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Omron LD-60 User Manual

Omron LD-60 User Manual

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LD-60/90 Platform
User's Manual
LD-60
LD-90
LD-90x
I611-E-08

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Summary of Contents for Omron LD-60

  • Page 1 LD-60/90 Platform User's Manual LD-60 LD-90 LD-90x I611-E-08...
  • 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 LD-60/90 Autonomous Mobile Robot (referred to as AMR in this docu- ment). This manual is OMRON's original instructions describing the setup, operations, and user maintenance of the product. This document describes AMR functionality supported with FLOW v3.3.1.

  • Page 4: Manual Information

    Special Information Level 2 heading Manual name Level 3 heading Page tab with the number of the main section Step in a procedure Page number Special Information Special information in this manual is classified as follows: LD-60/90 Platform User's Manual (I611)

  • Page 5: Additional 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. LD-60/90 Platform User's Manual (I611)
  • Page 6 Manual Information LD-60/90 Platform User's Manual (I611)

  • Page 7: Sections In This Manual

    Sections in this Manual Sections in this Manual Overview Specifications Installation Operation Troubleshooting Maintenance Appendices LD-60/90 Platform User's Manual (I611)

  • Page 8: Table Of Contents

    E-STOP Buttons..........................1-8 1-2-6 Wireless Antennas ........................1-8 1-2-7 Light Discs ..........................1-8 1-2-8 Access Panel ..........................1-8 1-2-9 Rear Sonar Sensors........................1-9 1-2-10 Charging Contacts ........................1-10 1-2-11 Battery ............................1-10 1-2-12 Pendant .............................1-10 1-2-13 Drive Train and Suspension ...................... 1-11 LD-60/90 Platform User's Manual (I611)
  • Page 9 Battery Environmental Specifications..................2-12 2-3-4 Pendant Environmental Specifications..................2-12 Other Specifications ......................2-13 2-4-1 Laser Specifications ........................2-13 2-4-2 Battery Specifications........................2-13 2-4-3 HAPS Specifications .........................2-13 2-4-4 Acuity Specifications .........................2-14 2-4-5 Docking Station Specifications ....................2-14 2-4-6 Safety Function Performance Levels ..................2-14 LD-60/90 Platform User's Manual (I611)
  • Page 10 Advanced Setup ........................3-56 3-11 Acuity Installation Procedure .....................3-62 3-11-1 Mounting Location ........................3-62 3-11-2 Acuity Hardware Installation......................3-63 3-11-3 Configuration and Setup ......................3-69 3-11-4 Mapping with Acuity ........................3-73 3-11-5 Other Acuity Adjustments......................3-80 3-12 Wireless Antenna Relocation Procedure................3-81 LD-60/90 Platform User's Manual (I611)
  • Page 11 4-15 Light Discs and Optional Beacon States................4-34 4-15-1 Driving Straight..........................4-34 4-15-2 Turn Signal ..........................4-34 4-15-3 Emergency Stop........................4-34 4-15-4 Lost ............................4-35 4-15-5 Stopped and Ready ........................4-35 4-15-6 Stopped with Warning .......................4-35 4-15-7 Driving with Warning .........................4-35 LD-60/90 Platform User's Manual (I611)
  • Page 12 6-6-1 Cleaning Intervals ........................6-11 6-6-2 Cleaning AMR Charging Contacts .................... 6-11 6-6-3 Cleaning Docking Station Charging Contacts ................6-12 6-6-4 Cleaning Laser Lenses ......................6-13 6-6-5 Cleaning Caster Treads ......................6-13 6-6-6 Cleaning ESD Caster Treads ....................6-14 LD-60/90 Platform User's Manual (I611)
  • Page 13 USER PWR Load Connection Examples (PINS 9 to 12) ............ A-7 A-3-1 Good USER PWR Load Connections ..................A-7 A-3-2 Bad USER PWR Load Connections ..................A-7 Unpacking..........................A-9 A-4-1 AMR Unpacking Procedure ....................... A-9 A-4-2 Battery Shipping Crate Information ..................A-15 Index LD-60/90 Platform User's Manual (I611)

  • Page 14: Terms And Conditions Agreement

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

  • Page 15: Disclaimers

    • 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: 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. LD-60/90 Platform User's Manual (I611)

  • Page 17: Dangers

    Follow all unpacking safety instructions and use appropriate tools and equipment. Failure to do so could result in personal injury or property damage. Use only the specified tools, equipment, lubricants, and OMRON-supplied spare parts to service and maintain the AMR according to the specified service interval. Failure to do so could result in an unsafe operating state than might result in personal injury or damage to property.

  • Page 18: Battery And Docking Station

    Implementing methods to circumvent the need for a person to enable the AMR's motor power at start-up is prohibited. OMRON is not responsible for any risks incurred by modifying safety zone sizes or other OS32C laser settings. The AMR as a partly-completed machine is intended to be incorporated into other machi-...
  • Page 19 Safely dispose of the battery through a designated facility according to all local and national environmental regulations regarding lithium battery disposal. Replace the battery only with an OMRON factory-supplied battery intended for use in the AMR. The Docking Station charging contacts are energized when a magnet on the AMR is in close proximity.

  • Page 20: Operating Environment

    A physical barrier must be easily detectable by the AMR and also strong enough to stop a fully-loaded AMR traveling at its maximum speed. Exposure to ingress beyond the specifications can lead to system malfunction. LD-60/90 Platform User's Manual (I611)

  • Page 21: Cautions

    • Educate employees to help them identify phishing scams received via email on sys- tems that will connect to the control network. Cautions CAUTION LD-60/90 Platform User's Manual (I611)
  • Page 22 It is the end user's responsibility to ensure that a clearance of 200 mm from the edges of the AMR or payload structure is maintained when it is traveling below 225 mm/s (LD-90 and LD-90x) or 300 mm/s (LD-60). Do not allow the AMR to operate in areas that are used for emergency personnel evacu- ation.

  • Page 23: Precautions For Safe Use

    • 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 24 • If you suspect that liquid has penetrated the skins or contaminated the AMR's interior, do not at- tempt to power ON the system and contact your OMRON representative. • Do not allow any foreign metal objects to be near the AMR or Docking Station charging contacts.

  • Page 25: Precautions For Correct Use

    If you find that you must frequently move the AMR, use MobilePlanner to reconfigure its route to avoid problematic areas. • OMRON recommends that you train personnel on the safe use of the brake release operations and procedures for safely pushing an AMR.
  • Page 26 This can be hazardous to electrostatic sensitive devices. Always keep electrostatic sensitive devices at least 30 cm away from the AMR skins. • Do not operate the AMR on soft surfaces such as carpet. LD-60/90 Platform User's Manual (I611)

  • Page 27: Regulations And Standards

    • EN 60204-1 Safety of Machinery. Electrical equipment of machines, Part 1 General Requirements. • EN 61000-6-4 EMC, Part 6-4: Emissions Standard for Industrial Environments. • EN 61000-6-2 EMC, Part 6-2: Immunity Emissions Standard for Industrial Environments. LD-60/90 Platform User's Manual (I611)

  • Page 28: Related Manuals

    Provides information regarding the use and safety of (Cat. No. Z296) the OS32C Safety Laser Scanner. Mobile I/O Box User's Manual (Cat. No. I677) Contains information for setting up and using a Mobile I/O box with the AMR. LD-60/90 Platform User's Manual (I611)

  • Page 29: Glossary

    Debug Info File A zip file downloaded from SetNetGo that contains detailed information about the status of the system used by OMRON engineers for trouble- shooting. Docking Station A fixed object that the AMR engages with for autonomous charging.
  • Page 30 A specific route (a series of Tasks, Goals, or Macros) that the robot will fol- low without human intervention. Payload Any item(s) that are placed on the AMR for the purposes of securing, trans- porting, and transferring some object. LD-60/90 Platform User's Manual (I611)
  • Page 31 Instructions for the AMR to perform certain actions like reading inputs, set- ting outputs, movement commands, talking, waiting and other functions. Turn radius The radius of the circle that the AMR will travel when turning while moving forward. Workspace The intended operating area of the AMR. LD-60/90 Platform User's Manual (I611)

  • Page 32: Revision History

    Reformat, corrections, and updates. December 2021 Corrections and improvements. April 2021 Corrections and improvements. February 2019 Corrections and improvements. October 2018 Corrections and improvements. February 2018 Corrections and improvements. August 2017 Corrections and improvements. April 2017 Original production LD-60/90 Platform User's Manual (I611)

  • Page 33: Overview

    Side Lasers ....................1-21 1-6-6 Mobile I/O Box....................1-21 1-6-7 High Accuracy Positioning System..............1-21 1-6-8 Cell Alignment Positioning System..............1-22 1-6-9 Acuity Localization..................1-22 1-6-10 Electrostatic Discharge (ESD) Protection............1-22 1-6-11 Wireless Antenna Extension Kit ..............1-22 LD-60/90 Platform User's Manual (I611)
  • Page 34 Fleet Simulator Software ................1-28 Payload Considerations ................1-29 1-8-1 Payload Structures ..................1-30 1-8-2 Exceeding the AMR Footprint ............... 1-31 1-8-3 Safety Laser Scanner Zone Obstruction ............1-31 1-8-4 Power Consumption ..................1-32 Coordinate System ..................1-33 LD-60/90 Platform User's Manual (I611)

  • 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 • 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 AMR movement does not cause payload instability or loss of AMR control. LD-60/90 Platform User's Manual (I611)

  • Page 37: Features And Components

    Several laser sensors are provided on the AMR for navigation and safety. The Safety Laser Scanner, optional Side Lasers, and Low Lasers are Class 1/1M type that use invisi- ble laser radiation and are safe under all conditions of normal use. LD-60/90 Platform User's Manual (I611)

  • Page 38: Additional Information

    1 Overview 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. • 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 39: Payload Bay

    3-26 for more information about connecting devices to control the ON, OFF, and Brake functions. Screen A high-resolution, high-brightness screen provides operational status, wireless signal strength, battery level, IP address, AMR identification, faults, and up to six lines of instructions. LD-60/90 Platform User's Manual (I611)

  • Page 40: Key Switch

    The Access Panel is held in place with a push-push latch, and retained by a lanyard. This is where the Pendant Port and Maintenance Ethernet Port are located. These are described in the fol- lowing sections. LD-60/90 Platform User's Manual (I611)

  • Page 41: Rear Sonar Sensors

    The typical accurate sonar range is approximate- ly 2 m, but the range can extend up to 5 m. The AMR’s two rear-facing sonar pairs are for obstacle-sensing while backing up. LD-60/90 Platform User's Manual (I611)

  • Page 42: Charging Contacts

    Precautions for Safe Use Secure the Pendant when not in use to prevent an unauthorized user access to the AMR. Additional Information A Pendant is required for initial map creation. 1-10 LD-60/90 Platform User's Manual (I611)

