Page 1 AMR (Autonomous Mobile Robot) MD-series Platform User's Manual MD-650 I681-E-01...
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 MD-series 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
Manual Information Manual Information Page Structure The following page structure is used in this manual. 5 Installation Unpack This section provides details on how to unpack the Industrial Panel PC. 5-1-1 Unpack Procedure Check the package for damage. If there is any visible damage: •...
Page 5 Manual Information Precautions for Safe Use Precautions on what to do and what not to do to ensure safe usage of the product. Precautions for Correct Use Precautions on what to do and what not to do to ensure proper operation and performance. Additional Information Additional information to read as required.
Page 6 Manual Information AMR (Autonomous Mobile Robot) MD-series Platform User's Manual (I681)
Page 7: Sections In This Manual
Sections in this Manual Sections in this Manual Overview Specifications Installation Operation Troubleshooting Maintenance Appendices Index AMR (Autonomous Mobile Robot) MD-series Platform User's Manual (I681)
Page 8: Table Of Contents
CONTENTS CONTENTS Introduction ......................1 Intended Audience............................1 Units.................................1 Manual Information....................2 Page Structure..............................2 Special Information ............................2 Sections in this Manual ................... 5 Terms and Conditions Agreement................ 12 Warranty and Limitations of Liability ......................12 Application Considerations ..........................13 Disclaimers ..............................13 Safety Precautions....................15 Definition of Precautionary Information......................15 Symbols .................................15 Dangers .................................16...
Page 9 CONTENTS 1-2-16 Input and Output Control ......................1-15 1-2-17 Localization Sensors .........................1-15 Autonomous Navigation .....................1-16 Labels............................1-18 1-4-1 AMR Information Label ......................1-18 1-4-2 Docking Target Information Label .....................1-18 1-4-3 Power Supply Box Information Label ..................1-19 1-4-4 Battery Information Label ......................1-20 1-4-5 AMR Safety and Warning Label Locations................1-20 1-4-6 Power Supply Box Safety and Warning Label Locations ............1-21 1-4-7...
Page 10 CONTENTS 2-4-9 SCPU Connector........................2-13 2-4-10 AUX PLC Connector .........................2-13 2-4-11 LIGHTS Connector........................2-14 2-4-12 BUZZ Connector ........................2-14 2-4-13 REG PWR Connector .......................2-14 2-4-14 LASER PWR ..........................2-15 2-4-15 Drive Train..........................2-15 2-4-16 Safety Function Performance Levels ..................2-15 2-4-17 Stopping Distance and Time .....................2-18 2-4-18 Wireless Specifications ......................2-19 Section 3...
Page 11 CONTENTS 4-5-4 Restricted Zones .........................4-9 4-5-5 Operating Hazard Zones ......................4-10 4-5-6 Payload Transfer Stations ......................4-10 Ramps ........................... 4-11 Clearances..........................4-13 4-7-1 Rotational Clearances .......................4-13 4-7-2 Docking Clearances ........................4-14 Narrow Passageway Behavior (Linear)................4-16 Narrow Passageway Behavior (Non-linear)...............4-17 4-9-1 U-Turn in a Narrow Passageway ....................4-17 4-9-2 U-Turn Through a Narrow Doorway ..................4-17 4-10 Minimum Lane Width......................4-19...
Page 12 CONTENTS 4-22-6 Stopped with Warning .......................4-46 4-22-7 Obstacle Detected / Protective Stop ..................4-46 4-22-8 Charging............................4-47 4-22-9 Booting ............................4-47 4-22-10 Operating inside a designated MutePersonnelDetectionSector Area ........4-47 4-23 Pendant Operation.......................4-49 4-23-1 Driving with the Pendant ......................4-50 4-24 Warning Buzzer ........................4-51 4-25 Safety Laser Scanner Zones....................4-52 4-25-1 Safety Zone Pairs........................4-52 4-25-2...
Page 13 CONTENTS Docking Target Charging Contacts Inspection..............6-10 AMR Charging Contact Inspection..................6-11 Safety and Warning Labels ....................6-12 6-10 Cleaning..........................6-13 6-10-1 Cleaning Intervals ........................6-13 6-10-2 Cleaning AMR Charging Contacts ....................6-13 6-10-3 Cleaning the Power Supply Box Cooling Ducts ................6-14 6-10-4 Cleaning Lasers Lenses......................6-15 6-10-5 Cleaning Caster Treads ......................6-15 6-10-6...
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. AMR (Autonomous Mobile Robot) MD-series Platform User's Manual (I681)
Page 17: Safety Precautions
Safety Precautions Safety Precautions Definition of Precautionary Information The following notation is used in this manual to provide precautions required to ensure safe usage of the AMR. The safety precautions that are provided are extremely important to safety. Always read and heed the information provided in all safety precautions. The following notation is used.
Page 18: Dangers
Safety Precautions Dangers DANGER The AMR can cause serious injury to personnel or damage to itself or other equipment if it drives off of a ledge, such as a loading dock, or down stairs. Improper operation of the AMR on inclined floors that do not comply with the applicable operating specifications can result in the AMR tipping over, and consequently a serious personal injury.
Page 19 The assembly instructions shall then form part of the technical file for the final machine. Use only the specified tools, equipment, and OMRON-supplied spare parts to service 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 prop- erty.
Page 20 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 21 The AMR battery and the Charging Station outputs have high current. You must take ap- propriate precautions to avoid potential short circuit. 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. • Modify parameters to change the AMR's Width, LengthFront, LengthRear, and poten- tially its Radius.
Page 23 Safety Precautions If the AMR is in an operational hazard or restricted zone, these areas must be properly marked or restricted according to applicable standards. The AMR can cause serious injury to personnel or damage to itself if a dangerous area is not properly configured in the map and blocked with a physical barrier.
Page 24: Cautions
Safety Precautions Cybersecurity To maintain the security and reliability of the system, a robust cybersecurity defense pro- gram should be implemented, which may include some or all of the following: Anti-virus protection • Install the latest commercial-quality anti-virus software on the computer connected to the control system and keep the software and virus definitions up-to-date.
Page 25 Safety Precautions Any electrical charge that accumulates on the AMR skins does not have a path to ground, and therefore cannot discharge. This can be hazardous to electrostatic sensitive devices. Always keep electrostatic sensitive devices at least 30 cm away from the AMR skins.
Page 26: 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 27 • In case of fire, use a type ABC or type BC dry chemical fire extinguisher. • Although the lasers used are Class 1/1M (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.
Page 28 Precautions for Safe Use • Only use charging equipment and batteries supplied by OMRON. The charger shall only be used to charge an HD-1500 or MD-series AMR battery. • Avoid shorting the battery terminals or connectors. • 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.
Page 29: Precautions For Correct Use
• Never expose the battery to water. • 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 30 • 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 operations and procedures for safely pushing an AMR.
Page 31 Precautions for Correct Use • Only qualified personnel who have read and understood this manual and the Autonomous Mobile Robot (AMR) MD-series Platform Safety and Unpacking Guide (Cat. No. I682) should manually move the AMR. • Maintenance of the payload structure is not covered in this document and is the responsibility of the end-user.
Page 32: Regulations And Standards
Regulations and Standards Regulations and Standards Conformance to EU Directives The AMR complies with the following EU Directives. Directives • 2006/42/EC Machinery Directive • 2014/30/EU EMC Directive EN / IEC Standards The AMR system conforms to the following EN standards. •...
Page 33: Conformance To Kc Certification
Regulations and Standards • CAN/UL 3100 Automated Mobile Platforms (AMPs) Conformance to KC Certification When you use this product in South Korea, observe the following precautions. This product meets the electromagnetic compatibility requirements for business use. AMR (Autonomous Mobile Robot) MD-series Platform User's Manual (I681)
Page 34: Related Manuals
Related Manuals Related Manuals Use the following related manuals for reference. Manual Title Description Advanced Robotics Command Language Enterprise Describes how to use the Advanced Robotics Com- Manager Integration Guide (Cat. No. I618) mand Language (ARCL) a text-based, command line operating language Use ARCL to integrate a fleet of AMRs with an external automation system.
Page 35: Glossary
Glossary Glossary Term / Abbreviation Description 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 application interfaces.
Page 36 Glossary Term / Abbreviation Description Fleet Two or more AMRs operating in the same workspace controlled by a single Fleet Manager. Fleet Manager The operational mode of the computing appliance (EM2100) that runs the FLOW Core software to control a fleet of AMRs. Fleet Operations Workspace A computing system that consists of software and hardware packages and (FLOW)
Page 37 Glossary Term / Abbreviation Description Pendant A handheld, external input device for manually driving AMRs that is typical- ly used for map creation. 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.
