Several mounting points are available for various payload designs. HD-1500 Platform Assembly Instructions (18407-150)

  • Page 45: Autonomous Navigation

    The AMR provides programmable warning features such as a warning buzzer, speech synthesis, and warning indicator lights. The user access panel provides user ports that enable you to add additional warning indicators to your payload structure. 1-13 HD-1500 Platform Assembly Instructions (18407-150)
  • Page 46 • 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. HD-1500 Platform Assembly Instructions (18407-150)

  • Page 47: Optional Items

    AMR or any moving payload parts. Per relevant safety standards, E-stop buttons must be placed within 600 mm reach of the operator. A large or complex payload structure may require addi- tional E-stop buttons. 1-15 HD-1500 Platform Assembly Instructions (18407-150)

  • Page 48: Additional Warning Lights

    3-4-2 User Access Panel Connections on page 3-9 for more information. CAUTION An AMR must have a readily visible warning device such as a user-supplied flashing light, to indicate when it is either ready to move or is moving. HD-1500 Platform Assembly Instructions (18407-150)

  • Page 49: Additional Warning Buzzers

    Access Panel Connections on page 3-9 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. 1-5-5 Top Plate An optional Top Plate is available that can be attached to the AMR chassis.

  • Page 50: 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. HD-1500 Platform Assembly Instructions (18407-150)
  • Page 51 The following requirements must be met for the tablet device. • Android OS version 9 or newer. • iOS version 10 or newer. • Android devices need at least 2 GB of RAM. Sites with large or complex maps may require more RAM. 1-19 HD-1500 Platform Assembly Instructions (18407-150)

  • Page 52: 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 HD-1500 Platform Assembly Instructions (18407-150)
  • Page 53 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 54 SCPU port. Refer to SCPU on page 3-11 for more information. ⚫ Light Discs and Light Strips You must ensure that the payload does not block the light discs, or front or back light strips as they provide visual indication of the AMR movement. HD-1500 Platform Assembly Instructions (18407-150)

  • Page 55: 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. +θ Rear Right Left Front 1-23 HD-1500 Platform Assembly Instructions (18407-150)
  • Page 56 1 Overview HD-1500 Platform Assembly Instructions (18407-150)

  • Page 57: Specifications

    USER PWR Connector ..................2-14 2-6-3 REG PWR Connector..................... 2-15 2-6-4 SCPU Connector ....................2-15 2-6-5 LIGHTS Connector ....................2-16 2-6-6 IO 1 Connector ......................2-16 2-6-7 IO 2 Connector ......................2-16 2-6-8 COMMS Connector ....................2-17 HD-1500 Platform Assembly Instructions (18407-150)

  • Page 58: Performance Specifications

    With CAPS: ±8 mm, ±0.5° • Stop position repeatability and accuracy (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 Assembly Instructions (18407-150)

  • Page 59: Physical Specifications

    Physical dimensions for the User Access Panel are provided below. User-supplied DIN rail is shown in the following figure for reference. The distance from the base of the User Access Panel to the AMR mounting surface is 92 mm. HD-1500 Platform Assembly Instructions (18407-150)

  • Page 60: Weights

    • If the payload overhangs or extends outward dynamically from the AMR (such as a robot arm), it has a greater effect on the center of gravity. This is particularly important if the payload is also con- veying objects that add additional mass. HD-1500 Platform Assembly Instructions (18407-150)
  • Page 61 1-8 Coordinate System on page 1-23 for more information. A 3D view of the recommended payload center of gravity is shown below. A top view of the recommended payload center of gravity is shown below. HD-1500 Platform Assembly Instructions (18407-150)
  • Page 62 2 Specifications A front view of the recommended payload center of gravity is shown below. A side view of the recommended payload center of gravity is shown below. HD-1500 Platform Assembly Instructions (18407-150)
  • Page 63 2 Specifications HD-1500 Platform Assembly Instructions (18407-150)

  • Page 64: Environmental Specifications

    • Store the batteries on a flat surface in an area free of vibration. • Do not place anything on top of the batteries. • Never expose the battery to water or other liquids. HD-1500 Platform Assembly Instructions (18407-150)

  • Page 65: Pendant Environmental Specifications

    • Do not store the batteries in a flammable environment. 2-3-3 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 Ingress protection class IP3X HD-1500 Platform Assembly Instructions (18407-150)

  • Page 66: Laser Specifications

    Horizontal plane 65 mm from floor surface. Scanning range 10 m Side Laser Scanning plane Vertical plane Scanning range 10 m Laser class Class 1 in accordance with the following standards: • IEC 60825-1 • CDRH 21 CFR 1040.10 • 1040.11 HD-1500 Platform Assembly Instructions (18407-150)

  • Page 67: Battery Specifications

    With no payload: 12.5 hours, approx. 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 2-11 HD-1500 Platform Assembly Instructions (18407-150)

  • Page 68: Other Specifications

    (controlled stop) . In this case, the power to the AMR motors remains on in order to achieve a controlled stop. Once the controlled stop is achieved, the power to the motors is disconnected. HD-1500 Platform Assembly Instructions (18407-150)
  • Page 69 In such cases, the AMR safely stops and then resumes oper- ation after a delay of two sec- onds after confirming that its protected zone is clear of ob- stacles. 2-13 HD-1500 Platform Assembly Instructions (18407-150)

  • Page 70: User Pwr Connector

    PFHd, inclusive of user-supplied components, and performing a final risk assessment. 2-6-2 USER PWR Connector Electrical and other specifications for the USER PWR connector are provided below. Item Specification AMR connector Anderson Power Pole SBS-50 User-supplied mating connector HD-1500 Platform Assembly Instructions (18407-150)