  • Page 43: Drive Train And Suspension

    The AMR Core runs the SetNetGo operating system and the Advanced Robotics Automation Manage- ment (ARAM) software. It houses sensor components and the amplifiers that power the drive motors. The AMR Core is housed inside the payload bay as displayed in the following figure. 1-11 LD-60/90 Platform User's Manual (I611)

  • Page 44: Speakers

    When speakers are used as a means of notifying personnel of an approaching AMR, you must routinely verify that they are still functioning normally. Verify that the speakers are audible, and the sound level is at the same level as needed during the operation. 1-12 LD-60/90 Platform User's Manual (I611)

  • Page 45: Docking Station

    The AMR Core has gyroscopic inertial sensing to track the AMR's ro- tation. There are also sensors on each motor that are used by the safety system to collect redundant speed information. 1-13 LD-60/90 Platform User's Manual (I611)

  • Page 46: Autonomous Navigation

    • Gyroscopic inertial sensors to track the AMR's rotation. • Optional Acuity sensors can provide additional navigational data. Refer to 1-6-9 Acuity Localization on page 1-22 for more information. 1-14 LD-60/90 Platform User's Manual (I611)
  • Page 47 • Editing the workspace map to include features that restrict the AMR's operation in specific areas, such as preferred lines, resisted areas, and movement parameter sectors to reduce speed. • Editing the AMR's configuration to affect its behavior in all locations, such as restricting its maximum speed. 1-15 LD-60/90 Platform User's Manual (I611)

  • Page 48: Labels

    1-4-1 AMR Information Label The AMR information label is described below. The following example may differ slightly from your pro- duct's label. Omron Robo cs and Safety Technologies, Inc. 4225 Hacienda Drive, Pleasanton, CA 94588 LD Series 37032-00000 Model:...

  • Page 49: Docking Station Information Label

    X for October, Y for November, and Z for December. FF is reserved for internal use. Product Origin Information Product origin information is provided. Alerts and Compliance General alerts and compliance information is provided. 1-17 LD-60/90 Platform User's Manual (I611)

  • Page 50: Model Numbers

    1 Overview Model Numbers AMR model numbers applicable to this document are provided in the table below. Items Model Number LD-60 37032-00000 LD-60 with electrostatic discharge protection 37032-20000 LD-90 37042-00000 LD-90 with electrostatic discharge protection 37042-20000 LD-90x 37062-00000 LD-90x with electrostatic discharge protection...

  • Page 51: Optional Items

    The Fleet Manager controls AMRs over a wireless network to share information between all AMRs in the fleet and improve efficiency through the following methods: • Dynamic position and heading of the AMR (velocity and direction of travel). • AMR size including payload structure consideration. 1-19 LD-60/90 Platform User's Manual (I611)

  • Page 52: Additional E-Stop Buttons

    The warning buzzer is connected to the AMR Core. The buzzer must be audible above the ambient noise of the environment that the AMR operates in. Depending on your environment's noise level, you may need to add an additional buzzer installed on 1-20 LD-60/90 Platform User's Manual (I611)

  • Page 53: Side Lasers

    Refer to 3-5-1 Payload Bay Connections on page 3-18 for more information. Additional Information You can optionally supply a signal tower which includes a built-in warning buzzer, or a dedicat- ed warning buzzer. Contact your OMRON representative for more information on the available options. 1-6-5...

  • Page 54: 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 55: Digital I/O Terminal Block Kit

    0.76 m cable, and a mounting bracket. Additional Information The mounting bracket has four 5.5 mm diameter holes on a 50 mm x 75 mm pattern for fasten- ing purposes. 1-23 LD-60/90 Platform User's Manual (I611)

  • Page 56: Flow Core Software

    Android® and iOS® devices. It provides a tabbed graphical user interface on the PC and a touchscreen interface on tablets. MobilePlanner software typically communicates with the AMR securely over a wireless network during normal operation. 1-24 LD-60/90 Platform User's Manual (I611)

  • Page 57: System Requirements

    • Monitor individual AMRs or a fleet of AMRs for Job counts, current Job queue, locations, battery lev- el, and travel speed. • Send AMRs to up to 6 predefined positions with a single button press. • Send AMRs to charging locations or other map objects. 1-25 LD-60/90 Platform User's Manual (I611)

  • Page 58: Fleet Management Software

    Fleet Management Software Fleet Management software runs on the Fleet Manager hardware. It provides the following general functionality for a fleet of OMRON AMRs. • Intelligent Job assignment Reduces wasted time and movement by continuously looking ahead to anticipate which AMRs will be best positioned for upcoming Tasks.

  • Page 59: Driving And Navigation Software

    1 Overview Integration Toolkit (ITK) Package The Integration Toolkit is OMRON’s interface application that enables integration between the Fleet Manager and the end user’s client application, manufacturing execution system (MES), or warehouse management system (WMS). This integration layer facilitates autonomous control for a fleet of AMRs using standard communication methods including REST and SQL.

  • Page 60: Fleet Simulator Software

    Fleet Simulator Software Fleet Simulator software runs on the Fleet Manager hardware. It provides the following general func- tionality for a simulated Fleet of OMRON AMRs. • Assess impact of map changes, scaling, route changes, and new software features. • Simulate up to 10 AMRs in up to three separate Fleets.

  • Page 61: Payload Considerations

    • The payload or payload structure shall not be positioned in such a way that would put the op- erator in danger while trying to reach an emergency stop button. Additional Information The AMR provides the electrical power and controls required to operate a payload structure. 1-29 LD-60/90 Platform User's Manual (I611)

  • Page 62: Payload Structures

    USER INTERFACE connector. Refer to USER INTERFACE on page 3-26 for more information.  Light Discs You must ensure that the payload does not block the light discs as they provide visual indication of the AMR movement. 1-30 LD-60/90 Platform User's Manual (I611)

  • Page 63: Exceeding The Amr Footprint

    Payloads beyond AMR footprint may require modifying safety zone size. The OMRON AMR Safety Zone Generator tool is available for safety zone resizing. • OMRON is not responsible for any risks incurred by modifying safety zone sizes or other OS32C laser settings.

  • Page 64: Power Consumption

    Minimize payload power consumption whenever possible to prevent excessive battery drain. Additional Information Refer to the power limits specified in AUX PWR on page 3-29 and USER PWR on page 3-30 for more information. 1-32 LD-60/90 Platform User's Manual (I611)

  • Page 65: Coordinate System

    The origin of the vertical coordinate Z is set at ground level (Z=0). The value of Z is required when you calculate the mount position of optional items such as Side Lasers. Positions of optional items like this are set in MobilePlanner. Rear +θ Right Left Front 1-33 LD-60/90 Platform User's Manual (I611)
  • Page 66 1 Overview 1-34 LD-60/90 Platform User's Manual (I611)

  • Page 67: Specifications

    AUX PWR Connector ..................2-19 2-4-18 USER PWR Connector ................. 2-20 2-4-19 JOYSTICK Connector ................... 2-20 2-4-20 HMI PANEL Connector.................. 2-20 2-4-21 OPT OUT Connector..................2-21 2-4-22 ANT Connector....................2-21 2-4-23 AUDIO IN / AUDIO OUT Connectors ............2-21 LD-60/90 Platform User's Manual (I611)

  • Page 68: Performance Specifications

    The LD-90x is capable of moving up to 172 kg of self-supported payload in a cart transporting configuration. Stop position repeatability values were obtained using default AMR parameters and a map created by the LD-60/90 AMR. LD-60/90 Platform User's Manual (I611)

  • Page 69: Physical Specifications

    AMR Dimensions Physical dimensions of the AMR are provided below. Battery Dimensions Physical dimensions of the battery are provided below. 145.97 329.19 242.51 Docking Station Dimensions Physical dimensions of the Docking Station are provided below. LD-60/90 Platform User's Manual (I611)
  • Page 70 Physical dimensions of the Operator Panel are provided below. 175.9 11.41 88.9 24.99 19.19 81.73 40.86 13.75 30.96 175.9 9.53 76.2 23.5 46.99 27.94 11.56 11.56 Side Laser Assembly Specifications Physical dimensions of the Side Laser Assembly are provided below. LD-60/90 Platform User's Manual (I611)

  • Page 71: Center Of Rotation

    The dimensions of the AMR center of rotation is provided below. Front View Side View (Rear) (Front) = Center of Rotation 2-2-3 Center of Gravity The dimensions of the AMR center of gravity are provided below. LD-60/90 Platform User's Manual (I611)

  • Page 72: Payload Center Of Gravity

    The payload center of gravity must to be within the area shown. Keep the payload center of gravity as close to the center of these figures as possible. LD-60 Center of Gravity Limits All figures below show the allowable center of gravity placement for a 60 kg payload.
  • Page 73 2 Specifications The following figure shows the longitudinal view. The following figure shows the transverse view. The following figure shows the top view LD-60/90 Platform User's Manual (I611)
  • Page 74 LD-90 / LD-90x Center of Gravity Limits All figures below show the allowable center of gravity placement for a 90 kg payload. The following figure shows the isometric view. The following figure shows the longitudinal view. LD-60/90 Platform User's Manual (I611)
  • Page 75 2 Specifications The following figure shows the transverse view. The following figure shows the top view. LD-60/90 Platform User's Manual (I611)

  • Page 76: Weights

    2 Specifications 2-2-5 Weights Weights are provided in the table below. Item Weight AMR (no battery or accessories) 43 kg Battery 19 kg Docking Station 8.2 kg 2-10 LD-60/90 Platform User's Manual (I611)

  • Page 77: Environmental Specifications

    A speed of 250 mm/s is recommended for traversing steps, and routine driving over steps should be avoid- ed. Lower speeds may not traverse the step. Faster or frequent driving over steps will shorten the lifespan of the drivetrain components. All steps should have smooth, rounded profiles. 2-11 LD-60/90 Platform User's Manual (I611)

  • Page 78: Docking Station Environmental Specifications

    Operating the AMR at high ambient temperatures, particularly with a full payload and at high speeds, may cause the battery to exceed its operating temperature limits. 2-3-4 Pendant Environmental Specifications The Pendant has an ingress protection rating of 56. 2-12 LD-60/90 Platform User's Manual (I611)

  • Page 79: Other Specifications

    Weight 19 kg Values correspond to the latest LD-series AMR battery (20452-700). Contact your local OMRON representa- tive for older version battery specifications. Approximately 80% of nominal battery capacity will be available after using the battery at 100% depth of dis- charge at temperatures between 15°C to 35°C.