Page 38 Glossary AMR (Autonomous Mobile Robot) MD-series Platform User's Manual (I681)
Page 39: Overview
Overview This section provides general information about the AMR. Intended Use....................1-3 Features and Components ................1-6 1-2-1 Lasers......................1-6 1-2-2 Skins........................ 1-8 1-2-3 E-STOP Buttons ....................1-9 1-2-4 Operator Panel ....................1-9 1-2-5 Light Discs and Strips ................... 1-10 1-2-6 Charging Contacts..................
Page 40 1 Overview 1-6-8 Cell Alignment Positioning System..............1-29 Software ......................1-30 1-7-1 System Requirements ................... 1-31 1-7-2 ARAM Software..................... 1-31 1-7-3 ARAMCentral Software ................. 1-32 1-7-4 MobilePlanner Software ................1-32 1-7-5 ARCL Programming Language ..............1-33 1-7-6 Integration Toolkit ..................1-33 1-7-7 SetNetGo Software ..................
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 1 Overview WARNING Dust, dirt, grease, and water (or other liquids) can affect wheel traction, as well as op- eration of the drive wheels. If the drive wheels slip, it can potentially affect operating duration, stopping distance, and navigation accuracy. The following actions are strictly prohibited and could result in injury or damage to the equipment.
Page 43 1 Overview CAUTION Personnel must not be near the AMR while it is rotating with no forward motion. Precautions for Safe Use The following actions are required for safe use of the AMR. • Review and understand the safety protections associated with your specific application and environment.
Page 44: Features And Components
1 Overview Features and Components This section provides an overview of the basic features and components of the AMR. Item Description Item Description Safety Laser Scanner Light Disc Low Laser Charging Contacts Front / Rear Skin User Connection Area / Cover Side Skin Payload Mounting Surface / Top Plate...
Page 45 Precautions for Safe Use • Although the lasers used are Class 1/1M (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.
Page 46: Skins
1 Overview Low Lasers Two Low Lasers detect obstacles below the scanning plane of the Safety Laser Scanner, such as an empty pallet or fork truck blades, which are too low for the Safety Laser Scanner's detection plane. The Low Lasers are positioned near the floor and can detect objects that are at least 60.5 mm tall. The Low Lasers also detect obstacles that might be significantly wider near the floor, such as a col- umn base, while the Safety Laser Scanners might detect only the upper, narrow portion of the column.
Page 47: E-Stop Buttons
1 Overview 1-2-3 E-STOP Buttons 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 system when required.
Page 48: Light Discs And Strips
1 Overview Brake Release Button A brake release button is provided in the event of an emergency or abnormal situation where the AMR needs to be manually moved. Emergency Stop Button The emergency stop button is connected to the safety circuit and has the same function as all other emergency stop buttons on the AMR.
Page 49: User Connections Area
1 Overview A red LED charge light illuminates when power is present at the charging contacts. Charging Contacts 1-2-7 User Connections Area Connections for power, communications, safety devices, inputs, outputs, and other optional items are provided in the User Connections area. These connections are typically used for powering and con- trolling a payload structure.
Page 50: Payload Mounting Surface
The drive wheels discharge accumulated electrical charge to ground. This prevents damage to sensi- tive AMR electronics. Precautions for Correct Use Replacement of the differential drive train, casters, and wheels require an OMRON service en- gineer. Contact your local OMRON representative for more information. Rocker...
Page 51: Battery
1 Overview Refer to the AMR Controller User's Guide (Cat. No. I650) for more information. 1-2-12 Battery A rechargeable lithium ion battery 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.
Page 52: Speakers
1 Overview 1-2-14 Speakers Two speakers can be 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. The locations of the speakers are provided below.
Page 53: Input And Output Control
1 Overview Additional Information • The automated Charging Station can either manually or automatically charge the AMR bat- tery according to the charging parameters set in MobilePlanner. • If you have more than one AMR that use a single Docking Target, make sure that your map contains features such as parking spaces or queuing lanes to accommodate AMRs that are approaching and leaving the charging area.
Page 54: Autonomous Navigation
1 Overview Autonomous Navigation The AMR combines hardware and mobile-robotics software to provide an adaptive, mobile platform to transport a payload. It is equipped with a Natural Feature Navigation system which enables the AMR to navigate and perform its basic functions independently and without the need for facility modification. After it scans physical features in its environment, the AMR navigates safely and autonomously to any accessible destination.
Page 55 1 Overview Additional Information The AMR is capable of navigating autonomously while traveling in reverse, but special applica- tion-specific considerations and adjustments must be made. Contact your local OMRON repre- sentative for more information. 1-17 AMR (Autonomous Mobile Robot) MD-series Platform User's Manual (I681)
Page 56: Labels
(LiFePO4) Batteries Caution: Risk of Fire or Explosion. www.ia.omron.com Only replace with identical battery. Designed in California 4225 Hacienda Drive, Pleasanton, CA 94588 USA Omron Robo cs & Safety Technologies, Inc. Assembled in California Item Name Description Part Number The AMR part number is provided.
Page 57: Power Supply Box Information Label
Caution: Use only to char ge MD or HD Series Battery Use only with MD or HD Robot www.ia.omron.com 4225 Hacienda Drive, Pleasanton, CA 94588 USA Omron Robotics & Safety Techno logies, Inc. COO: US 1-19 AMR (Autonomous Mobile Robot) MD-series Platform User's Manual (I681)
Page 58: Battery Information Label
1 Overview Item Name Description Part Number The Power Supply Box part number is provided. Product Type The product type is provided. Power Supply Box General information about the Power Supply Box is provided. Production Information The following information is provided. •...
Page 59: Power Supply Box Safety And Warning Label Locations
1 Overview CAUTION WARNING Risk of Fire or Explosion. Only replace battery with Manual brake release lever. Platform may roll and cause injury. identical battery. Use caution when operating manual brake release lever. Squeez and old lever to release brakes. Use 2 people to push platform.
Page 60: Docking Target Safety And Warning Label Locations
1 Overview 1-4-7 Docking Target Safety and Warning Label Locations Use the following information to understand all safety and warning label locations on the Docking Tar- get. 1-22 AMR (Autonomous Mobile Robot) MD-series Platform User's Manual (I681)
Page 61 1 Overview Symbol Meaning Do not step or stand on this surface Electric shock hazard Heat hazard 1-23 AMR (Autonomous Mobile Robot) MD-series Platform User's Manual (I681)
Page 62: Part Numbers
1 Overview Part Numbers AMR and charging component part numbers are provided in the table below. Refer to A-1 Parts List on page A-2 for other replacement and spare components. Item Part Number MD-650 AMR 73000-000 Power Supply Box 73990-000 Docking Target 68910-000 1-24...
Page 63: Optional Items
1 Overview Optional Items Information about optional items is provided in this section. 1-6-1 Fleet Manager To manage and administer multiple AMRs in the same workspace, you must use a Fleet Manager run- ning the Fleet Operations Workspace (FLOW) software. The Fleet Manager is a computing device with a processor capable of running the Fleet Operations Workspace Core suite.
Page 64: Additional E-Stop Buttons
1 Overview Precautions for Correct Use • Using the Fleet Manager or map features is not a substitute for physical methods of prevent- ing collisions, such as interlocked gateways or barriers. It is the user's responsibility to pro- vide a physical method of preventing collisions where necessary. •...
Page 65: Additional Warning Buzzers
Connections Area on page 3-16 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 66: Spare Battery
A protective covering needs to be installed when applying the magnetic tape to the floor to prevent damage from AMR traffic. OMRON does not provide the protective coverings with the HAPS option. The protective covering must be supplied by the user.
Page 67: Cell Alignment Positioning System
This feature also enables smoother and quicker loading and unloading of material, contributing to a shorter cycle time. The CAPS license part number is 20271-805. Contact your local OMRON representative for more in- formation. Additional Information Refer to the Fleet Operations Workspace Core User's Manual (Cat.
Page 68: Software
1 Overview Software The AMR requires the licensed software described in this section. Software is factory-installed on the AMR Controller. Features and functions can be added to the AMR by activating licenses as described in Fleet Operations Workspace Core User's Manual (Cat. No. I635). The minimal operating configuration for an AMR is managed by a person(s) using a Microsoft Win- dows®...
Page 69: System Requirements
1 Overview 1-7-1 System Requirements 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. PC Requirements A PC running a supported version of Microsoft Windows®...
Page 70: Aramcentral 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 71: Arcl Programming Language
1 Overview • Managing AMR fleet jobs. • Creating and editing workspace maps. • Accessing the AMR through the SetNetGo Web interface. • Commissioning and configuring an AMR and modifying its configuration by changing ARAM param- eters. • Issuing custom ARCL commands. •...
Page 72: Setnetgo Software
1 Overview Refer to the Fleet Operation Workspace Core Integration Toolkit User’s Manual (Cat. No. I637) for more information. 1-7-7 SetNetGo Software SetNetGo is used for configuration and setup, software upgrades, diagnostics, and retrieving log files for troubleshooting purposes. You can access the SetNetGo interface from within MobilePlanner or with a web browser.
