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Omron OL Series Manual

Omron OL Series Manual

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AMR (Autonomous Mobile Robot)
OL-series
Safety, Unpacking, and Assembly Guide
OL-450S2
OL-450S3
M110-E-01

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  • Page 1 AMR (Autonomous Mobile Robot) OL-series Safety, Unpacking, and Assembly Guide OL-450S2 OL-450S3 M110-E-01...
  • Page 2 Every precaution has been taken in the preparation of this manual. Nevertheless, OMRON assumes no responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained in this publica- tion.

  • Page 3: Intended Audience

    Thank you for purchasing the OL-series Autonomous Mobile Robot (referred to as AMR in this docu- ment). This guide is OMRON's original instructions describing the unpacking, assembly, and safety consider- ations of the AMR. This document describes AMR functionality supported with FLOW v5.3.

  • Page 4: Units

    Introduction Units All units are metric unless otherwise noted. Distances are provided in mm unless otherwise noted. AMR (Autonomous Mobile Robot) OL-series Safety, Unpacking, and Assembly Guide (M110)

  • Page 5: Manual Information

    Manual Information Manual Information Page Structure The following page structure is used in this manual. 5 Installation Unpack This section provides details on how to unpack the Industrial Panel PC. 5-1-1 Unpack Procedure Check the package for damage. If there is any visible damage: •...

  • Page 6: Additional Information

    Manual Information Precautions for Safe Use Precautions on what to do and what not to do to ensure safe usage of the product. Precautions for Correct Use Precautions on what to do and what not to do to ensure proper operation and performance. Additional Information Additional information to read as required.

  • Page 7: Sections In This Manual

    Sections in this Manual Sections in this Manual Safety Unpacking Assembly Supplementary Information AMR (Autonomous Mobile Robot) OL-series Safety, Unpacking, and Assembly Guide (M110)

  • Page 8: Table Of Contents

    CONTENTS CONTENTS Introduction ......................1 Intended Audience............................1 Units.................................2 Manual Information....................3 Page Structure..............................3 Special Information ............................3 Sections in this Manual ................... 5 Terms and Conditions Agreement................8 Warranty and Limitations of Liability ........................8 Application Considerations ..........................9 Disclaimers ..............................9 Regulations and Standards .................. 11 Directives ...............................
  • Page 9 CONTENTS Section 4 Supplementary Information Battery Installation.........................4-2 4-1-1 Battery Installation and Connection Procedure ................4-2 Control Strip ...........................4-6 4-2-1 Emergency Stop Button ......................4-6 4-2-2 Service Charger Connector......................4-6 4-2-3 Manual Lift Control Connector ....................4-6 4-2-4 Maintenance Ethernet Port ......................4-7 4-2-5 Main Disconnect Switch ......................4-7 4-2-6 Reset Button ..........................4-7 4-2-7...

  • Page 10: Terms And Conditions Agreement

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

  • Page 11: Application Considerations

    • Omron Companies shall not be responsible for the user’s programming of a programmable Product, or any consequence thereof. • Omron Companies shall not be responsible for the operation of the user accessible operating sys- tem (e.g. Windows, Linux), or any consequence thereof.

  • Page 12: Errors And Omissions

    Terms and Conditions Agreement Errors and Omissions Information presented by Omron Companies has been checked and is believed to be accurate; how- ever, no responsibility is assumed for clerical, typographical or proofreading errors or omissions. AMR (Autonomous Mobile Robot) OL-series Safety, Unpacking, and Assembly Guide (M110)

  • Page 13: Regulations And Standards

    Regulations and Standards Regulations and Standards Directives The AMR system complies with the following Directives. • 2006/42/EC Machinery Directive • 2023/1542/EU EU Battery Regulation Standards The AMR system conforms to the following Standards. AMR Standards • EN ISO 12100 Safety of Machinery - General Principles for Design - Risk Assessment and Reduction. •...

  • Page 14: Regulatory Markings

    Regulations and Standards • EN 55011 Industrial, scientific, and medical equipment standard - Assessment of radio frequency disturbance characteristics, limits and methods of measurement. • EN 61000-6-2 Electromagnetic compatibility (EMC) - Part 6-2: Generic standards - Immunity standard for industrial environments.

  • Page 15: Related Manuals

    Related Manuals Related Manuals Use the following related manuals for reference. Manual Title Description Advanced Robotics Command Language Enterprise Describes how to use the Advanced Robotics Com- Manager Integration Guide (Cat. No. I618) mand Language (ARCL) a text-based, command line operating language Use ARCL to integrate a fleet of AMRs with an external automation system.