  • Page 80: Acuity Specifications

    Safety Laser Scanner 4-13 Protective Stops Protective Auto- 1.7 x 10 detection on page 4-32 Stop matic Reset Forward overspeed 4-14 Overspeed Pro- Emergency Manual 3.7 x 10 tection on page 4-33 Stop Reset 2-14 LD-60/90 Platform User's Manual (I611)

  • Page 81: Drive Train

    Color TFT backlit with 256 k colors, 88.98 mm diago- Resolution 320 x 240 Brightness 400 cd/m 2-4-9 Wireless Specifications Wireless network specifications for the AMR are provided below. Item Description Signal Strength The minimum required signal strength is -60 dBm. 2-15 LD-60/90 Platform User's Manual (I611)

  • Page 82: Sonar Sensor Specifications

    2-4-11 DIGITAL IO Connector Electrical and other specifications for the DIGITAL IO connector are provided below. Additional Information Refer to DIGITAL IO on page 3-19 for connector signal information. Item Specification AMR connector HDB44F 2-16 LD-60/90 Platform User's Manual (I611)

  • Page 83: Digital Input Specifications

    5 VDC. 1 A current limit (shared with USB port 1) 20 VDC. 300 mA current limit (side lasers) 5 VDC. 1 A current limit (shared with USB port 2) 20 VDC. 300 mA current limit (side lasers) 2-17 LD-60/90 Platform User's Manual (I611)

  • Page 84: Rs232 Connector

    ON, OFF, brake input voltage supply 22 to 30 VDC ESTOP maximum output current 1 A per ESTOP channel ESTOP maximum output voltage 12 VDC Safety output circuit Resistive load: 4 A max. Inductive load: 500 mA max. 2-18 LD-60/90 Platform User's Manual (I611)

  • Page 85: User Bump Connector

    Recommended user-supplied Molex components are provided. Other compatible options are available. Re- fer to Molex for more information. The total current consumed by loads at the AUX and USER PWR connector cannot exceed the limits speci- fied in 2-4-18 USER PWR Connector on page 2-20. 2-19 LD-60/90 Platform User's Manual (I611)

  • Page 86: User Pwr Connector

    2-4-19 JOYSTICK Connector The JOYSTICK connector is a DB9F type connector. Additional Information Refer to JOYSTICK on page 3-31 for connector functionality. 2-4-20 HMI PANEL Connector The HMI PANEL connector is a HDB15F type. 2-20 LD-60/90 Platform User's Manual (I611)

  • Page 87: Opt Out Connector

    Refer to ANT on page 3-32 for connector signal information. 2-4-23 AUDIO IN / AUDIO OUT Connectors The AUDIO IN/OUT connectors are 3.5 mm type jacks. Additional Information Refer to AUDIO IN/OUT on page 3-32 for connector signal information. 2-21 LD-60/90 Platform User's Manual (I611)
  • Page 88 2 Specifications 2-22 LD-60/90 Platform User's Manual (I611)
  • Page 89 Normal Setup ....................3-54 3-10-2 Advanced Setup .................... 3-56 3-11 Acuity Installation Procedure ..............3-62 3-11-1 Mounting Location ..................3-62 3-11-2 Acuity Hardware Installation................3-63 3-11-3 Configuration and Setup................3-69 3-11-4 Mapping with Acuity ..................3-73 LD-60/90 Platform User's Manual (I611)
  • Page 90 Other Acuity Adjustments................3-80 3-12 Wireless Antenna Relocation Procedure ........... 3-81 3-13 Attaching Warning Labels ................3-82 3-14 Commissioning .................... 3-83 3-14-1 Commissioning Procedure ................3-83 3-15 Map Creation Overview ................3-84 3-15-1 Basic Mapping Tasks..................3-85 LD-60/90 Platform User's Manual (I611)

  • Page 91: Installation Introduction

    Refer to 3-13 Attaching Warning Labels on page 3-82 for more information. Perform commissioning. Refer to 3-14 Commissioning on page 3-83 for more information. Generate a map for the AMR. Refer to 3-15 Map Creation Overview on page 3-84 for more information. LD-60/90 Platform User's Manual (I611)

  • Page 92: Docking Station Installation

    3.175 mm (1/8 User-supplied toggle bolts (if not using screws into a framing mem- inch) ber) #10 (4.762 mm, User-supplied structural screws such as decking screws (if not using 3/16 inch) toggle bolts into drywall) LD-60/90 Platform User's Manual (I611)

  • Page 93: Electrical Considerations

    Docking Station from moving. The Floor Plate is not shipped attached to the Docking Station but is included in the shipping contain- er. Use the following procedure to attach the Floor Plate. LD-60/90 Platform User's Manual (I611)

  • Page 94: Attaching To A Floor

    Screw the base of the docking station directly to the floor using three user-supplied screws that are adequate for the floor material type (typically M5 concrete screws). Refer to the following figure for mounting hole placement information. LD-60/90 Platform User's Manual (I611)

  • Page 95: Attaching To A Wall

    Screw the two shoulder bolts, each with a washer, into the rear of the Docking Station. The shoulder bolts are M5 x 4, stainless steel. Their locations are shown in the following figure. Tighten to 9 N·m. LD-60/90 Platform User's Manual (I611)

  • Page 96: Charging Paddle Alignment Procedure

    Each setting adjusts the tip of the Charging Paddle 4 mm in the vertical direction. The default setting is the middle position. The adjustment mechanism is located on the bottom of the Docking Station. LD-60/90 Platform User's Manual (I611)
  • Page 97 Docking Funnel to the roller). Remove the battery door skin. Refer to 3-3 Battery Installation Procedure on page 3-11 for more information. Measure the distance from the floor to the lower surface of the docking funnel. LD-60/90 Platform User's Manual (I611)
  • Page 98 Be prepared to press an emergency stop button if alignment is not correct. If alignment is not correct, repeat steps 4 through 7. If alignment is correct, replace the rear skin to complete this procedure. 3-10 LD-60/90 Platform User's Manual (I611)

  • Page 99: Battery Installation Procedure

    During the initial AMR installation and configuration, install a fully-charged battery. Follow these steps to install a battery. WARNING Replace the battery only with an OMRON factory-supplied battery intended for use in the AMR. Precautions for Safe Use Two or more people are required to lift the battery.
  • Page 100 Closing the battery compartment door holds the battery tightly in place to keep it from shifting inside the compartment. Inspect the skin retaining magnets and remove any debris that may be present. Reinstall the battery door skin to completes the battery installation procedure. 3-12 LD-60/90 Platform User's Manual (I611)

  • Page 101: Network Connections

    Connect the Ethernet cable from the PC to the AMR Maintenance Ethernet Port. In the Windows desktop Open or Search box (or at a command prompt) type the following command and press Enter: ncpa.cpl This command opens the Network Connections screen: 3-13 LD-60/90 Platform User's Manual (I611)

  • Page 102: Wireless Connection

    3-4-2 Wired Connection Procedure on page 3-13 for more information. Precautions for Correct Use Before you configure wireless Ethernet on your AMR, contact your network administrator to confirm the IP, radio, and security settings. 3-14 LD-60/90 Platform User's Manual (I611)
  • Page 103 • EAP-TLS Username: • Password: • Private key: • Download or Create New • Private key length: 1024 or 2048 bit Hostname: • Upload certificate: • Certificate password (if needed): • Validate Server Certificate: 3-15 LD-60/90 Platform User's Manual (I611)

  • Page 104: Wireless Considerations

    Typical bandwidth consumption for a fleet is an average 50 Kbps per AMR. This increases when you connect multiple AMR's to a Fleet Manager and actively manage them with MobilePlanner. Bandwidth consumption might increase or decrease depending on the types of commands and debugging tools 3-16 LD-60/90 Platform User's Manual (I611)

  • Page 105: Port Forwarding

    The AMR’s Core allows TCP and UDP port forwarding over the LAN 1 interface. This enables wireless access to onboard Ethernet devices, including OMRON Sysmac Machine Automation Controllers (MACs) and other Programmable Logic Controllers (PLCs). Through the controller, devices connected to the AMR’s DIGITAL I/O can be written to and read.

  • Page 106: Electrical Connections

    The following figure shows the AMR Core front connections. The following figure shows the AMR Core rear connections. The following figure shows the AMR Core side connections. CAN BUS The CAN BUS connector on the AMR Core is reserved for future use. 3-18 LD-60/90 Platform User's Manual (I611)
  • Page 107 Signal Bank 2 Common Input 3.1 Input 3.2 Input 3.3 Input Signal Bank 3 Input 3.4 Signal Bank 3 Common Input 4.1 Input 4.2 Input 4.3 Input Signal Bank 4 Input 4.4 Signal Bank 4 Common 3-19 LD-60/90 Platform User's Manual (I611)
  • Page 108 Input 2.4 Bank 2 Common Bank 2 Common Ground VBAT Bank 3 Inputs Bank 4 Inputs  Outputs The information in the table below describes the output signal designations for the DIGITAL IO con- nector. 3-20 LD-60/90 Platform User's Manual (I611)
  • Page 109 Varies with battery voltage. Refer to 2-4-2 Battery Specifications on page 2-13 for more information. Shared with LIGHTS connector Pin 4. The diagram below shows a typical example of a digital output wiring setup for the NPN / Sinking outputs. 3-21 LD-60/90 Platform User's Manual (I611)
  • Page 110 Side Lasers. Use the information below to understand all AUX SENSORS connections. Additional Information Refer to 2-4-12 AUX SENSORS Connector on page 2-17 for connector type and specifications. The following figure shows the pin arrangements for the AUX SENSORS connector on the AMR. 3-22 LD-60/90 Platform User's Manual (I611)
  • Page 111 AMR Core configurations. Refer to Legacy Core RS232 Connector Arrangement on page 3-24 for more information. • Refer to 2-4-13 RS232 Connector on page 2-18 for connector information. Use the information below to understand all RS232 connector signals. 3-23 LD-60/90 Platform User's Manual (I611)
  • Page 112 PIN 6 The information in the table below describes the signal designations for the RS232-1 and RS232-2 connector pins. Pin Number Designation - - - - - - Ground - - - - - - 3-24 LD-60/90 Platform User's Manual (I611)
  • Page 113 22 to 30 VDC Green light Buzzer 500 mA max. shared with Digital Output circuit. Voltage level depends on battery state of charge. The buzzer signal will turn ON when the AMR warning buzzer turns ON. 3-25 LD-60/90 Platform User's Manual (I611)