Page 73: Payload Considerations
1 Overview Payload Considerations This section describes considerations and requirements for AMR payloads. A payload is considered as any item(s) that are placed on the AMR for the purposes of securing, transporting, and transferring some object. A payload structure is typically required to secure an object during transport.
Page 74 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 Scan- ners' safety zones. • Modify parameters to change the AMR's Width, LengthFront, LengthRear, and po- tentially its Radius.
Page 75: Power Consumption
1 Overview 1-8-2 Power Consumption Any electrical devices on your payload structure that consume significant power will noticeably shorten the AMR's run time. Examples of power-consuming payload structures are robotic arms or a motorized conveyor. Momentary current spikes that are over the thresholds specified below will activate current limiting pro- tection and cause power loss at the USER power connector.
Page 76: Coordinate System
1 Overview Coordinate System AMRs use the X, Y, Z, and Theta coordinate system displayed in the figure below. This information is relevant for some of the procedures used in this manual, such as identifying which are the left or right sides of the AMR.
Page 77 Specifications This section provides specifications of the AMR and other associated items. Performance Specifications ................2-2 Physical Specifications ................. 2-3 2-2-1 Dimensions...................... 2-3 2-2-2 Center of Rotation ................... 2-6 2-2-3 AMR Center of Gravity ..................2-7 2-2-4 Payload Center of Gravity ................2-7 2-2-5 Weights ......................
Page 78: Specifications
2 Specifications Performance Specifications Performance specifications for the AMR are provided below. Item Specification Maximum payload capacity 650 kg Run time Full payload: approximately 8 hours. No payload: approximately 10.5 hours Swing radius 729 mm Turn radius 0 mm Maximum translational speed (forward and reverse) 2200 mm/s Maximum translational acceleration 900 mm/s...
Page 79: Physical Specifications
2 Specifications Physical Specifications Physical specification of the AMR and other items are provided below. 2-2-1 Dimensions Dimensional specifications are provided in the following sections. Overall Dimensions The overall dimensions of the AMR are provided below. 1194 Power Supply Box Dimensions Physical dimensions of the Power Supply Box are provided below.
Page 80 2 Specifications Docking Target Dimensions Physical dimensions of the Docking Target are provided below. 1315 255 100 1256 1306 325 297 Operator Panel Dimensions Physical Dimensions of the Operator Panel are provided below. AMR (Autonomous Mobile Robot) MD-series Platform User's Manual (I681)
Page 81 2 Specifications 40° 110 96 10° 4 X Countersink M5 Flat Head Screws 137.5 137.5 11.4 2 X Countersink M5 Flat Head Screws 4 X Threaded Stud M4 X 0.7 X 10 Tall 17.5 20.3 Payload Structure Mounting Point Dimensions Payload structure mounting point dimensions are provided below.
Page 82: Center Of Rotation
2 Specifications 12X M6 x 1.0 8X M16 x 2.0 AMR Charging Position Dimensions The AMR charging position dimensions are provided below. 1532 2-2-2 Center of Rotation The dimensions of the AMR center of rotation is provided below. AMR (Autonomous Mobile Robot) MD-series Platform User's Manual (I681)
Page 83: Amr Center Of Gravity
2 Specifications Front View Side View (Rear) (Front) = Center of Rotation 2-2-3 AMR Center of Gravity The dimensions of the AMR center of gravity is provided below. Front View Side View (Front) (Rear) = Center of Gravity 2-2-4 Payload Center of Gravity Center of gravity is a critical factor when placing items on the AMR for transport.
Page 84: Weights
2 Specifications the end user's responsibility to ensure that the AMR is configured for safe operation under these op- erating conditions. • If the payload is tall and also has substantial weight, consider the effect on the AMR's center of gravity.
Page 85: Environmental Specifications
2 Specifications Environmental Specifications Environmental specifications are provided in the following sections. 2-3-1 AMR Environmental Specifications Environmental specifications for the AMR are provided below. Item Specification Ambient operating temperature 5 to 40°C Storage temperature -20 to 60°C Humidity 5% to 95%, non-condensing Altitude 2000 m maximum Pollution degree...
Page 86: Battery Environmental Specifications
2 Specifications Item Specification Humidity 5% to 95%, non-condensing Altitude 2000 m maximum Pollution degree Ingress protection class IP20 (IP10 for charging pads) Class of equipment Class 1 2-3-3 Battery Environmental Specifications Environmental specifications for the battery are provided below. Item Specification Ambient operating temperature...
Page 87: Other Specifications
2 Specifications Other Specifications Other specifications are provided in the following sections. 2-4-1 Laser Specifications Specifications for the lasers are provided below. Item Specification Safety Laser Scanner Sensing Horizontal plane 175 mm from floor surface. Plane Safety Laser Scanning Class Class 1M in accordance with the following standards: •...
Page 88: Operator Panel Screen
2 Specifications Description Specification Maximum input current 25 A Maximum output current 120 A (nominal) Input voltage 3-phase 200 to 240 VAC, 50/60 Hz - Delta/Wye 380 to 415 VAC, 50/60 Hz - Wye Output voltage (Power Supply Box / Docking Target) 40 to 57 VDC Power consumption 7.75 kW Maximum output power...
Page 89: Comms Connector
2 Specifications Item Specification User-supplied connector pins Anderson Power Pole: • 16 mm wire size: 1339G2 • 10 mm wire size: 1339G5 • 2.5 mm to 4 mm wire size: 1339G3 Voltage range 40 to 57 VDC (unregulated) 51.2 VDC (nominal) Continuous 40 A Current limits...
Page 90: Lights Connector
2 Specifications Item Specification User-supplied connector pins Molex MicroFit 1 x 2 contact (part number 430300007) Rated output voltage 24 VDC (22.7 to 24.36 VDC) Maximum output current 0.75 A 2-4-11 LIGHTS Connector Electrical and other specifications for the LIGHTS connector are provided below. Item Specification AMR connector...
Page 91: Laser Pwr
2 Specifications Item Specification Continuous Current limits 100 ms Instantaneous 20 A REG power is protected by an internal positive temperature coefficient fuse that automatically resets. Use external current limiting devices to prevent transient current overload. Momentary current spikes that are over the thresholds specified will activate current limiting protection and cause power loss at the REG power connector.
Page 92 2 Specifications Safety Reset Safety Function Description Category PFHd Stop Type Type E-STOP buttons Emergency Manual Pressing the E-STOP but- 8.84E-08 on sides of AMR Stop Reset ton results in an emergen- cy stop (controlled stop). In this case, the power to the AMR motors remains ON in order to achieve a controlled stop.
Page 93 2 Specifications Safety Reset Safety Function Description Category PFHd Stop Type Type Enabling device on Emergency Manual When the enabling device 6.62E-08 Pendant Stop Reset is not depressed or com- pletely depressed, an emergency stop (control- led stop) will occur. In this case, the power to the AMR motors remains ON in order to achieve a con-...
Page 94: Stopping Distance And Time
2 Specifications Safety Reset Safety Function Description Category PFHd Stop Type Type Protective Stop Protective Auto- User-supplied protective To be calculated by 5.79E-08 Stop matic stop devices initiate a pro- the user. connection(s) Reset tective stop (category 1 stop ) and resets auto- matically once the protec- tive device signal is cleared after a two-sec-...
Page 95: Wireless Specifications
2 Specifications Stopping Distance 1750 1500 1250 1000 Velocity (mm/s) Stopping Time Velocity (mm/s) 2-4-18 Wireless Specifications Wireless network specifications for the AMR are provided below. Item Description Signal Strength The minimum required signal strength is -60 dBm. Channel Interference No more than two detectable access points at a level of -85 dBm at any given location.
Page 96 2 Specifications 2-20 AMR (Autonomous Mobile Robot) MD-series Platform User's Manual (I681)
Page 97 Installation This section describes how to install and configure the AMR for operation. Installation Introduction ................3-2 Charging Station Installation ................ 3-3 3-2-1 Repositioning the Docking Target Power Connector........3-4 3-2-2 Mechanical Connections ................. 3-4 3-2-3 Charging Paddle Adjustments................. 3-5 3-2-4 Electrical Connections..................
Page 98: Installation Introduction
3 Installation Installation Introduction The general AMR installation steps are provided below. WARNING • Use safe lifting practices when moving the heavy objects such as the Power Supply Box, Battery, Docking Target, and AMR. • The Charging Station, battery, and AMR transfer high electric power and contain hazardous voltages.
Page 99: Charging Station Installation
3 Installation Charging Station Installation Make the following considerations before installing the Charging Station. • Install the Charging Station on a flat and level floor, in a location that is kept clear and is easily ac- cessible to AMRs. • Install the Docking Target away from forklift traffic or high traffic areas. This will prevent collisions between the docked AMRs and other operating vehicles in the area.