  • Page 71: Reg Pwr Connector

    1-794617-2) User-supplied mating connector pins TE Connectivity AMP connectors, 20-24 AWG (part number 1-794610-2) Input type PNP / sourcing Rated input voltage 24 VDC (20.4 to 28.8 VDC) Safety input current 3.0 mA 2-15 HD-1500 Platform Assembly Instructions (18407-150)

  • Page 72: Lights Connector

    Digital inputs: 15 VDC min. / 3 mA min. (each signal) ON / OFF response time (digital inputs) Digital inputs: 5 VDC max. / 1 mA max. (each signal) 2-6-7 IO 2 Connector Electrical and other specifications for the IO 2 connector are provided below. HD-1500 Platform Assembly Instructions (18407-150)

  • Page 73: Comms 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 2-17 HD-1500 Platform Assembly Instructions (18407-150)
  • Page 74 2 Specifications HD-1500 Platform Assembly Instructions (18407-150)

  • Page 75: Installation

    Wireless Antenna Connections ................3-8 3-4-2 User Access Panel Connections ................3-9 Attaching the Payload ..................3-17 3-5-1 Payload Structure Mounting Points ..............3-17 Attaching Warning Labels ................... 3-20 Safety Commissioning ..................3-21 3-7-1 Safety Commissioning Procedure ................ 3-21 HD-1500 Platform Assembly Instructions (18407-150)

  • Page 76: Installation Introduction

    Attach warning labels. Refer to 3-6 Attaching Warning Labels on page 3-20 for more information. Perform safety commissioning. Refer to 3-7 Safety Commissioning on page 3-21 for more information. Generate a map for the robot. HD-1500 Platform Assembly Instructions (18407-150)

  • Page 77: 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 78 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. HD-1500 Platform Assembly Instructions (18407-150)

  • Page 79: 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. HD-1500 Platform Assembly Instructions (18407-150)

  • Page 80: Wireless Connection

    Gateway 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 HD-1500 Platform Assembly Instructions (18407-150)
  • Page 81 Validate Server Certificate: • 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: HD-1500 Platform Assembly Instructions (18407-150)

  • Page 82: 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 1-3 Features and Components on page 1-6 for more information.

  • Page 83: 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: HD-1500 Platform Assembly Instructions (18407-150)
  • Page 84 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 2-6-3 REG PWR Connector on page 2-15 for connector type and specifications. HD-1500 Platform Assembly Instructions (18407-150)
  • Page 85 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. 3-11 HD-1500 Platform Assembly Instructions (18407-150)
  • Page 86 Refer to the following sections for information about the behavior of the emergency stop, protective stop, and safety output operations. • 2-6-1 Safety Functions on page 2-12 • 4-3 AMR Response During Protective Stops on page 4-4 • 2-6-4 SCPU Connector on page 2-15 HD-1500 Platform Assembly Instructions (18407-150)
  • Page 87 The following figure shows the pin arrangements for the I/O 1 connector on the AMR. PIN 11 PIN 1 PIN 20 PIN 10 The information in the table below describes the signal designations for the I/O 1 connector. 3-13 HD-1500 Platform Assembly Instructions (18407-150)
  • Page 88 The I/O 2 connector on the User Access Panel provides analog and digital outputs for user-supplied devices that are typically used for control of a payload structure system. Use the information below to understand all I/O 2 connections. HD-1500 Platform Assembly Instructions (18407-150)
  • Page 89 OUT5 24 VDC sourcing (PNP) digital output OUT6 OUT7 16 and 17 Ground NX-DA3603 -10 to +10 VDC analog output 20 to 24 Ground A circuit diagram is provided below for the digital outputs. 3-15 HD-1500 Platform Assembly Instructions (18407-150)
  • Page 90 3 Installation REG PWR 24 VDC OUT0 to OUT7 REG PWR 0 VDC A circuit diagram is provided below for the analog outputs. Output V1+ to V4+ REG PWR 0 VDC Analog circuit internal GND HD-1500 Platform Assembly Instructions (18407-150)

  • Page 91: Attaching The Payload

    Nut Considerations on page 3-18 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. 3-17 HD-1500 Platform Assembly Instructions (18407-150)
  • Page 92 The rivet nut flange is 1.19 mm tall. Thread engagement for fasteners should be from 18 mm to 45 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 HD-1500 Platform Assembly Instructions (18407-150)
  • Page 93 AMR cannot stop reliably within the default zones. OMRON is not respon- sible for any risks incurred by modifying safety zone sizes or other Safety Laser Scanner settings.

  • Page 94: 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. HD-1500 Platform Assembly Instructions (18407-150)

  • Page 95: 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. 3-21 HD-1500 Platform Assembly Instructions (18407-150)
  • Page 96 3 Installation HD-1500 Platform Assembly Instructions (18407-150)

  • Page 97: Operation

    Operation This section provides information about the operation of the AMR. Releasing the Brakes ....................4-2 Manually Pushing the AMR ................... 4-3 AMR Response During Protective Stops ............4-4 HD-1500 Platform Assembly Instructions (18407-150)

  • Page 98: 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. HD-1500 Platform Assembly Instructions (18407-150)

  • Page 99: 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 100: Amr Response During 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 HD-1500 Platform Assembly Instructions (18407-150)
  • Page 101 Index HD-1500 Platform Assembly Instructions (18407-150)
  • Page 102 Light Strip..............1-6, 1-10 Low Laser................. 1-6 Main Disconnect Switch ............1-10 OFF Button ................1-9 ON Button................1-9 Operator Panel............1-6, 1-9 Payload Considerations ..............1-20 Mounting Points ..............3-17 Mounting Surface ..............1-6 HD-1500 Platform Assembly Instructions (18407-150)
  • Page 104 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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