  • Page 114: User Interface

    Emergency stop channel 1 Dual-channel emergency stop circuit inputs. Monitored for si- multaneous switching within 448 ms. Refer to 4-12 Emergency input Stop on page 4-30 for more information. Emergency stop channel 2 input 3-26 LD-60/90 Platform User's Manual (I611)
  • Page 115 2-18 for more information.  E-STOP Operational Considerations The user-supplied emergency stop devices must be normally closed. An open circuit will trigger an emergency stop. A circuit diagram is provided below. 3-27 LD-60/90 Platform User's Manual (I611)
  • Page 116 The USER BUMP connector is not safety-rated and is not connected to the emergen- cy stop circuit. Additional Information Refer to 2-4-16 USER BUMP Connector on page 2-19 for connector information and other specifications. 3-28 LD-60/90 Platform User's Manual (I611)
  • Page 117 Never connect electric loads directly to the battery bypassing protective circuits. Additional Information Refer to 2-4-17 AUX PWR Connector on page 2-19 for connector information and other specifi- cations. The following figure shows the pin arrangements for the AUX PWR connector on the AMR. 3-29 LD-60/90 Platform User's Manual (I611)
  • Page 118 The following figure shows the pin arrangements for the USER PWR connector on the AMR. PIN 12 PIN 7 PIN 6 PIN 1 The information in the table below describes the signal designations for the USER PWR connector. 3-30 LD-60/90 Platform User's Manual (I611)

  • Page 119: Hmi Panel

    The HMI PANEL connector on the AMR Core provides circuits for the Operator Panel. Additional Information Refer to 2-4-20 HMI PANEL Connector on page 2-20 for connector information. SONAR2 The SONAR2 DB9F connector on the AMR Core is reserved for future use. 3-31 LD-60/90 Platform User's Manual (I611)

  • Page 120: Audio In/Out

    AUDIO IN port, using the ARAM function record-soundfile. AUDIO OUT can be used to output sound or expand the existing speaker system. Additional Information Refer to 2-4-23 AUDIO IN / AUDIO OUT Connectors on page 2-21 for connector information. 3-32 LD-60/90 Platform User's Manual (I611)

  • Page 121: Attaching The Payload

    • All of the M5 self-clinching nuts have a torque limit of 5 N-m. • All of the M6 self-clinching nuts have a torque limit of 3 N·m. The figure below shows the location of lower mounting points with M5 self-clinching nuts. 3-33 LD-60/90 Platform User's Manual (I611)
  • Page 122 The figure below shows the location of lower mounting points with M6 self-clinching nuts. 112.9 501.9 The figure below shows the location of upper mounting points with M6 self-clinching nuts. 15.4 370.9 599.4 421.4 304.2 291.9 145.9 132.8 16.4 3-34 LD-60/90 Platform User's Manual (I611)

  • Page 123: Relocating The Operator Panel

    Refer to Operator Panel Dimensions on page 2-4 for more information about Operator Panel dimen- sions. Refer to USER INTERFACE on page 3-26 for more information about connecting devices to control the ON, OFF, and Brake functions. 3-35 LD-60/90 Platform User's Manual (I611)

  • Page 124: Adding Additional Object Detection Sensors

    The dimensions (in mm) for the side laser assembly are provided below: 79.6 80 60 Listed below are the tools required for mounting the side laser assembly: • 3.3 mm drill bit 3-36 LD-60/90 Platform User's Manual (I611)

  • Page 125: Configuration

    Under Laser_3 (right) and Laser_4 (left), configure the following parameters: 1) LaserAutoConnect: Enable the option. 2) LaserType: Select tim3XX. 3) LaserPortType: Select serial. 4) LaserPort: Type in /dev/ttyUSB5 for Laser_3 and /dev/ttyUSB6 for Laser_4. 5) LaserPowerOutput: Type in Vertical_Laser_Power. 3-37 LD-60/90 Platform User's Manual (I611)
  • Page 126 • Left to right, from AMR’s center of rotation to center of laser (LaserY) • Height, from floor to sensing plane of laser (LaserZ) The following example depicts a side laser mounted to a payload structure, as well as sample meas- urements for LaserX, LaserY, and LaserZ: 3-38 LD-60/90 Platform User's Manual (I611)
  • Page 127 The format for inputting the segments in MobilePlanner is <startangle1>:<stopangle1>,<startangle2>:<stopangle2>, etc. Readings inside these angles will be ig- nored. Input as many ignore segment angle pairs as necessary. Consider the following example, showing an LD-60/90 AMR with a right side laser (tilted): 3-39 LD-60/90 Platform User's Manual (I611)
  • Page 128 <startangle1>:<stopangle1>,<startangle2>:<stopangle2>. Input as many pairs as needed, separated by commas. The ignored segments for this example are configured in MobilePlanner as follows: LaserIgnore: 80:180,-180:-20 The next example shows an LD-60/90 AMR with a left side laser (tilted and flipped): 3-40 LD-60/90 Platform User's Manual (I611)

  • Page 129: Setting Values

    Click on the AMR's Configuration tab, and enable Show Expert Parameters. Click to expand Robot Physical. Under Laser_3 and Laser_4, enter the lasers' mounting loca- tion coordinates for the following parameters: • LaserX • LaserY • LaserZ 3-41 LD-60/90 Platform User's Manual (I611)
  • Page 130 LaserAutoConnect and watching the readings on the left side of the AMR. Verify the installation to ensure the AMR can: • Stop before it collides with obstacles detected by the laser • Dock and charge 3-42 LD-60/90 Platform User's Manual (I611)

  • Page 131: Haps Installation And Configuration

    The following sections also provide details about HAPS sensor installation and software configuration. If HAPS sensors are required but not present on the AMR, contact your local OMRON representative for more information about ordering them. The HAPS option is compatible with ARAM version 4.7.6 or later software.
  • Page 132 Route the cable between the HAPS bracket and the bottom surface of the AMR so that it does not protrude below the HAPS sensor. Apply Loctite 243 or equivalent to the screws before inserting them. 3-44 LD-60/90 Platform User's Manual (I611)
  • Page 133 Use cable-ties to secure wires from the front sensor to the cable-tie mounts. Route the sensor wires, both data and power, up through the AMR chassis just behind the right drive wheel through the cutout shown in the following figure. 3-45 LD-60/90 Platform User's Manual (I611)
  • Page 134 Use the following information to install double HAPS sensors under the AMR in the position shown be- low. Remove both side Skins. Refer to 6-8-1 Removing and Replacing Skins on page 6-17 for more information. Remove the payload structure to expose the payload bay and the Core. 3-46 LD-60/90 Platform User's Manual (I611)
  • Page 135 Route the cable between the HAPS brackets and the bottom surface of the AMR so that it does not protrude below the HAPS sensors. Apply Loctite 243 or equivalent to the screws before inserting them. 3-47 LD-60/90 Platform User's Manual (I611)
  • Page 136 Use cable-ties to secure wires to the cable-tie mounts. Route the sensor wires, both data and power, up through the AMR chassis just behind the right drive wheel through the cutout shown in the following figure. 3-48 LD-60/90 Platform User's Manual (I611)

  • Page 137: Tape And Marker Application

    Markers (short sections of the tape) are used to signal the AMR where to stop. Precautions for Correct Use • OMRON does not provide the protective coverings with the HAPS option. A protective cover- ing needs to be installed when applying the magnetic tape to the floor to prevent damage from the AMR traffic.

  • Page 138: Software Configuration

    For multiple markers, all Goals should be placed at the same location, with each Goal containing the Tasks associated with one marker. 3-9-3 Software Configuration The HAPS parameters are configured using the MobilePlanner software. Use the following procedures to configure the AMR physical and operational configurations. 3-50 LD-60/90 Platform User's Manual (I611)

  • Page 139: Additional Information

    This needs to be small enough so the AMR does not stop too soon when approaching a conveyor or other fixed object that you want it to approach closely. • AvoidLocationDependentObstacles: If True, will cause the AMR to avoid map obstacles like Forbid- den Lines and Areas. 3-51 LD-60/90 Platform User's Manual (I611)

  • Page 140: Goals And Tasks

    Engage Macro associated with the new Goal. The parameters associated with the Engage Task are provided below. • EngageMacro A Macro (generally containing the FollowGuide Task) that instructs how to arrive at the correct spot on the tape. 3-52 LD-60/90 Platform User's Manual (I611)
  • Page 141 Selection to suppress the Goal driving so that the AMR does not drive back to the Goal location be- tween Goals. Do not set this to suppress Macros as they are needed to use the Engage Macro of each succes- sive Goal. 3-53 LD-60/90 Platform User's Manual (I611)

  • Page 142: 3-10 Caps Configuration

    3 Installation 3-10 CAPS Configuration The following sections provide details about CAPS software configuration. The CAPS license part number is 20271-805. Contact your local OMRON representative for more in- formation. 3-10-1 Normal Setup This section covers the configuration steps for a Normal CAPS setup.

  • Page 143: Final Settings

    Operations Workspace Core User's Manual (Cat. No. I635). Additional Information These values are relative to the target, not the AMR. This is to simplify setting up Tasks as they correlate directly to measurements taken from the target in geometric space. 3-55 LD-60/90 Platform User's Manual (I611)

  • Page 144: Parameter Mode

    Refer to 3-10-2 Advanced Setup on page 3-56 for more informa- tion about the parameters in Advanced. 3-10-2 Advanced Setup This section covers the configuration steps for an Advanced CAPS setup. The figure below lists the default parameter values for Advanced Setup in PrecisionDrive. 3-56 LD-60/90 Platform User's Manual (I611)

  • Page 145: Search Mode

    • Strict: This behavior allows very little error in final data fit, but has a higher guarantee that the target was correctly matched. This mode should only be used when incorrect target matches will have very 3-57 LD-60/90 Platform User's Manual (I611)

  • Page 146: Fail Mode

    Using this setting will result in more Task failures, but an increased chance of suc- cess upon leaving the area (AMR will stay out of a space that it may not be able to extract itself from). 3-58 LD-60/90 Platform User's Manual (I611)
  • Page 147 Front Clearance (or Front Padding depending on the Task). This results in allowing smaller front clearances in most applications. • Obstacles within 1m of the clearances but not within the clearances will cause the AMR platform to slow down. 3-59 LD-60/90 Platform User's Manual (I611)
  • Page 148 Mode setting and the application, increasing this parameter may have no effect on the resulting mo- tion. OffsetCorrection The Safety Laser Scanner mounting alignment may vary across AMRs, which can affect CAPS accu- racy. Parameters in the OffsetCorrection section in MobilePlanner can be adjusted to increase CAPS accuracy. 3-60 LD-60/90 Platform User's Manual (I611)
  • Page 149 AMR needs to have a Final Offset X of –1005, the Offset X parameter for that AMR would be set to – 5. The same approach is used for Offset Y and Offset Angle parameters. 3-61 LD-60/90 Platform User's Manual (I611)

  • Page 150: 3-11 Acuity Installation Procedure

    Two of the 4.5 mm holes and the 17 mm hole must line up with the AMR's direction of travel. For localization, the holes and camera need to be aligned within one degree of rotation about the X and Y axes of the platform. Refer to the following figure for hole orientation. 3-62 LD-60/90 Platform User's Manual (I611)