Page 100: Repositioning The Docking Target Power Connector
3 Installation Precautions for Correct Use Vertical orientation of the Power Supply Box allows for heat dissipation, which prevents over- heating and possible fire danger. Horizontal installation of the Power Supply Box is not allowed. 3-2-1 Repositioning the Docking Target Power Connector The Docking Target power connector allows for horizontal and vertical connection of the power cord to suit your mounting location requirements.
Page 101: Charging Paddle Adjustments
3 Installation WARNING • At least 2 people are required to lift the Docking Target. Always use safe lifting prac- tices when removing or installing the Docking Target. Precautions for Correct Use • The Docking Target will move during the docking attempts and cause docking and charging failures if appropriate fasteners are not used.
Page 102: Electrical Connections
3 Installation Precautions for Correct Use • 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. 3-2-4 Electrical Connections The Power Supply Box is permanently connected equipment.
Page 103 3 Installation • The neutral terminal block can be used to terminate the abandoned neutral wire or aid in neutral jump to the AC input terminal block. • All field phase wires must connect to the main disconnect switch. • 4 wire Delta (jumper configuration as Delta) supports 200 to 240 VAC. •...
Page 104: Commissioning Procedure
3 Installation Delta Configuration User-supplied Connections Delta Jumper Arrangement To Door Ground Point (A) Disconnect Switch (B) Terminal Strip (C) Circuit Breakers (D) Ground Bar 3-2-5 Commissioning Procedure Use the following procedure to commission the Power Supply Box. Prepare the facility AC supply and its disconnect switch. Make sure that the facility power is in the OFF state.
Page 105 3 Installation 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. AMR (Autonomous Mobile Robot) MD-series Platform User's Manual (I681)
Page 106: Battery Removal And Installation
3 Installation Battery Removal and Installation Removal or installation of the battery must be performed by persons who have read and understood this manual. Before you begin, press an E-STOP button, turn the AMR OFF, and then place the main disconnect switch in the OFF position.
Page 107: Battery Removal Procedure
3 Installation 3-3-1 Battery Removal Procedure Use the following procedure to remove the battery from the AMR. The following tools are required for this procedure. • T40 star bit • Torque wrench Turn the AMR OFF. Place the main disconnect switch in the off position. Remove the front skin and then disconnect all cables.
Page 108 3 Installation The following tools are required for this procedure. • T40 star bit • Torque wrench Turn the AMR OFF. Place the main disconnect switch in the off position. Remove the front skin and then disconnect all cables. Refer to 6-11-1 Removing and Replacing Skins on page 6-17 for more information. Use a T40 star bit to remove four M8 star bolts that fasten the battery compartment cover to the AMR, and then remove the battery compartment cover.
Page 109: Network Connections
3 Installation Network Connections Wireless and wired networks are available on the AMR. The wired network is typically used for initial configuration and troubleshooting. The wireless network is typically used during normal operation and can also be used for maintenance and troubleshooting. Use the information in this section to configure the network settings of the AMR.
Page 110: Wireless Connection
3 Installation DHCP is used by default. If a static IP is preferred, set the range between 172.16.0.100 to 172.16.0.149. Verify the settings by opening a browser window and accessing https://172.16.0.215. If the set- tings are correct, this will display the SetNetGo web interface and complete this procedure. 3-4-3 Wireless Connection A wireless connection is required when the AMR is operating in a workspace with other AMRs.
Page 111 3 Installation Item Details Authentication OPEN (not recom- Method mended WPA2-PSK Key is either: Passphrase (8-63 ASCII only) Raw Hex (64 Hex-on- WPA-PSK Key is either: Passphrase (8-63 ASCII only) Raw Hex (64 Hex-on- • PEAP-MSCHAPv2 Username: • Password: • Private key: •...
Page 112: Electrical Connections
3 Installation Electrical Connections Use the following information to understand the AMR's electrical connections. 3-5-1 User Connections Area The following information describes items in the User Connection Area. These items are typically used when integrating a payload system with the AMR. Precautions for Correct Use Do not place additional components in the User Connections area.
Page 113 3 Installation  MAINT The MAINT Ethernet port is available for configuration and troubleshooting with a PC that is directly connected with a pass-through or cross-over CAT5 (or better) Ethernet cable. The permanent Maintenance Ethernet Port IP address is 172.16.0.215. Refer to 3-4 Network Con- nections on page 3-13 for more information.
Page 114 3 Installation The following figure shows the pin arrangements for the SCPU connector on the AMR. PIN 1 PIN 9 PIN 18 PIN 10 The information in the table below describes the signal designations for the SCPU connector. Pin Number Item Description Emergency stop channel 1 input...
Page 115 3 Installation Pin Number Item Description 24 VDC For use with alternative safety zone / protective stop circuits. Do not connect external loads to 24 VDC termi- nals. Alternate safety zone input 2 Dual-channel alternate safety zone circuit input. Monitored for simultaneous switching within 500 Refer to 4-25-2 Alternate Safety Laser Scanner Zones on page 4-73 for more information.
Page 116 3 Installation SCPU Connector PIN 10 PIN 11 User-supplied Emergency Stop PIN 2 Devices PIN 1 PIN 6 PIN 7 User-supplied + 24 VDC Protective Stop Devices PIN 4 PIN 13 PIN 15 PIN 16 + 24 VDC Alternate Safety Zone PIN 8 PIN 17 PIN 9...
Page 117 3 Installation 24 VDC Ground  LIGHTS The LIGHTS connector in the User Connections area provides outputs for user-supplied signaling devices such as signal beacons or buzzers. Use the information below to understand all LIGHTS connections. The following figure shows the pin arrangements for the LIGHTS connector on the AMR. PIN 4 PIN 6 PIN 3...
Page 118 3 Installation 24 VDC Buzzer 1 Buzzer 2 Ground  REG PWR The REG PWR connector in the User Connections area provides regulated 24 VDC power and is typically used for payload structure control devices. Use the information below to understand all REG PWR connections.
Page 119 3 Installation Additional Information • Refer to AUX PLC on page 3-20 for more information. • Refer to the NX-series NX102 CPU Unit Hardware User's Manual (Cat. No. W593) • Refer to the NX-series Digital I/O Unit User's Manual (Cat. No. W521) 3-23 AMR (Autonomous Mobile Robot) MD-series Platform User's Manual (I681)
Page 120: Attaching The Payload
3 Installation Attaching the Payload Use the information in this section to understand design considerations and other factors for attaching a payload to the AMR. Precautions for Safe Use You must perform a complete risk assessment for your payload design and the intended use of the AMR prior to its operation.
Page 121: Overhanging Payloads
Overhanging Payloads Increasing the AMR's physical length or width by adding an overhanging payload requires that you in- crease the dimension of the AMR's safety zones. Contact your OMRON representative for more infor- mation on modifying the safety zones. Refer to 4-25-2 Alternate Safety Laser Scanner Zones on page 4-73 for more information.
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
3 Installation If you use the same magnetic tape for markers as for the main tape strip, apply the markers upside- down, relative to the tape. If you use tape with North side up ensure that the markers are applied with their South side up.
Page 124: Goals And Tasks
3 Installation Additional Information Parameter settings described in AMR Physical HAPS Configuration on page 3-27 must be per- formed to make the following configuration items accessible. Adjust the following parameters in the FollowGuide area according to your application requirements. • ApproachSpeed: The speed, in mm/s, to drive when approaching the tape from the goal. •...
Page 125 3 Installation This represents where the AMR will enter the tape, relative to the markers on the tape. This is deter- mined by the location and angle of the goal, relative to the tape and markers. Normally this will be 0 to indicate that the AMR will enter the tape before any markers.
Page 126: Attaching Warning Labels
3 Installation Attaching Warning Labels Two warning labels are provided with the AMR. These must be placed in a prominent location on a flat, horizontal surface on the payload structure or AMR itself, where a person could sit or stand. The labels should be placed where the operators will see them and must be visible from at least two op- posing sides of the AMR.
Page 127: Commissioning
3 Installation Commissioning The commissioning procedure is executed within MobilePlanner. Refer to Fleet Operations Workspace Core User's Manual (Cat. No. I635) for more information. It is used to confirm the correct operation of the following equipment and functions: • Self Health system check •...
Page 128: Map Creation Overview
3 Installation 3-10 Map Creation Overview A map is a scanned representation of the floor plan in the AMR's operating space. Maps contain the static features in the AMR's environment, such as walls, doors, permanent shelving, etc. They also contain user-definable sectors, lines, and areas that help the AMR perform its job. Maps also contain a variety of goals, routes, and tasks that comprise the destinations and activities of the AMR in the work- space.
Page 129: Basic Mapping Tasks
3 Installation • Drive at low rotational speed and acceleration. Use the MobilePlanner software to create and then edit your workspace map. You can add virtual ele- ments to the map that modify the behavior of an AMR. Examples of virtual elements include the follow- ing items.
Page 130: Operator Panel Relocation
3 Installation 3-11 Operator Panel Relocation The Operator Panel may need to be relocated if it is obstructed by the payload structure or payload. Make the following considerations when preparing to relocate the Operator Panel. • The Operator Panel includes an E-STOP button. •...