  • Page 16: Revision History

    Revision History Revision History A manual revision code appears as a suffix to the catalog number on the front and back covers of the manual. M110-E-01 Cat. No. Revision code Revision code Date Revised content March 2025 Original production AMR (Autonomous Mobile Robot) OL-series Safety, Unpacking, and Assembly Guide (M110)

  • Page 17: Safety

    Safety This section provides safety information for the OL-series AMR. Safety Precautions ..................1-2 1-1-1 Definition of Precautionary Information ............1-2 1-1-2 Symbols......................1-2 1-1-3 Dangers......................1-3 1-1-4 Warnings ......................1-3 1-1-5 Cautions ......................1-5 Precautions for Safe Use................1-7 Precautions for Correct Use .................

  • Page 18: Safety Precautions

    1 Safety Safety Precautions 1-1-1 Definition of Precautionary Information The following notation is used in this manual to provide precautions required to ensure safe usage of the AMR. The safety precautions that are provided are extremely important to safety. Always read and heed the information provided in all safety precautions. The following notation is used.

  • Page 19: Dangers

    When lifting the AMR, take care to lift it from safe lifting points and secure it with safety straps for even weight distribution and to ensure that the AMR is level and stable when lifted. OMRON recommends using a mechanical lift. Follow all unpacking safety instructions and use appropriate tools and equipment. Failure to do so could result in personal injury or property damage.

  • Page 20: Operating Environment

    1 Safety The following actions are strictly prohibited and could result in injury or damage to the equipment. • Persons with cardiac pacemakers in the AMR charging zone. • Persons with metal implants in the AMR charging zone. • Holding, placing, or allowing objects between the charging coils. Operating Environment The Manual Mover must be used only to transport an OL-series AMR.

  • Page 21: Cautions

    1 Safety Cybersecurity To maintain the security and reliability of the system, a robust cybersecurity defense pro- gram should be implemented, which may include some or all of the following: Anti-virus protection • Install the latest commercial-quality anti-virus software on the computer connected to the control system and keep the software and virus definitions up-to-date.
  • Page 22 1 Safety Never connect electric loads directly to the battery bypassing protective circuits. When placing the AMR back on the floor after lifting, you must make sure that all safety precautions have been taken to prevent personal injury or property damage. The Manual Mover should be used to move the AMR when needed.

  • Page 23: Precautions For Safe Use

    1 Safety Precautions for Safe Use • The AMR must be powered ON in order to charge the battery while at the Charging Station. • Do not attempt to lift the AMR from the bottom with a forklift or similar devices. Doing so could dam- age the AMR.

  • Page 24: Precautions For Correct Use

    1 Safety Precautions for Correct Use • When using the Manual Mover to move the AMR, the AMR must be turned OFF. • The Lifting Plate must be placed at the lowest position before lifting the AMR. • The Lifting Rings and Slings must be removed before operating the AMR. •...

  • Page 25: Unpacking

    Unpacking This section provides information about unpacking the OL-series AMR. Introduction ....................2-2 Unpacking Procedure ..................2-3 AMR (Autonomous Mobile Robot) OL-series Safety, Unpacking, and Assembly Guide (M110)

  • Page 26: Introduction

    • When lifting the AMR, take care to lift it from safe lifting points and secure it with safety straps for even weight distribution and to ensure that the AMR is level and stable when lifted. OMRON recommends using a mechanical lift. WARNING Equipment used to lift the AMR must be adequately rated.

  • Page 27: Unpacking Procedure

    2 Unpacking Unpacking Procedure Follow the procedure below to unpack the AMR. Precautions for Correct Use • The Lifting Plate must be placed at the lowest position before lifting the AMR. • The Lifting Rings and Slings must be removed before operating the AMR. The following items are required for this procedure.
  • Page 28 2 Unpacking Unscrew the four screws (two on each side) that attach the top lid frame to the bottom deck. Lift up and remove the top lid frame from the bottom deck. AMR (Autonomous Mobile Robot) OL-series Safety, Unpacking, and Assembly Guide (M110)
  • Page 29 2 Unpacking The Stationary Coil and the Stationary Electronics are packaged in separate boxes and placed on the Lifting Plate of the AMR. Cut the tape around the Lifting Plate of the AMR and remove the Stationary Coil and the Sta- tionary Electronics boxes.
  • Page 30 2 Unpacking Attach the Lifting Slings to the Lifting Rings. Using an overhead hoist or a forklift, lift the AMR. Place the AMR on the workspace floor gently. Remove the Lifting Rings and Slings from the AMR to complete this procedure. Save the Lifting Slings, Lifting Rings, shipping box, and other packaging materials for future use.