  • Page 151: Acuity Hardware Installation

    3-11-2 Acuity Hardware Installation Use the information in this section to understand how to install the Acuity hardware equipment. Camera Installation Procedure Use the following procedure to assemble the camera assembly and bracket attachment. 3-63 LD-60/90 Platform User's Manual (I611)
  • Page 152 Washers and lock washers are recommended, though not shown here. There is a sticker on the camera bracket that shows the direction of travel of the AMR. Verify that the arrow on the sticker is pointing toward the front of the AMR. 3-64 LD-60/90 Platform User's Manual (I611)
  • Page 153 17 mm hole in the center of the base and bracket and then con- nect them to the appropriate connectors on the camera. • Attach the camera to the mounting bracket using three M3 screws as shown in the following figure. 3-65 LD-60/90 Platform User's Manual (I611)
  • Page 154 3 Installation 3x M3 x 4 Button Head Cap Screws Camera Mounting Bracket Camera Attach the camera tube assembly onto the camera enclosure base. 3-66 LD-60/90 Platform User's Manual (I611)
  • Page 155 Install the foam dust seal and filter: • Insert the foam seal around the camera lens and press into the tube until the seal sits on the camera body. • Thread the filter onto the camera enclosure body (tube). 3-67 LD-60/90 Platform User's Manual (I611)
  • Page 156 The splitter will leave one available Mini-Fit Jr. power connector available for other uses. Connect the Ethernet cable from the camera to the LAN 1 port on the AMR Core to complete this procedure. 3-68 LD-60/90 Platform User's Manual (I611)

  • Page 157: Configuration And Setup

    After enabling Acuity, save the changes to the configuration. The AMR’s software will reboot. Additional Information After making and saving Acuity changes within MobilePlanner, the robot has to be power-cycled for those changes to take effect. 3-69 LD-60/90 Platform User's Manual (I611)
  • Page 158 Among these new Tasks will be: • DisableLaserLocalization • DisableLaserLocalizationCancel • DisableLightLocalization • DisableLightLocalizationCancel These Tasks can be used to selectively switch between Acuity and laser localization. 3-70 LD-60/90 Platform User's Manual (I611)
  • Page 159 If the base is mounted per instructions, the camera will have its rear side, with threaded holes for mounting it, facing +Y of the AMR (the AMR‘s left side). This will result in a CameraOffsetTh 3-71 LD-60/90 Platform User's Manual (I611)
  • Page 160 The USB port on the level (which is not used in this procedure) should be on the same side of the level base as the slot for the camera bracket. The level and base should have been delivered to you this way. Refer to the following figure. 3-72 LD-60/90 Platform User's Manual (I611)

  • Page 161: Mapping With Acuity

    Ensure that the camera’s light filter is in place in the top of the tube. This completes the com- pensation procedure. 3-11-4 Mapping with Acuity Use information in the following sections to understand mapping with Acuity. Refer to 3-15 Map Crea- tion Overview on page 3-84 for more information. 3-73 LD-60/90 Platform User's Manual (I611)
  • Page 162 For particularly large lights, it may be necessary to change the 3d:DrawingMaxSize parameter, visible when the Show Expert + Parameters box is checked, which limits the perimeter of a light. The default for this is 10000 mm. 3-74 LD-60/90 Platform User's Manual (I611)

  • Page 163: Scan Pattern

    If the environ- ment has lights at multiple heights, you will need to create multiple maps from one scan, using 3-75 LD-60/90 Platform User's Manual (I611)
  • Page 164 • 3d:MinLightHeight • 3d:MaxLightHeight • 3d:MaxLightLength • 3d:DrawingMaxSize In the preceding image, the light length was 2.5 meters, so the default light length of 2 meters was too restrictive and needed to be changed. 3-76 LD-60/90 Platform User's Manual (I611)
  • Page 165 Use the following procedure to insert a map on the AMR. Open the initial map file. Select File > Insert Map. Select the map file you want to insert. The figure below shows an inserted map. 3-77 LD-60/90 Platform User's Manual (I611)
  • Page 166 3) Click Insert to complete the insertion. Zoom back out and use the Region Tool, from the Insert Map Tools toolbar, shown below, to click and drag a rectangular region that includes the lights you want inserted. 3-78 LD-60/90 Platform User's Manual (I611)
  • Page 167 After mapping, do not manually move, resize, reorient, or otherwise modify the light items on the map. If lights did not result as expected, some combination of parameter changes should allow re- processing of the scan in order to achieve better results. 3-79 LD-60/90 Platform User's Manual (I611)

  • Page 168: Other Acuity Adjustments

    Light misses are displayed in magenta. • Lights3d displays all lights in red, regardless of their match or miss status. Generally this is left off to prevent cluttering the display. 3-80 LD-60/90 Platform User's Manual (I611)

  • Page 169: Wireless Antenna Relocation Procedure

    Screw in the antenna to the male threaded connector and tighten by hand to complete the pro- cedure. You could reuse the antenna that was removed or use a new antenna that came with the kit. 3-81 LD-60/90 Platform User's Manual (I611)

  • Page 170: 3-13 Attaching Warning Labels

    • Any additionally required safety labels for the payload structure or specific to the end-use ap- plication shall be evaluated by the user as part of the risk assessment. 3-82 LD-60/90 Platform User's Manual (I611)

  • Page 171: 3-14 Commissioning

    Connect to the AMR and start the MobilePlanner software. Access the Main Menu > Robot > Commissioning area. Follow the on-screen instructions to complete the test. You can print a certificate after successful completion of the commissioning. 3-83 LD-60/90 Platform User's Manual (I611)

  • Page 172: 3-15 Map Creation Overview

    AMR to avoid. Use a preferred-direction zone to keep the AMR to the preferred side of a hall- way. The AMR is able to travel on the alternate side of the zone if the preferred side is blocked. 3-84 LD-60/90 Platform User's Manual (I611)

  • Page 173: Basic Mapping Tasks

    AMR if you have only one in operation. The Fleet Manager automatically uploads the new map to each AMR in your fleet as soon as the AMR becomes idle. • Save map collections and deploy your AMR in any of your workspaces by selecting the appropriate map file. 3-85 LD-60/90 Platform User's Manual (I611)
  • Page 174 3 Installation 3-86 LD-60/90 Platform User's Manual (I611)
  • Page 175 Main Screen ....................4-25 4-9-2 Emergency Stop Button ................4-26 4-9-3 ON Button...................... 4-26 4-9-4 OFF Button....................4-26 4-9-5 Brake Release Button ................... 4-27 4-10 Releasing the Brakes ................... 4-28 4-11 Manually Pushing the AMR ................. 4-29 LD-60/90 Platform User's Manual (I611)
  • Page 176 SetNetGo Recovery Mode ................4-48 4-19 Safety Laser Scanner Zones ............... 4-52 4-19-1 Safety Zones ....................4-52 4-20 Motion Limits ....................4-64 4-21 Emergency Situations ................. 4-66 4-22 Tilt Detection....................4-67 4-22-1 Tilt Detection Event Recovery ............... 4-67 LD-60/90 Platform User's Manual (I611)

  • Page 177: Payload Movement And Transfer

    Your facility should provide such fail-safe interlocks between the AMR and any facility equipment with which it interfaces. After you attach your payload to the AMR, verify the correct operation of the fail- safe as part of your risk assessment. LD-60/90 Platform User's Manual (I611)

  • Page 178: Amr Start-Up

    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 local OMRON representative. During normal start-up, the AMR powers all of its systems, including all factory and user configura- tions.

  • Page 179: Amr Shut-Down

    • Do not use the battery button to turn OFF the AMR. Turning the battery OFF while the AMR is ON results in an uncontrolled AMR shutdown. Always use the AMR OFF button on the Oper- ator Panel to turn the AMR OFF in a controlled manner LD-60/90 Platform User's Manual (I611)

  • Page 180: Amr Core Led Indicators

    WiFi Ethernet status. LED is ON when there is data traffic. AMR Core internal hard drive status. LED is ON when the AMR Core is writing data to, or reading data from, the internal hard drive. LD-60/90 Platform User's Manual (I611)

  • Page 181: Workspace

    If an obstacle has protrusions outside of the plane of the AMR's Safety Laser Scanner, or indents in this plane, then the AMR will underestimate the obstacle's size. This will reduce the effectiveness of the AMR's protective clearances, or in extreme cases, lead to collisions. Optional Side Lasers may be LD-60/90 Platform User's Manual (I611)

  • Page 182: Physical Barriers

    • 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. LD-60/90 Platform User's Manual (I611)

  • Page 183: Logical Barriers

    4-5-4 Environmental Hazards Environmental hazards create unsafe AMR operating conditions. Provide physical barriers that the AMR can detect accurately with its Safety Laser Scanner so that it does not attempt to drive near the hazard. LD-60/90 Platform User's Manual (I611)

  • Page 184: Restricted Zones

    AMR or its payload. These payload transfer stations shall be designated as operating hazard zones as defined in this section of the man- ual. 4-10 LD-60/90 Platform User's Manual (I611)

  • Page 185: Clearances

    It is the end user's responsibility to ensure that a clearance of 200 mm from the edges of the AMR or payload structure is maintained when it is traveling below 225 mm/s (LD-90 and LD-90x) or 300 mm/s (LD-60). Precautions for Safe Use You must have floor markings at Docking Stations and pickup / dropoff locations with adequate clearance to prevent people from entering these hazard zones.

  • Page 186: Docking Clearances

    Do not place any objects between the Docking Station and the AMR. 1500 Dock Goal Docking Station 1500 1000 When docked, the distance between the AMR and the Docking Target is less than 500 mm. 4-12 LD-60/90 Platform User's Manual (I611)

  • Page 187: Narrow Passageway Behavior (Linear)

    Additional Information • Use the Door Goals feature on the map for pre-alignment when the AMR travels through nar- row passageways. • Contact your local OMRON representative for LD-90x passageway minimum width. 4-6-4 Narrow Passageway Behavior (Corners) The AMR will travel between 300 mm/s and 500 mm/s when traversing narrow passageways with di- mensions detailed in the illustration below.
  • Page 188 (LD-90) 5000 (LD-60, LD-90 1250 1250 (LD-60) (LD-60) 1150 1150 (LD-90) (LD-90) Start Goal 1200 End Goal (LD-60, LD-90) Additional Information Contact your local OMRON representative for LD-90x passageway speeds and passageway di- mensions. 4-14 LD-60/90 Platform User's Manual (I611)

  • Page 189: Immobilization

    • 6-4 Lifting the AMR on page 6-5 • 4-10 Releasing the Brakes on page 4-28. • 4-11 Manually Pushing the AMR on page 4-29. • 5-2-2 Low Battery Recovery on page 5-5. • Section 5 Troubleshooting on page 5-1. 4-15 LD-60/90 Platform User's Manual (I611)

  • Page 190: Battery And Charging

    The button is used to turn the battery ON and OFF while it is removed from the AMR. Use the AMRs ON / OFF button on the Operator Panel to control the battery while it is installed in the AMR. 4-16 LD-60/90 Platform User's Manual (I611)
  • Page 191 AMR. Additional Information The details provided in this section apply to current LD batteries with a part number 20452-700. Previous generation batteries operate differently. Contact you local OMRON representative for more information. 4-17...