Page 131 3 Installation Fasten the rear skin to the AMR to complete this procedure. 3-35 AMR (Autonomous Mobile Robot) MD-series Platform User's Manual (I681)
Page 132 3 Installation 3-36 AMR (Autonomous Mobile Robot) MD-series Platform User's Manual (I681)
Page 133: Operation
Operation This section provides information about the operation of the AMR. Payload Movement and Transfer ..............4-3 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 ......................
Page 134 4 Operation 4-13-6 Mode Selection Switch .................. 4-30 4-13-7 Pendant Port ....................4-31 4-14 Maintenance Ethernet Port................4-32 4-15 Main Disconnect Switch ................4-33 4-16 Releasing the Brakes ................... 4-34 4-16-1 Electronic Brake Release ................4-34 4-16-2 Mechanical Brake Release................4-34 4-17 Manually Pushing the AMR .................
Page 135: Payload Movement And Transfer
4 Operation Payload Movement and Transfer A typical AMR application uses a payload structure to transport objects within a facility. For example, the AMR might pick up and carry a crate of parts from one conveyor belt then deliver it to another con- veyor belt.
Page 136: Amr Start-Up
4 Operation AMR Start-up Press and hold the power ON button for half a second, then release. It takes about one minute for all the systems to start-up and make their various interconnections. The AMR Controller, navigation la- sers, and auxiliary power systems automatically start when you press the ON button. During normal start-up, the AMR powers all of its systems, including all factory and user configura- tions.
Page 137: Amr Shut-Down
4 Operation AMR Shut-down Pressing the OFF button will shut down the AMR in a controlled manner. The system will save the AMR's last known location so it can automatically localize when it is powered ON later. An LED ring around the button flashes red during the shut-down procedure. When the AMR is shut down using the OFF button, it enters a standby state.
Page 138: Amr Controller Led Indicators
4 Operation 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. AMR (Autonomous Mobile Robot) MD-series Platform User's Manual (I681)
Page 139: Workspace
4 Operation Workspace The workspace must be flat, free of clutter and debris, and have adequately wide doorways and corri- dors to allow navigation by an AMR. Floors must provide good traction, typical of good walking conditions. Rough or uneven floors can af- fect safety of the AMR's operation as the lasers' sensing plane is not always parallel to the floor.
Page 140: Physical Barriers
4 Operation Precautions for Safe Use • Bright, direct, or high-intensity light can interfere with the AMR's laser operation. Do not oper- ate the AMR in areas where it may be exposed to these conditions. • Do not operate the AMR in areas where environmental conditions are beyond what is speci- fied in this document.
Page 141: Logical Barriers
4 Operation • The barrier must be attached to a solid wall or floor and should be strong enough to stop a fully- laden AMR traveling at maximum speed. • The barrier must extend around the hazard completely. • Mark all physical barriers to make sure that the AMR's Safety Laser Scanners can detect them easi- •...
Page 142: Operating Hazard Zones
4 Operation 4-5-5 Operating Hazard Zones Operating hazard zones are areas between the AMR and an obstacle that would not leave sufficient room for a person to escape and avoid getting crushed. These are areas of inadequate clearance less than 500 mm between the sides or front / rear of the AMR and an obstacle. It can also be an area which cannot be protected by the AMR detection devices.
Page 143: Ramps
AMR down the ramp. Powering OFF the AMR on a ramp should be avoided if possible to minimize the use of brake release on a ramp. Additional Information Contact your local OMRON representative for advanced ramp traversal optimization techni- ques. General considerations: •...
Page 144 4 Operation • Prevent the AMR from path planning while operating on a ramp by using Move:Path in AGV mode or the gotostraight task. 4-12 AMR (Autonomous Mobile Robot) MD-series Platform User's Manual (I681)
Page 145: Clearances
4 Operation Clearances The AMR must operate in an environment that is generally flat, with no doors or other restricted areas that are too narrow for the AMR to pass through. The AMR is designed to operate in environments that contain doors, passageways, or other constrained areas that are wide enough for it to traverse. You must ensure that adequate clearance is maintained on each side of the AMR, so that a person cannot get trapped between the AMR and a wall or other fixed object.
Page 146: Docking Clearances
4 Operation 4-7-2 Docking Clearances Set a 1900 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.
Page 147 4 Operation 4-15 AMR (Autonomous Mobile Robot) MD-series Platform User's Manual (I681)
Page 148: Narrow Passageway Behavior (Linear)
4 Operation Narrow Passageway Behavior (Line- The AMR can operate at its maximum speed through a 1600 mm wide passageway, but speed is limit- ed due to compliance to ISO-3691-4 requirements. It will travel at a slower speed when traversing through a passageway less than 1600 mm wide.
Page 149: Narrow Passageway Behavior (Non-Linear)
4 Operation Narrow Passageway Behavior (Non- linear) This section provides information about AMR behavior and other considerations when it travels through narrow passageways and doorways during non-linear motions. For all the cases presented in this section, the passageway widths are practical for average AMR speeds of 300 to 500 mm/s.
Page 150 4 Operation End Goal 6000 3000 2000 9000 Start Goal 1500 Doorway 3000 U-Turn Clearance 4-18 AMR (Autonomous Mobile Robot) MD-series Platform User's Manual (I681)
Page 151: Minimum Lane Width
4 Operation 4-10 Minimum Lane Width When an MD-series AMR operates in a corridor with other moving objects, it must have a minimum lane width of 2250 mm in order to travel at its maximum speed. These limitations are different from those described for narrow passageway behavior because the AMR needs more clearance when detecting another moving object.
Page 152: Immobilization
4 Operation 4-11 Immobilization In rare circumstances, it is possible for the AMR to become physically immobilized in a position from which it cannot move without operator assistance. Immobilization may also occur from a low battery or AMR error. Precautions for Safe Use Physical immobilization might cause motors in the AMR to overheat.
Page 153: Battery And Charging
• 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. • Do not dispose of the battery in a waste stream that might result in incineration or crushing.
Page 154 4 Operation Indicators Button Battery LED Indicators The LED indicators provide information about the charge level when the battery is ON. Use the infor- mation below to understand LED indicator charge levels. Refer to Battery Pushbutton on page 4-22 for more information about the battery ON / OFF state. LED State Indication Four LEDs ON...
Page 155 4 Operation 4-12-2 Charging Station The Charging Station provides both manual and automated methods of recharging the AMR's battery. A 4 m power cable connects the Power Supply box to the Docking Target. This cable can also be used for charging a battery outside of the AMR. Refer to Charging a Battery Outside of the AMR on page 4-27 for more information..
Page 156 • 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 157 4 Operation State Description ERROR Red OFF No error is present. Red ON A non-critical error is present Red flashing A critical error is present When no battery load is connected, the green OPERATION indicator can take up to 60 seconds to turn ON while the system performs diagnostics.
Page 158 4 Operation Autonomous Charging During normal operation, the AMR charges its battery autonomously by driving to the Docking Target under configurable conditions (battery level and opportunities). The AMR drives to the location of the Docking Target based on the map loaded onto the AMR and it uses this information to autonomously recharge as configured.
Page 159: Charging Station
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 160: Storing Batteries
4 Operation Additional Information If the AMR's DockUntilDoneCharging parameter is set to False while the StateOfChargeTo- ChargeTo and MinutesToChargeFor parameters are both set to a default value of 0, the AMR will never leave the Docking Target. Do not use this combination of parameter settings. 4-12-5 Storing Batteries If the AMR is not used for 15 days or more, the battery should be removed and stored.
Page 161: Operator Panel
4 Operation 4-13 Operator Panel The information below describes the operator panel components and functions. Precautions for Correct Use Do not tamper with any AMR control devices. 4-13-1 Brake Release Button The brake release button is used when the AMR needs to be moved manually. To release the brakes using this button, you must first press the E-STOP button on the Operator Panel and then press and hold the brake release button.
Page 162: On Button
4 Operation Boot-up Screen The following image shows the first screen that appears during boot-up when the AMR is turned ON. 4-13-4 ON Button The ON button has the following functions. • Turns the AMR ON. If the AMR is in the process of shutting down, the ON button is ignored until shut down is completed.
Page 163: Pendant Port
4 Operation Automatic mode is used for typical operation under normal circumstances. Manual mode must be selected to drive the AMR manually with a Pendant. The AMR will enter an emergency stop state when the mode is changed. Pressing the ON button will return the AMR to a normal state.
Page 164: Maintenance Ethernet Port
4 Operation 4-14 Maintenance Ethernet Port Use the maintenance Ethernet port to connect a PC directly to the AMR when using software for con- figuration or troubleshooting. This port should only be used as a single connection point. Do not con- nect the maintenance port directly to your LAN.