  • Page 192: Battery Removal And Installation

    Use the following figure to understand the lifting points for the battery. After installation, the AMR's software verifies the battery model and reports an error if the battery mod- el is incorrect. This also applies to spare (backup) batteries. 4-18 LD-60/90 Platform User's Manual (I611)
  • Page 193 Never remove the battery or disconnect the battery's data cable while the AMR is ON. Always power OFF the AMR and then disconnect the power and data cables before removing the bat- tery. Using the hand grip in the figure below, slide the battery out of the AMR. 4-19 LD-60/90 Platform User's Manual (I611)

  • Page 194: Docking Station

    • Do not allow any foreign metal objects to be near the AMR or Docking Station charging con- tacts. Precautions for Correct Use The Docking Station can only be connected directly to the AMR or to one battery. Simultaneous charging configurations are not possible. 4-20 LD-60/90 Platform User's Manual (I611)

  • Page 195: Additional Information

    The AMR must be powered ON in order to charge the battery while at the Docking Station. Autonomous Charging During normal operation, the AMR charges its battery autonomously by driving to the Docking Station under configurable conditions (battery level and opportunities). The AMR drives to the location of the 4-21 LD-60/90 Platform User's Manual (I611)
  • Page 196 When the battery is connected to the Docking Station, a 10 second delay occurs during an automatic check sequence and then charging begins when the amber charging LED is ON solid. 4-22 LD-60/90 Platform User's Manual (I611)

  • Page 197: Balancing The Battery

    If the AMR's DockUntilDoneCharging parameter is set to False, this may allow the AMR to leave the Docking Station before battery charging and balancing is complete. With this setting, you must per- form a periodic battery exchange with a completely charged and balanced battery at regular 4-23 LD-60/90 Platform User's Manual (I611)

  • Page 198: Storing Batteries

    Fully recharging a battery every six months is sufficient to keep it charged enough to avoid damage. Additional Information • Refer to 2-3 Environmental Specifications on page 2-11 for more information. • Refer to 4-8 Battery and Charging on page 4-16 for more information. 4-24 LD-60/90 Platform User's Manual (I611)

  • Page 199: Operator Panel

    • Any event or condition that causes an ARAM restart or an AMR shutdown, including the cause of the restart or shutdown. Boot-up Screen The following image shows the first screen that appears during boot-up when the AMR is turned ON. 4-25 LD-60/90 Platform User's Manual (I611)

  • Page 200: Emergency Stop Button

    Precautions for Safe Use 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 local OMRON representative. Additional Information There is a 2.5 second delay between when the ON button is pressed and the AMR resumes its activity.

  • Page 201: Brake Release Button

    AMR is ON. If the AMR is OFF or there is insufficient battery power, the brakes remain engaged when using this method. Refer to 4-10 Releasing the Brakes on page 4-28 for more information. 4-27 LD-60/90 Platform User's Manual (I611)

  • Page 202: 4-10 Releasing The Brakes

    AMR manually when it is positioned on a slope of greater than 3%, unless necessary precautions have been taken to prevent uncontrolled rolling of the AMR. Precautions for Correct Use OMRON recommends that you train personnel on the safe use of the brake release operations and procedures for safely pushing an AMR. 4-28...

  • Page 203: 4-11 Manually Pushing The Amr

    • 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 opera- tions and procedures for safely pushing an AMR.

  • Page 204: 4-12 Emergency Stop

    This could be an E-STOP button or additional safety devices that may be connected to the emergency stop circuit. Make sure that all surrounding areas are clear so the AMR has room to maneuver. 4-30 LD-60/90 Platform User's Manual (I611)
  • Page 205 There is a 2.5 second delay between when the ON button is pressed and the AMR resumes its activity. During this time, the AMR scans its path for potential obstacles and will resume its com- manded motion if there is adequate space to maneuver. 4-31 LD-60/90 Platform User's Manual (I611)

  • Page 206: 4-13 Protective Stops

    • Any time an object is detected within a Safety Laser Scanner Zone. Refer to 4-19 Safety Laser Scanner Zones on page 4-52 for more information. A protective stop differs from an emergency stop. Refer to 4-12 Emergency Stop on page 4-30 for more information. 4-32 LD-60/90 Platform User's Manual (I611)

  • Page 207: 4-14 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 208: Light Discs And Optional Beacon States

    An optional beacon will illuminate green during this operation. 4-15-3 Emergency Stop The light discs blinks red while the AMR is in an emergency stop state. An optional beacon will illuminate red during this operation. 4-34 LD-60/90 Platform User's Manual (I611)

  • Page 209: Lost

    When the drive wheels ro- tate in reverse, the direction of the orange drive indicators will indicate the direction of the drive wheel rotation. The moving arc and the blinking segment have independent timing. 4-35 LD-60/90 Platform User's Manual (I611)

  • Page 210: Driving Slowly, Scanning Laser E-Stop Inactive

    0 to 180 cw 0 to 180 ccw 0 to 270 cw 0 to 90 ccw full circle full circle 100% Additional Information The state of charge displayed is continuous and not limited to 25% increments. 4-36 LD-60/90 Platform User's Manual (I611)

  • Page 211: 4-15-12 Booting

    When the AMR is booting, the light discs display two blue arcs, traveling from the 6 o'clock to the 12 o'clock position and back, in opposite directions. If used, the Beacon alternates green, yellow, then red. 4-37 LD-60/90 Platform User's Manual (I611)

  • Page 212: 4-16 Manual Driving

    AMR with the Pendant. Doing so can override Pendant control. • When operating the AMR with the pendant, it is the operator's responsibility to make sure that no people or objects are in the immediate vicinity of the moving AMR. 4-38 LD-60/90 Platform User's Manual (I611)
  • Page 213 1) Press one of the E-STOP buttons on the AMR. 2) Release the movement trigger. 3) Disconnect the Pendant. 4) Release the E-STOP button. 5) Press the AMR ON button to resume normal operation. 4-39 LD-60/90 Platform User's Manual (I611)

  • Page 214: 4-17 Warning Buzzer

    500; This is the length of time between warnings that the buzzer is silent. Set- onds ting this to 0 will cause a continuous warning. The DriveWarningEnable parameter is not available by default. Setting an output to type warn and restarting ARAM will make the parameter accessible. 4-40 LD-60/90 Platform User's Manual (I611)

  • Page 215: 4-18 Back Up And Restore The Amr

    Restore-Point of the current configuration. Once a Restore-Point has been created, the date of its cre- ation will appear above the Backup Now button. Additional Information Only one Restore-Point can exist on an AMR at a time. Creating a new Restore-Point will over- write the existing one. 4-41 LD-60/90 Platform User's Manual (I611)

  • Page 216: Configuration File Backup

    • General Configuration files are applicable to any AMR connected to MobilePlanner. • Robot Model files are applicable to AMRs of the same model. • Calibration files are specific to the current AMR that is connected. 4-42 LD-60/90 Platform User's Manual (I611)

  • Page 217: Restoring The Amr

    Clicking Open Folder will open the Downloads folder to show the .zip folder. 4-18-2 Restoring the AMR The following sections describe how to restore an AMR with a Debug Info file, Configuration file, or other method. 4-43 LD-60/90 Platform User's Manual (I611)
  • Page 218 You can revert to the default configuration settings from the System Tab's Backup & Restore Options in SetNetGo. Click the Revert to Default Button. You may also download the default configuration file for the AMR to your computer by clicking the Download Default Button. 4-44 LD-60/90 Platform User's Manual (I611)
  • Page 219 Restore from Configuration File Use the following procedure to import a configuration file into MobilePlanner. In the Configuration Tab, select File > Import Config..., then select a saved .xml configura- tion file to import. 4-45 LD-60/90 Platform User's Manual (I611)
  • Page 220 Restore from a Debug Info File The following procedure describes how to use SetNetGo to restore an AMR from a DebugInfo File. Access the System Tab and click on Backup/Restore Options in the left pane. 4-46 LD-60/90 Platform User's Manual (I611)
  • Page 221 Click Choose File and select a saved DebugInfo zip folder from its saved location to upload. Click either the Restore all Settings or Restore only the settings that are common to all robots in the fleet button to select which settings to import. 4-47 LD-60/90 Platform User's Manual (I611)

  • Page 222: Setnetgo Recovery Mode

    Clears all files that would have been created during testing and runtime, such as maps, log files, data files, etc. Useful for resetting back to a factory-equiva- lent state.. 4-48 LD-60/90 Platform User's Manual (I611)
  • Page 223 Access the System Tab's Upload SetNetGo OS option in the left pane. Click on the Reboot and Enter Recovery Mode Button. You will be prompted to confirm if you want to enter the recovery mode after the selection is made. 4-49 LD-60/90 Platform User's Manual (I611)
  • Page 224 Mode. Access Maintenance Options in the left menu. There are three Maintenance Options availa- ble. Select the option appropriate for your needs. Refer to 4-18-3 SetNetGo Recovery Mode on page 4-48 for more information. 4-50 LD-60/90 Platform User's Manual (I611)
  • Page 225 Reboot Button under the Upload new OS Menu. Allow the power cycle or reboot to complete and confirm the AMR's status. Once the AMR's status is confirmed to be in the intended post-recovery state, the procedure is complete. 4-51 LD-60/90 Platform User's Manual (I611)