Page 165: Main Disconnect Switch
4 Operation 4-15 Main Disconnect Switch When the main disconnect switch is in OFF (vertical) position, power is completely disconnected from the internal battery. All systems in the AMR will not be energized in this position. Rotating the main disconnect switch to the ON (horizontal) position will establish a connection between the internal bat- tery and all AMR systems.
Page 166: Releasing The Brakes
4 Operation 4-16 Releasing the Brakes The brakes on the drive wheels can be released in case of an emergency or abnormal situation. This may be required to manually move the AMR. Refer to 4-17 Manually Pushing the AMR on page 4-36 for more information.
Page 167 4 Operation The mechanical brake release lever is located behind the rear skin. Squeezing the lever shown below will mechanically release the brakes. Ensure brake lever returns to original position after releasing. 4-35 AMR (Autonomous Mobile Robot) MD-series Platform User's Manual (I681)
Page 168: Manually Pushing The Amr
Mobile Robot (AMR) MD-series Platform Safety and Unpacking Guide (Cat. No. I682) should manually move the AMR. • OMRON recommends that you train personnel on the safe use of the brake release opera- tions and procedures for safely pushing an AMR.
Page 169: Emergency Stop
4 Operation 4-18 Emergency Stop When an emergency stop is triggered, the AMR decelerates to a controlled stop, de-energizes the safety outputs, and then disables its motors and engages the brakes. The emergency stop circuit is classified as a Category 1 stop. There are two typical reasons to activate an emergency stop during normal operation.
Page 170 4 Operation Press the ON button on the operator panel. Additional Information • If only the E-STOP on the pendant is pressed, use the three-position enabling device to re- cover. Pressing the ON button is not required. • There is a 2.5 second delay between when the ON button is pressed and the AMR resumes its activity.
Page 171: Protective Stops
4 Operation 4-19 Protective Stops When a protective stop is triggered, the AMR decelerates to a stop at the maximum allowed rate. It then removes power to its motors and engages the brakes. After the AMR comes to a complete stop, it waits a minimum of 2.5 seconds before it resumes operation.
Page 172 4 Operation AMR State Protective Stop Inputs AMR Response Safety Outputs Stopped STO Active, Brakes en- HIGH gaged Stopped HIGH No change HIGH 4-40 AMR (Autonomous Mobile Robot) MD-series Platform User's Manual (I681)
Page 173: 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 174: Light Discs And Optional Beacon States
4 Operation 4-21 Light Discs and Optional Beacon States Light Discs located on the sides of the AMR provide a visual indication of its operational state. Light Discs supplement the Light Strips on the front and rear of the AMR for high visibility on all sides during operation.
Page 175: Stopped With Warning
4 Operation 4-21-5 Stopped When the AMR is stopped, the entire light disc on each side pulses blue slowly (0.25 Hz). An optional beacon will illuminate green during this operation. 4-21-6 Stopped with Warning When the AMR is stopped with a warning, the light discs pulse orange instead. An optional beacon will illuminate green during this operation.
Page 176: Booting
4 Operation Left Right State of Charge Side Light Disc Side Light Disc 0 to 90 cw 0 to 270 ccw 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.
Page 177: Light Strips And Optional Beacon States
4 Operation 4-22 Light Strips and Optional Beacon States Light Strips located on the front and rear of the AMR provide a visual indication of its operational state. Light Strips supplement the Light Discs on the sides of the AMR for high visibility on all sides during operation.
Page 178: Lost
4 Operation 4-22-4 Lost When the AMR is lost, both front and rear light strips repeatedly display two orange segments travel- ing from one edge to the middle in opposite directions. 4-22-5 Stopped While the AMR is stopped, both front and rear light strips repeatedly display two blue segments travel- ing from one edge to the middle in opposite directions.It then pulses at a frequency of 0.25 Hz as it fades ON and OFF.
Page 179: Charging
4 Operation 4-22-8 Charging When the AMR is engaged with a Docking Target, the front and rear light strips indicate the current state of charge as described in the table below. An optional beacon will illuminate green during this operation. ≤...
Page 180 4 Operation Refer to Operate inside a designated MutePersonnelDetectionSector Area on page 4-72 for more in- formation. 4-48 AMR (Autonomous Mobile Robot) MD-series Platform User's Manual (I681)
Page 181: 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 182: Driving With The Pendant
4 Operation 4-23-1 Driving with the Pendant Use the following procedure to drive the AMR with the Pendant. Press one of the E-STOP buttons on the AMR. Place the AMR in manual mode using the mode selection switch on the Operator Panel. Connect the pendant to the Operator Panel Pendant port.
Page 183: Warning Buzzer
4 Operation 4-24 Warning Buzzer The AMR has a warning buzzer that provides an audible alert during certain operating conditions. CAUTION Changing warning buzzer parameter values might make the AMR unsafe and affect its compliance to safety standards. Refer to the applicable safety standards for your locale before you change any parameter values.
Page 184: 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 185 4 Operation Additional Information • Not all speeds are achievable for safety zone pairs associated with an operational condition. • Speeds provided for safety zone pairs are accurate to within ± 10 mm/s and ± 2 degrees/s. Safety Zone Pair(s) Operational Conditions 1 to 7 Enabled when the AMR is driving straight with minimal...
Page 186 4 Operation Safety Zone Pair 1 1500 Front Zone Rear Zone 1000 Safety Laser Scanners -500 -1000 -1500 -1000 -500 1000 2000 3000 1500 2500 AMR X-axis Safety Zone Pair 2 1500 Front Zone Rear Zone 1000 Safety Laser Scanners -500 -1000 -1500...
Page 187 4 Operation Safety Zone Pair 3 1500 Front Zone Rear Zone 1000 Safety Laser Scanners -500 -1000 -1500 -1000 -500 1000 2000 3000 1500 2500 AMR X-axis Safety Zone Pair 4 1500 Front Zone Rear Zone 1000 Safety Laser Scanners -500 -1000 -1500...
Page 188 4 Operation Safety Zone Pair 5 1500 Front Zone Rear Zone 1000 Safety Laser Scanners -500 -1000 -1500 -1000 -500 1000 2000 3000 1500 2500 AMR X-axis Safety Zone Pair 6 1500 Front Zone Rear Zone 1000 Safety Laser Scanners -500 -1000 -1500...
Page 189 4 Operation Safety Zone Pair 7 1500 Front Zone Rear Zone 1000 Safety Laser Scanners -500 -1000 -1500 -1000 -500 1000 2000 3000 1500 2500 AMR X-axis  Rotating While Driving Slowly Safety zone pairs 8 to 10 are used when the AMR is rotating while driving slowly with the following speeds.
Page 190 4 Operation Safety Zone Pair 8 1500 Front Zone Rear Zone 1000 Safety Laser Scanners -500 -1000 -1500 -1000 -500 1000 2000 3000 1500 2500 AMR X-axis Safety Zone Pair 9 1500 Front Zone Rear Zone 1000 Safety Laser Scanners -500 -1000 -1500...
Page 191 4 Operation Safety Zone Pair 10 1500 Front Zone Rear Zone 1000 Safety Laser Scanners -500 -1000 -1500 -1000 -500 1000 2000 3000 1500 2500 AMR X-axis  Driving in an Arc (Turning) Safety zone pairs 11 to 32 are used when the AMR is driving in an arc (turning) with the following speeds.
Page 192 4 Operation Applicable Speeds Safety Zone Pair Linear (mm/s) Rotational (degrees/s) 1601 to 1900 11 to 20 clockwise 1901 to 2200 Safety Zone Pair 11 1500 Front Zone Rear Zone 1000 Safety Laser Scanners -500 -1000 -1500 -1000 -500 1000 2000 3000 1500...
Page 193 4 Operation Safety Zone Pair 13 1500 Front Zone Rear Zone 1000 Safety Laser Scanners -500 -1000 -1500 -1000 -500 1000 2000 3000 1500 2500 AMR X-axis Safety Zone Pair 14 1500 Front Zone Rear Zone 1000 Safety Laser Scanners -500 -1000 -1500...
Page 194 4 Operation Safety Zone Pair 15 1500 Front Zone Rear Zone 1000 Safety Laser Scanners -500 -1000 -1500 -1000 -500 1000 2000 3000 1500 2500 AMR X-axis Safety Zone Pair 16 1500 1000 -500 Front Zone -1000 Rear Zone Safety Laser Scanners -1500 -1000 -500...
Page 195 4 Operation Safety Zone Pair 17 1500 1000 -500 Front Zone -1000 Rear Zone Safety Laser Scanners -1500 -1000 -500 1000 2000 3000 1500 2500 AMR X-axis Safety Zone Pair 18 1500 1000 -500 Front Zone -1000 Rear Zone Safety Laser Scanners -1500 -1000 -500...
Page 196 4 Operation Safety Zone Pair 19 1500 1000 -500 Front Zone -1000 Rear Zone Safety Laser Scanners -1500 -1000 -500 1000 2000 3000 1500 2500 AMR X-axis Safety Zone Pair 20 1500 1000 -500 Front Zone -1000 Rear Zone Safety Laser Scanners -1500 -1000 -500...
Page 197 4 Operation Safety Zone Pair 21 1500 1000 -500 Front Zone -1000 Rear Zone Safety Laser Scanners -1500 -1000 -500 1000 2000 3000 1500 2500 AMR X-axis Safety Zone Pair 22 1500 Front Zone Rear Zone 1000 Safety Laser Scanners -500 -1000 -1500...
Page 198 4 Operation Safety Zone Pair 23 1500 Front Zone Rear Zone 1000 Safety Laser Scanners -500 -1000 -1500 -1000 -500 1000 2000 3000 1500 2500 AMR X-axis Safety Zone Pair 24 1500 Front Zone Rear Zone 1000 Safety Laser Scanners -500 -1000 -1500...
Page 199 4 Operation Safety Zone Pair 25 1500 Front Zone Rear Zone 1000 Safety Laser Scanners -500 -1000 -1500 -1000 -500 1000 2000 3000 1500 2500 AMR X-axis Safety Zone Pair 26 1500 Front Zone Rear Zone 1000 Safety Laser Scanners -500 -1000 -1500...
Page 200 4 Operation Safety Zone Pair 27 1500 Front Zone Rear Zone 1000 Safety Laser Scanners -500 -1000 -1500 -1000 -500 1000 2000 3000 1500 2500 AMR X-axis Safety Zone Pair 28 1500 Front Zone Rear Zone 1000 Safety Laser Scanners -500 -1000 -1500...
Page 201 4 Operation Safety Zone Pair 29 1500 Front Zone Rear Zone 1000 Safety Laser Scanners -500 -1000 -1500 -1000 -500 1000 2000 3000 1500 2500 AMR X-axis Safety Zone Pair 30 1500 Front Zone Rear Zone 1000 Safety Laser Scanners -500 -1000 -1500...
Page 202 4 Operation Safety Zone Pair 31 1500 Front Zone Rear Zone 1000 Safety Laser Scanners -500 -1000 -1500 -1000 -500 1000 2000 3000 1500 2500 AMR X-axis Safety Zone Pair 32 1500 Front Zone Rear Zone 1000 Safety Laser Scanners -500 -1000 -1500...
Page 203 4 Operation Safety Zone Pair 33 1500 Front Zone Rear Zone 1000 Safety Laser Scanners -500 -1000 -1500 -1000 -500 1000 2000 3000 1500 2500 AMR X-axis  Moving at Very Slow Speeds with the Pendant Disconnected Safety zone pair 34 is used when the AMR is moving at the following speeds with the Pendant dis- connected.
Page 204 4 Operation  Moving at Very Slow Speeds with the Pendant Connected Safety zone pair 35 is a nulled zone pair. It is used when the AMR is moving at the following speeds with the Pendant connected. • Linear Speed: 0 to 20 mm/s •...
Page 205: Alternate Safety Laser Scanner Zones
4 Operation Safety Zone Pair 36 1500 Front Zone Rear Zone 1000 Safety Laser Scanners -500 -1000 -1500 -1000 -500 1000 2000 3000 1500 2500 AMR X-axis WARNING If the AMR is in an operational hazard or restricted zone, these areas must be properly marked or restricted according to applicable standards.
Page 206 The alternate Safety Laser Scanner zones are identical to the default zones when the default configu- ration is present. Activating the alternate zones has no effect until new zones are created. Contact your local OMRON representative for a Safety Laser Scanner zone generation tool. Precautions for Correct Use If alternate Safety Laser Scanner Zones are used for varying payload sizes, an alternate AMR footprint should also toggle for navigation purposes.
Page 207: Wireless Considerations
4 Operation 4-26 Wireless Considerations It is recommended to use wireless network industry best practices to conduct a comprehensive work- space survey and test your wireless service before AMR configuration and operation begins. Make the following considerations when an AMR is communicating with a wireless network. Refer to 2-4-18 Wireless Specifications on page 2-19 for more information.
Page 208: Port Forwarding
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. 4-76 AMR (Autonomous Mobile Robot) MD-series Platform User's Manual (I681)
Page 209: 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 local OMRON representative for support. Additional Information Use the configuration area in MobilePlanner to make parameter changes.
Page 210: Emergency Situations
4 Operation 4-28 Emergency Situations In case of an emergency such as a fire or collision, you should stop the AMR quickly and safely. If the emergency situation is near the Charging Station, you must turn OFF the Power Supply Box's power using the main disconnect switch.
Page 211: Tilt Detection
4 Operation 4-29 Tilt Detection The tilt detection feature monitors the angle of the AMR with respect to flat ground during its operation. If the AMR tilts 60 degrees or more in any direction, motion will stop and power is removed from any user-supplied equipment.
Page 212: No Motion Signals
4 Operation 4-30 No Motion Signals A pair of safety-rated no motion outputs turn ON when the AMR has traveled less than 4 mm in a 1.5 second time frame. These outputs can be used to safely detect when the AMR stops moving. These outputs are located on the SCPU connector in the User Connections area.
Page 213: Troubleshooting
Troubleshooting This section provides troubleshooting information. Collecting Troubleshooting Information ............5-2 Restoring the Default Configuration ............5-3 Power Supply Box Problems ................ 5-4 Battery Problems ................... 5-6 5-4-1 Low Battery Recovery ..................5-6 5-4-2 Battery Charging Problems ................5-6 5-4-3 Leaking Batteries.....................
Page 214: Collecting Troubleshooting Information
5 Troubleshooting Collecting Troubleshooting Informa- tion Troubleshooting information can be collected from the AMR by downloading a Debug Info File using SetNetGo. This is a collection of configuration, log, and system status files that support personnel can use for debugging and troubleshooting. Use the following procedure to download a Debug Info File for troubleshooting or diagnostic purposes.
Page 215: Restoring The Default Configuration
SetNetGo restore function. Contact your local OMRON representative for restoring laser default configuration. 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. AMR (Autonomous Mobile Robot) MD-series Platform User's Manual (I681)
Page 216: Power Supply Box Problems
5 Troubleshooting Power Supply Box Problems Use the information in the following table to troubleshoot Power Supply Box problems. Upon initial power-up, all LEDs will turn ON briefly to confirm they are not faulty. Condition Assumed Cause Remedy Additional Information All indicators OFF.
Page 217 ERROR LED turns POWER LED battery. ON, a problem with the battery flashing. was detected. Contact your local OMRON representative for more information. AMR (Autonomous Mobile Robot) MD-series Platform User's Manual (I681)
Page 218: Battery Problems
5 Troubleshooting Battery Problems If a problem is detected with the battery while it is in an operating AMR, a message will be displayed on the Operator Panel with information about the cause. Use the following sections to troubleshoot and resolve other battery problems. WARNING Risk of Fire - No User Serviceable Parts AVERTISSEMENT: Risque d’incendie - Aucune des pièces ne peut être.
Page 219: Leaking Batteries
POWER LED OFF. • Red ERROR LED flashing A battery problem Contact your local OMRON representative for more information if necessary. message is dis- played on the Op- erator Panel screen. The LED charge Check the CHARGE LIGHT fuse located at the...
Page 220 5 Troubleshooting clean the affected area. Place the leaking battery in a bag or drum and dispose of the materials prop- erly in accordance with national, regional, and local environmental control regulations. WARNING You must wear proper Personal Protective Equipment (PPE) for removing, installing, and lifting the battery or when working around a leaking battery.
Page 221: 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 222: Amr Start-Up Problems
• Check the battery's state of charge to ensure sufficient power is available. Refer to 4-12-1 Battery Indicators and Controls on page 4-21 for more information. If the AMR does not start-up after the actions above, contact your local OMRON representative. 5-10...
Page 223: Amr Controller Errors
The AMR Controller's internal bat- This battery is not user-replacea- tery is low. ble. The battery lifespan is 10 years. Contact your local OMRON repre- sentative for more information. Solid red A thermal shut-down has occurred Reduce the environment's ambient from excessive heat.
Page 224: Operator Panel Information
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. 5-12 AMR (Autonomous Mobile Robot) MD-series Platform User's Manual (I681)
Page 225: Circuit Breakers And Fuses
5 Troubleshooting Circuit Breakers and Fuses Use the following information to understand circuit breaker and fuse location and functionality. Circuit breakers and fuses are found in the following locations. Circuit Breaker Panel Battery Fuse Fuse Panel 5-9-1 Fuse Panel The following information describes fuses located in the Fuse Panel. Fuse Label Protection Type...
Page 226: Battery Fuse
5 Troubleshooting 5-9-3 Battery Fuse The battery fuse is a 3AG type with a rating of 250 VDC, 7 A. 5-14 AMR (Autonomous Mobile Robot) MD-series Platform User's Manual (I681)
Page 227: Other Amr Problems
Battery problem. Remove the battery and connect it directly to the Power Supply Box. If battery will not charge, contact your local OMRON representative. Operator Panel displays "Unknown A motor circuit breaker was tripped. Reset the motor circuit breaker, Driving Fault"...