  • Page 226: 4-19 Safety Laser Scanner Zones

    • Laser_5 Settings are for the optional rear-facing laser. Lasers 3, 4, and 5 do not need to be used for these specific purposes, these are the OMRON-recom- mended uses, so the default configurations for these lasers apply to these typical applications.
  • Page 227 4 Operation LD-60 Safety Zone 0 (92 mm Radius) -250 -500 -750 2000 1000 1500 AMR X-axis LD-60 Safety Zone 1 (521 mm x 600 mm) -250 -500 -750 1000 1500 2000 AMR X-axis 4-53 LD-60/90 Platform User's Manual (I611)
  • Page 228 4 Operation LD-60 Safety Zone 2 (711 mm x 600 mm) -250 -500 -750 2000 1000 1500 AMR X-axis LD-60 Safety Zone 3 (971 mm x 600 mm) -250 -500 -750 1000 1500 2000 AMR X-axis 4-54 LD-60/90 Platform User's Manual (I611)
  • Page 229 4 Operation LD-60 Safety Zone 4 (1281 mm x 600 mm) -250 -500 -750 2000 1000 1500 AMR X-axis LD-60 Safety Zones 5 and 6 (1661 mm x 600 mm) -250 -500 -750 1000 1500 2000 AMR X-axis 4-55 LD-60/90 Platform User's Manual (I611)
  • Page 230 4 Operation LD-60 Safety Zone 7 (1931 mm x 1000 mm) -250 -500 -750 2000 1000 1500 AMR X-axis LD-90 Safety Zone Sizes The default LD-90 Safety Zone sizes are provided below. 4-56 LD-60/90 Platform User's Manual (I611)
  • Page 231 4 Operation LD-90 Safety Zone 0 (92 mm Radius) -250 -500 -750 2000 1000 1500 AMR X-axis LD-90 Safety Zone 1 (450 mm x 600 mm) -250 -500 -750 1000 1500 2000 AMR X-axis 4-57 LD-60/90 Platform User's Manual (I611)
  • Page 232 LD-90 Safety Zone 2 (561 mm x 600 mm) -250 -500 -750 2000 1000 1500 AMR X-axis LD-90 Safety Zone 3 (710 mm x 600 mm) -250 -500 -750 1000 1500 2000 AMR X-axis 4-58 LD-60/90 Platform User's Manual (I611)
  • Page 233 LD-90 Safety Zone 4 (900 mm x 600 mm) -250 -500 -750 2000 1000 1500 AMR X-axis LD-90 Safety Zones 5 and 6 (1121 mm x 600 mm) -250 -500 -750 1000 1500 2000 AMR X-axis 4-59 LD-60/90 Platform User's Manual (I611)
  • Page 234 4 Operation LD-90 Safety Zone 7 (1931 mm x 1000 mm) -250 -500 -750 2000 1000 1500 AMR X-axis LD-90x Safety Zone Sizes The default LD-90x Safety Zone sizes are provided below. 4-60 LD-60/90 Platform User's Manual (I611)
  • Page 235 4 Operation LD-90x Safety Zone 0 and 1 (92 mm Radius) -250 -500 -750 1000 AMR X-axis LD-90x Safety Zone 2 (450 mm x 600 mm) -250 -500 -750 1000 AMR X-axis 4-61 LD-60/90 Platform User's Manual (I611)
  • Page 236 4 Operation LD-90x Safety Zone 3 (520 mm x 600 mm) -250 -500 -750 1000 AMR X-axis LD-90x Safety Zone 4 (610 mm x 600 mm) -250 -500 -750 1000 AMR X-axis 4-62 LD-60/90 Platform User's Manual (I611)
  • Page 237 LD-90x Safety Zones 5 and 6 (710 mm x 600 mm) -250 -500 -750 1000 AMR X-axis LD-90x Safety Zone 7 (1931 mm x 1000 mm) -250 -500 -750 1000 1500 2000 AMR X-axis 4-63 LD-60/90 Platform User's Manual (I611)

  • Page 238: 4-20 Motion Limits

    AMR's Safety Laser Scanner zones. This is necessary to compensate for the increased stopping time. The OMRON AMR Safety Zone Generator tool is available for Safety Laser Scanner zone resizing. Any change to Safety Laser Scanner zones may require validation using operational testing in accordance to your applicable standards.
  • Page 239 AbsoluteMaxRotDec el (deg/s Although the minimum limit for this parameter is -2500, the hardware safety system on the platform will gen- erate a fault if the velocity is anything from -300 to -2500 mm/s. 4-65 LD-60/90 Platform User's Manual (I611)

  • Page 240: 4-21 Emergency Situations

    Docking Station, you must turn OFF the Docking Station's power us- ing the power switch. Precautions for Safe Use In case of fire, use a type ABC or type BC dry chemical fire extinguisher. 4-66 LD-60/90 Platform User's Manual (I611)

  • Page 241: 4-22 Tilt Detection

    Additional Information If the AMR has toppled, inspect it thoroughly for damage. If damage has occurred to items that are not user-replaceable, contact your local OMRON representative for support. Move the AMR back to the level position. Acknowledge the error message in MobilePlanner.
  • Page 242 4 Operation 4-68 LD-60/90 Platform User's Manual (I611)

  • Page 243: Troubleshooting

    Low Battery Recovery ..................5-5 5-2-3 Battery Charging Problems ................5-5 5-2-4 Leaking Batteries..................... 5-6 Exposure to Liquids..................5-8 AMR Start-up Problems ................. 5-9 AMR Shut-down Problems ................5-10 Operator Panel Information................. 5-11 5-6-1 Text Messages ....................5-11 LD-60/90 Platform User's Manual (I611)

  • Page 244: Collecting Troubleshooting Information

    Click the SetNetGo tab to open its Web Interface. Click Status and select Debug Info from the left pane. Click Download Debug Info and then specify a location to save the file to complete this proce- dure. LD-60/90 Platform User's Manual (I611)

  • Page 245: Battery Problems

    If a short circuit condition is not present, the battery may be completely discharged. If a charged battery that has been removed from the AMR will not turn ON, contact your local OMRON representative for support.
  • Page 246 Check battery cables, tivated. The battery will malfunction. connections, and user- turn OFF. supplied loads for short Error message: Mas- circuits. ter_Switch_Fault • Replace the battery or contact your local OM- RON representative for service support. LD-60/90 Platform User's Manual (I611)

  • Page 247: Low Battery Recovery

    Precautions for Safe Use Do not allow the battery to remain discharged for an extended period of time. 5-2-3 Battery Charging Problems Use the information in the table below to understand battery charging problem indications and solu- tions. LD-60/90 Platform User's Manual (I611)

  • Page 248: Leaking Batteries

    Battery cannot be charged manually. When Docking Docking Station in- Contact your local OMRON representative for support. Station is switched ternal fuse is ON, blue power blown. light does not illu- minate. Battery can still be charg- ed manually.
  • Page 249 You can contribute to resource conservation and protecting the environment by the proper dis- posal of Waste Electronics and Electrical Equipment (WEEE). All electrical and electronic prod- ucts should be disposed of separately from the municipal waste system according to local ordinances using designated collection facilities. LD-60/90 Platform User's Manual (I611)

  • Page 250: Exposure To Liquids

    Use the following procedure if the AMR comes into contact with any liquid. Power OFF the AMR immediately. Remove and dry as much liquid as possible. Allow the AMR to air dry thoroughly before attempting to restore power. LD-60/90 Platform User's Manual (I611)

  • Page 251: Amr Start-Up Problems

    • Check the battery's state of charge to ensure sufficient power is available. Refer to 4-8-1 Battery In- dicators and Controls on page 4-16 for more information. If the AMR does not start-up after the actions above, contact your local OMRON representative. LD-60/90 Platform User's Manual (I611)

  • Page 252: Amr Shut-Down Problems

    • Faulty connection at the HMI PANEL connector or Operator Panel OFF Button. Refer to HMI PANEL on page 3-31 for more information. • Internal component or connection problem. Contact your local OMRON representative for more information. 5-10 LD-60/90 Platform User's Manual (I611)

  • Page 253: 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. 5-11 LD-60/90 Platform User's Manual (I611)
  • Page 254 5 Troubleshooting 5-12 LD-60/90 Platform User's Manual (I611)

  • Page 255: Maintenance

    Drive Assemblies................... 6-23 6-8-3 Wireless Antenna Replacement Procedure ..........6-26 6-8-4 Docking Station Roller Replacement Procedure ........... 6-27 6-8-5 Docking Station Power Switch Fuse Replacement Procedure...... 6-27 6-8-6 Rear Sonar Units................... 6-28 6-8-7 Sonar Controller .................... 6-28 LD-60/90 Platform User's Manual (I611)

  • Page 256: Maintenance Introduction

    AMRs. WARNING • Use only the specified tools, equipment, lubricants, and Omron-supplied spare parts to service and maintain the AMR according to the specified service interval. Failure to do so could result in an unsafe operating state than might result in personal injury or damage to property.

  • Page 257: Amr Lock-Out Tag-Out Procedure

    AMR. Press an E-STOP button. Shut down the AMR by pressing the OFF button on the Operator Panel. Remove the battery. Lock and tag the battery door according to your facility requirement and regulations. LD-60/90 Platform User's Manual (I611)

  • Page 258: Docking Station Lock-Out Tag-Out Procedure

    Turn the AC input power OFF by switching the main power switch to the OFF position, as indi- cated by the power-off symbol (circle). Lock and tag the main power switch according to your facility requirement and regulations. Verify that all the Docking Station LEDs are OFF to complete this procedure. LD-60/90 Platform User's Manual (I611)

  • Page 259: Lifting The Amr

    Lift the AMR with two people and proper lifting techniques. One person should lift from the front of the AMR, and the second person should lift from the rear of the AMR. This completes the Lifting procedure. LD-60/90 Platform User's Manual (I611)

  • Page 260: Maintenance Items

    Press and hold the brake release button and then push the AMR straight forward. One or two people should be able to push an unloaded or lightly loaded AMR. For a heavily loaded AMR, you may need more people. LD-60/90 Platform User's Manual (I611)

  • Page 261: Drive Wheel Inspection

    Casters must be periodically inspected for excessive wear or damage. Measure the overall diameter of each caster. If the overall diameter is less than 72 mm or damage to the surface is present, the caster must be replaced. Contact your local OMRON representative for more information.
  • Page 262 If no debris is found, an internal component may be damaged. Contact your local OMRON representative for more information about repairing a damaged charging paddle assembly.

  • Page 263: Safety And Warning Labels

    The medical implant label is on the underside of the AMR, on the docking funnel. This magnet is only exposed during maintenance, when the platform is tipped on its side. • No Riding Label, part number 18178-000 LD-60/90 Platform User's Manual (I611)
  • Page 264 The Incline label is placed on the front-right of the top plate. • Automatic Vehicle Label, part number18623-000 CAUTION AUTOMATIC VEHICLE The automatic vehicle label is attached to the rear skin of the AMR. 6-10 LD-60/90 Platform User's Manual (I611)

  • Page 265: Cleaning

    To clean the AMR charging contacts, use 320 grit sand paper to remove surface dirt, oxidation, pitting or other contaminants. Then, use a soft cloth with isopropyl alcohol to wipe and clean the surface of the charging contacts. Do not use any other cleaning agents or solvents. 6-11 LD-60/90 Platform User's Manual (I611)

  • Page 266: Cleaning Docking Station Charging Contacts

    Remove the AMR from a Docking Station when conducting any installation or mainte- nance actions. CAUTION The charging contacts on both the Docking Station and the AMR can get hot during operation. Allow these items to cool down for at least 15 minutes prior to servicing. 6-12 LD-60/90 Platform User's Manual (I611)

  • Page 267: Cleaning Laser Lenses

    Continue cleaning until the lens is completely free of dust or debris to complete this procedure. 6-6-5 Cleaning Caster Treads Remove any accumulated dirt or debris on the treads to prevent AMR’s performance degradation. Clean the caster treads with a mild soapy solution. 6-13 LD-60/90 Platform User's Manual (I611)

  • Page 268: Cleaning Esd Caster Treads

    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. 6-14 LD-60/90 Platform User's Manual (I611)
  • Page 269 Use a lint-free cloth wetted with isopropyl alcohol to thoroughly clean the drive wheel treads. You should also remove any foreign objects embedded in the drive wheel treads (such as small rocks, staples, or screws). Re-install the right and left side skins to complete this procedure. 6-15 LD-60/90 Platform User's Manual (I611)

  • Page 270: Distance Traveled By The Amr

    2. Click Monitor (B) in the bottom right of the screen to open the monitor fly-out menu, and then click Details. 3. In the Robot Details dialog window, type odometer in the Find: field (C) and then press Enter. The value of the System, Odometer parameter is the distance traveled in kilometers. 6-16 LD-60/90 Platform User's Manual (I611)

  • Page 271: Replacing Items

    With the exception of the bumper, no tools are needed for either the removal or installation of the plat- form’s skins. Use the figure and table below to understand the AMR skin configuration. 6-17 LD-60/90 Platform User's Manual (I611)
  • Page 272 4. Left skin Refer to Side Skin Removal and Replacement Procedure on page 6-19 for more information. 5. Bumper 6. Rear skin Refer to Rear Skin Removal and Replacement Procedure on page 6-21 for more information. 6-18 LD-60/90 Platform User's Manual (I611)
  • Page 273 Work your way up the edges of the skin, pulling it away from the chassis as you go. Remove the skin a few centimeters from the chassis. The light disc wires plug into connectors on the inside of each side skin. 6-19 LD-60/90 Platform User's Manual (I611)
  • Page 274 A lanyard attaches the panel to the skin to prevent getting lost. Press the left (front) side of the panel in, and the latch will hold it. This is a toggle latch - pressing it once engages it, pressing it a second time releases it. 6-20 LD-60/90 Platform User's Manual (I611)
  • Page 275 Pull the four sonar wires, with their connectors, out of the chassis holes. Refer to the figure be- low. Unscrew all four sonar connectors. Ensure that both sides of all connectors are labeled and match. If not, label them. 6-21 LD-60/90 Platform User's Manual (I611)
  • Page 276 Tilt the top of the skin up to meet the chassis until the retaining magnets secure it to the AMR to complete this procedure. Front Upper Skin Removal and Replacement Procedure Use the following procedure to remove or replace the front upper skin on the AMR. 6-22 LD-60/90 Platform User's Manual (I611)

  • Page 277: Drive Assemblies

    See the table below for part numbers. Care must be taken to order the correct drive assembly intended for either the LD-60, LD-90, or LD-90x. Installing a drive train assem- bly with an incorrect gear ratio for the AMR will result in reduced performance and potential damage to the robot.
  • Page 278 The wheel pin ships with the AMR, or an M5 X 10 screw can be used as a replacement. This will keep the springs compressed (the wheel will be in the up posi- tion), and make removal easier. 6-24 LD-60/90 Platform User's Manual (I611)
  • Page 279 The following items are required for this procedure. • An AMR wheel pin or M5 X 10 screw to use as a wheel pin. 6-25 LD-60/90 Platform User's Manual (I611)

  • Page 280: Wireless Antenna Replacement Procedure

    If your AMR has a top plate and the antenna is fastened too tightly to remove by hand: 1) Use the Cross-head screwdriver to remove the screws securing the top plate to the AMR. 6-26 LD-60/90 Platform User's Manual (I611)

  • Page 281: Docking Station Roller Replacement Procedure

    Equivalent generic fuses are also available. The fuses need to be 250 V, 10 A, and Time-lag. An ex- ample of a fuse that meets these specifications is: LittelFuse 0215010.XP, 5x20 mm cartridge type 6-27 LD-60/90 Platform User's Manual (I611)

  • Page 282: Rear Sonar Units

    Press the new sonar unit through the hole in the rear outer cover, from the outside. Connect the sonar cable to the new sonar unit's lead. Reinstall the rear covers. 6-8-7 Sonar Controller The sonar controller is located in the payload bay at the front of the AMR. 6-28 LD-60/90 Platform User's Manual (I611)
  • Page 283 Using the 4 mm hex key, screw the new controller to the payload bay deck using the two screws removed from the old controller. Reinstall the payload structure, if applicable. Dispose of the old controller according to local and national regulations concerning electronic components. 6-29 LD-60/90 Platform User's Manual (I611)
  • Page 284 6 Maintenance 6-30 LD-60/90 Platform User's Manual (I611)
  • Page 285 USER PWR Load Connection Examples (PINS 9 to 12)......A-7 A-3-1 Good USER PWR Load Connections ............. A-7 A-3-2 Bad USER PWR Load Connections..............A-7 Unpacking ...................... A-9 A-4-1 AMR Unpacking Procedure ................A-9 A-4-2 Battery Shipping Crate Information ............... A-15 LD-60/90 Platform User's Manual (I611)

  • Page 286: A-1 Parts List

    Used for manually driving an AMR and map crea- tion. 3 m cable. Included with Starter Kit. LD-60 ESD Skin Set As- 21452-995F ESD skin set assembly for LD-60 AMR. sembly Includes the following ESD rated skins: • Front Bumper Skin •...
  • Page 287 02212-000L 250 VDC, 10 A, and Time-lag fuse. Switch Fuse LD-60 Right Drive Train 12745-000 30:1 gear ratio Assembly LD-60 Left Drive Train As- 12746-000 sembly LD-90 Right Drive Train 12745-040 40:1 gear ratio Assembly LD-90 Left Drive Train As-...
  • Page 288 (D-Sub 44 pin cable for digital I/O interface) and a mounting bracket. RS232 Splitter Cable 24010-000F Provides two serial communication connectors Optional (RS232-1 and RS232-2) in an arrangement simi- lar to the legacy AMR Core configuration. Cable length is 200 mm. LD-60/90 Platform User's Manual (I611)

  • Page 289: A-2 Network Port Allocation

    AMRs. Each AMR that con- and up ent PC. nects uses the next available port >= 10000. For best results, allow a large number of ports such as10000-10999. 10000 AMR to Client PC LD-60/90 Platform User's Manual (I611)
  • Page 290 Offboard devices If RS232 or Ethernet Port Forwarding is 1000 - to AMR. enabled on the AMR (SetNetGo then 65535 Network) then the configured TCP ports are open on the AMR for incoming con- nections. LD-60/90 Platform User's Manual (I611)

  • Page 291: A-3-1 Good User Pwr Load Connections

    A-3-2 Bad USER PWR Load Connections Do not connect loads in the following arrangement for the reasons described below. Connecting loads to pins 9, 10, 11, and 12 in this arrangement can cause overload conditions. LD-60/90 Platform User's Manual (I611)
  • Page 292 If an emergency stop condition occurs, power to pins 12 turns OFF creating an overload condition at pin 9. If an emergency stop condition occurs, power to pins 12 turns OFF creating an overload condition at pin 10. LD-60/90 Platform User's Manual (I611)

  • Page 293: A-4 Unpacking

    If the items received do not match the packing slip or have been damaged, do not accept the deliv- ery. If the items received do not match your order, contact your local OMRON representative. • Retain the containers and packaging materials. These items may be necessary to settle claims or to relocate the equipment at a later date.
  • Page 294 Appendix Unload the top box, if present. This contains the Docking station and Starter kit. Open lower box containing the Platform. A-10 LD-60/90 Platform User's Manual (I611)
  • Page 295 Appendix Remove the rectangular box cap, placed on top of the Platform for protection. Remove all corner padding. A-11 LD-60/90 Platform User's Manual (I611)
  • Page 296 Appendix Lift the outer box up. Lift the robot using two people holding the grips at each side of the cardboard carrier. A-12 LD-60/90 Platform User's Manual (I611)
  • Page 297 Remove the plastic protective sheet. Roll the robot off of the cardboard and onto the floor. Since the wheels are pinned up, the LD is just sitting on its casters, so no brake release is needed. A-13 LD-60/90 Platform User's Manual (I611)
  • Page 298 2) Lift the wheel slightly to relieve pressure on the pin, then remove the pin by pulling the at- tached ring. See the following figure for the location of the wheel pin hole. Save these pins for later service of the drive assemblies. A-14 LD-60/90 Platform User's Manual (I611)

  • Page 299: A-4-2 Battery Shipping Crate Information

    The battery ships in a separate container, not inside the platform. The battery box measures 311 x 540 x 457 mm . Locate the cardboard carton that contains the battery before continuing. Refer to the fol- lowing figure. A-15 LD-60/90 Platform User's Manual (I611)
  • Page 300 Locate the carton that contains the battery. Use the recessed lifting grips at either end of the battery's casing to remove the battery from the carton. After the battery has been removed from the carton, this procedure is complete. A-16 LD-60/90 Platform User's Manual (I611)
  • Page 301 Index LD-60/90 Platform User's Manual (I611)
  • Page 302 Lock-out Tag-out (AMR)............ 6-3 Payload Bay..............3-18 Lock-out Tag-out (Docking Station)........6-4 Pendant Port..............1-9 Logical Barriers..............4-9 RS232................3-23 Low Lasers..............1-5, 1-6 SONAR2..............3-31 USER BUMP..............3-28 USER INTERFACE............3-26 USER POWER............3-30 Maintenance...............6-1, 6-6 Coordinate System............1-33 LD-60/90 Platform User's Manual (I611)
  • Page 303 Pushing................4-29 Replacing Items...............6-17 Restricted Zones............. 4-10 Safety Laser Scanner..........1-5, 1-6 Safety Laser Scanner Zones........... 4-52 Safety Outputs..............4-30 Safety Zones..............4-52 Screen................1-7 Shut-down..............4-5, 4-26 Side Laser............... 1-21 Signal Beacon..............1-20 Signal Beacon States............4-34 LD-60/90 Platform User's Manual (I611)
  • Page 304 Index LD-60/90 Platform User's Manual (I611)
  • Page 306 Fax: (31) 2356-81-388 Tel: (1) 847-843-7900 Fax: (1) 847-843-7787 OMRON ASIA PACIFIC PTE. LTD. OMRON ROBOTICS AND SAFETY TECHNOLOGIES, INC. 438B Alexandra Road, #08-01/02 Alexandra 4225 Hacienda Drive, Pleasanton, CA 94588 U.S.A. ©OMRON Corporation 2023 All Rights Reserved. Technopark, Singapore 119968...

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