Page 228 5 Troubleshooting 5-16 AMR (Autonomous Mobile Robot) MD-series Platform User's Manual (I681)
Page 229: Maintenance
Maintenance This section covers periodic maintenance and user-serviceable parts replacement for the AMR and the Charging Station. Maintenance Introduction................6-2 AMR Lock-out Tag-out Procedure ..............6-4 Inspection Intervals ..................6-5 Charging Station Lock-out Tag-out Procedure ........... 6-6 Lifting the AMR....................6-7 Mechanical Brake Inspection Procedure .............
Page 230: 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 231 6 Maintenance CAUTION • Follow all appropriate local safety regulations for working with isopropyl alcohol, in- cluding fire safety, toxicity, and protective clothing and gear requirements. • Any electrical charge that accumulates on the AMR skins does not have a path to ground, and therefore cannot discharge.
Page 232: Amr Lock-Out Tag-Out Procedure
6 Maintenance AMR Lock-out Tag-out Procedure Use the following procedure to execute Lock-out Tag-out before performing any maintenance or instal- lation work on the AMR. Shut down the AMR by pressing the OFF button on the Operator Panel. Turn the AMR main disconnect switch to the OFF position (vertical). Lock and tag the main disconnect switch according to your facility requirement and regulations.
Page 233: Inspection Intervals
3 months Check the fan for air flow while the AMR is powered ON. Area Cooling Fan Contact your OMRON representative for replacement details. User Connection 3 months Check the fan for air flow while the AMR is powered ON.
Page 234: Charging Station Lock-Out Tag-Out Procedure
6 Maintenance Charging Station Lock-out Tag-out Procedure Use the following procedure to execute Lock-out Tag-out before performing any maintenance or instal- lation work on the Charging Station. Disconnect the Power Supply Box from the battery or Docking Target and then lock and tag the Power Supply Box output power cord connector.
Page 235: Lifting The Amr
• Overhead hoist or forklift rated for a minimum of 600 kg. Perform the appropriate Lock-out Tag-out procedures. Attach the OMRON-supplied lifting rings using to the locations shown in the figure below. AMR (Autonomous Mobile Robot) MD-series Platform User's Manual (I681)
Page 236 6 Maintenance Using an overhead hoist or a forklift, lift the AMR. After the AMR is no longer lifted, remove the lifting rings and straps from the AMR to complete this procedure. AMR (Autonomous Mobile Robot) MD-series Platform User's Manual (I681)
Page 237: Mechanical Brake Inspection Procedure
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 4-17 Manually Pushing the AMR on page 4-36 for more information.
Page 238: Docking Target Charging Contacts Inspection
6 Maintenance Docking Target Charging Contacts In- spection The Docking Target charging contacts and assembly should be inspected every 3 months with the fol- lowing actions. • Inspect the contacts to ensure they are securely attached and that there are no signs of pitting. •...
Page 239: Amr Charging Contact Inspection
6 Maintenance AMR Charging Contact Inspection The AMR charging contacts wear during normal operation and should be inspected every 3 months to determine if they need to be replaced. Measure the overall height of each charging contact. If the height is less than 7.0 mm, the charging contacts must be replaced. 7.0 min.
Page 240: Safety And Warning Labels
6 Maintenance Safety and Warning Labels Perform periodic checks to ensure safety and warning labels are not damaged or removed. Yellow backings for emergency stop buttons must also remain in place. Refer to 1-4 Labels on page 1-18 for more information about label locations. 6-12 AMR (Autonomous Mobile Robot) MD-series Platform User's Manual (I681)
Page 241: Cleaning
6 Maintenance 6-10 Cleaning Use the following information to understand how to clean the AMR and its associated components. WARNING Do not use organic solvents to clean any part of the AMR unless directed in the clean- ing instructions. Organic solvents might damage electronics resulting in an unsafe op- erating state that could cause injury or damage to equipment.
Page 242: Cleaning The Power Supply Box Cooling Ducts
6 Maintenance WARNING The Power Supply Box, charging contacts on both the Docking Target and the AMR, and the drive wheel motors can get hot during operation. Allow these items to cool down prior to servicing. Precautions for Correct Use •...
Page 243: Cleaning Lasers Lenses
6 Maintenance 6-10-4 Cleaning Lasers Lenses Clean the lenses of all lasers. Use only a soft cloth with alcohol-based, non-abrasive cleaners. Wipe the lens thoroughly and take care not to scratch or damage the lens during the cleaning process. Precautions for Correct Use The operation of the lasers may be affected by substances in the AMR operating environment, such as fog, smoke, steam, and other small particulate.
Page 244 6 Maintenance Drive Wheel Cleaning Procedure Use the following procedure to clean the drive wheels. The following items are required for this procedure. • Gloves. • Disposable lint-free cloth(s). • Wire hook, tweezers, and sharp blade to remove any fibrous material wound around the wheel hubs.
Page 245: 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 246 6 Maintenance Make the following considerations when removing or replacing skins. • No tools are required for skin removal. Skins are fastened to the AMR chassis with magnets. • Right-side and left-side skins are not symmetrical. • All skins have cables that need to be disconnected when removing. Preserve cable routing and con- nections replacing skins.
Page 247 Appendices Parts List ......................A-2 Side Laser Configuration................A-3 Input and Output Control................A-4 Shipping the AMR ..................A-5 AMR (Autonomous Mobile Robot) MD-series Platform User's Manual (I681)
Page 248: Parts List
Appendices A-1 Parts List Standard AMR parts and accessories are provided in the following table. Item Part Number Details Included 14925-000 25 mm wide magnetic tape (south top side, 49 m HAPS magnetic roll). tape Included with AMR HAPS option. 68940-000L Handheld, external input device for manually driv- Optional...
Page 249: Side Laser Configuration
RON representative for more information. • IgnoreOutsideOf This indicates the method by which unused external segments of the Side Laser scanning field can be ignored. The possible options are None, Polygon and Range. Contact your local OMRON repre- sentative for more information. • HeightIgnoreMode This indicates the method by which the range of Z values below IgnoreBelowHeight and a range of Z values above IgnoreAboveHeight can be ignored.
Page 250: Input And Output Control
Appendices A-3 Input and Output Control The AMR has built-in digital I/O that is typically used for autonomous control of user-supplied objects on the payload structure. Customized user programs can be created for the onboard NX102 controller that utilize these inputs and outputs for specific applications. An interface exists between the AMR controller and the NX102 controller for event-based control functions.
Page 251: Shipping The Amr
Appendices A-4 Shipping the AMR Make the following considerations when shipping the AMR to another location. • Keep the original crate and shipping materials supplied with the AMR. Use these to repackage the AMR before shipping. Refer to the Autonomous Mobile Robot (AMR) MD-series Platform Safety and Unpacking Guide (Cat.
Page 252 Appendices AMR (Autonomous Mobile Robot) MD-series Platform User's Manual (I681)
Page 253 Index AMR (Autonomous Mobile Robot) MD-series Platform User's Manual (I681)
Page 254 Index Index Default Configuration............5-3 Dimensions Docking Target............... 2-4 ARAMCentral..............1-32 AMR Controller............1-12, 4-6 Operator Panel...............2-4 AMR Driving..............4-49 Power Supply Box............2-3 ARAM..............1-30, 1-31 Docking Target............1-14, 4-25 ARCL..............1-30, 1-33 Drive Wheels..............1-12 Autonomous Charging.............4-26 Autonomous Navigation..........1-16 Auxiliary Power............3-17, 3-22 E-STOP Button..........1-6, 1-9, 1-26 Emergency Situations............4-78 Emergency Stop..............
Page 255 Index Main Disconnect Switch (AMR)......1-12, 4-33 Safety Devices..............3-17 Main Disconnect Switch (Charging Station)... 1-14, 4-24 Safety Laser Scanner..........1-6, 1-7 Maintenance..............6-1 Safety Laser Scanner Zones........... 4-52 Maintenance Ethernet Port..........4-32 Safety Outputs............3-17, 4-37 Map Creation..............3-32 Safety Zone Pairs............4-52 Minimum Lane Width............4-19 Screen................
Page 256 Index Connection..............3-14 Considerations............. 4-75 Signal Availability............4-75 Workspace.................4-7 AMR (Autonomous Mobile Robot) MD-series Platform User's Manual (I681)
Page 258 Hoffman Estates, IL 60169 U.S.A. Tel: (31) 2356-81-300 Fax: (31) 2356-81-388 Tel: (1) 847-843-7900 Fax: (1) 847-843-7787 ©OMRON Corporation 2023 All Rights Reserved. OMRON ASIA PACIFIC PTE. LTD. OMRON (CHINA) CO., LTD. In the interest of product improvement, 438B Alexandra Road, #08-01/02 Alexandra Room 2211, Bank of China Tower, specifications are subject to change without notice.

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