  • Page 31: Assembly

    Assembly This section describes how to assemble the OL-series AMR. Introduction ....................3-2 Assembly Procedure ..................3-3 AMR (Autonomous Mobile Robot) OL-series Safety, Unpacking, and Assembly Guide (M110)

  • Page 32: Introduction

    3 Assembly Introduction After unpacking the AMR, the following actions must be completed. The procedure for assembling the AMR is provided in the following section. 1. Assemble the top and bottom portions of the AMR's mast. 2. Install the battery in the AMR. 3.

  • Page 33: Assembly Procedure

    3 Assembly Assembly Procedure Follow the procedure below to raise the bottom and top portions of the AMR mast. The following tools are required for this procedure. • 4 mm hex bit • 10 mm socket wrench Precautions for Safe Use •...
  • Page 34 3 Assembly Tighten the bottom flat-head screw [1]. Repeat on the other side. Insert the two top flat-head screws [2] and tighten. Repeat on the other side. Unscrew and remove the two top bolts and washers [3]. The AMR is shipped with the bolts in the holes. If they came in a separate bag, then you can skip this and the next two steps.
  • Page 35 Supplementary Information This section contains information to support the AMR assembly details. Battery Installation ..................4-2 4-1-1 Battery Installation and Connection Procedure ..........4-2 Control Strip ....................4-6 4-2-1 Emergency Stop Button .................. 4-6 4-2-2 Service Charger Connector................4-6 4-2-3 Manual Lift Control Connector.................

  • Page 36: Supplementary Information

    4 Supplementary Information Battery Installation Installation or removal of the battery must be performed by persons who have read and understood this manual. Before you begin, turn the AMR OFF: place the Selection Switch and the Main Disconnect Switch in the OFF position.
  • Page 37 4 Supplementary Information Refer to 4-10 Removing and Replacing Skins on page 4-25 for more information. Carefully place the battery on the base plate of the AMR by aligning the holes on the battery over the four holes on the base plate. Insert the four bolts (two on each side) and tighten to a torque of 7 N-m to secure the battery to the base plate.
  • Page 38 4 Supplementary Information Connect the two CAN connectors of the battery with the DB9 connectors of the AMR and tight- en the straps. Insert the battery power connector of the AMR into the Anderson Powerpole socket in the bat- tery. AMR (Autonomous Mobile Robot) OL-series Safety, Unpacking, and Assembly Guide (M110)
  • Page 39 4 Supplementary Information Replace the Front Skin and tighten the two machine locks to complete this procedure. AMR (Autonomous Mobile Robot) OL-series Safety, Unpacking, and Assembly Guide (M110)

  • Page 40: Control Strip

    4 Supplementary Information Control Strip The Control Strip features are described below. 2 3 4 6 7 8 Item Description Item Description Emergency Stop (E-STOP) buttons Service Charger Connector Manual Lift Control Connector Maintenance Ethernet Port Main Disconnect Switch Reset Button Power LED Selection Switch 4-2-1...

  • Page 41: Maintenance Ethernet Port

    4 Supplementary Information 4-2-4 Maintenance Ethernet Port Use the Maintenance Ethernet port to connect a PC directly to the AMR with a pass-through or cross- over CAT5 (or better) Ethernet cable for configuration or troubleshooting. 4-2-5 Main Disconnect Switch Use the Main Disconnect Switch to remove all battery power from the AMR for maintenance, transport, or other abnormal situations.

  • Page 42: Amr Start-Up

    4 Supplementary Information AMR Start-up This section provides details about AMR start-up procedure. Ensure the following conditions are met before attempting to start-up the AMR. • The battery is sufficiently charged. Refer to 4-7 Charging AMR Battery on page 4-13 for more infor- mation.
  • Page 43 4 Supplementary Information It takes about one minute for all the systems to start-up and make their various interconnec- tions. The AMR's Computing System and navigation lasers automatically start when the AMR turns ON. AMR (Autonomous Mobile Robot) OL-series Safety, Unpacking, and Assembly Guide (M110)

  • Page 44: Amr Shut-Down Procedure

    4 Supplementary Information AMR Shut-down Procedure Follow the procedure below to shut down the AMR in a controlled manner. The system will save the AMR's last known location so it can automatically localize when it is powered ON later. Turn the Selection Switch to the OFF position. The Power LED, the Front and Rear Light Strips, and the LED Signal Lamp turn OFF.

  • Page 45: Overall Amr S2 Dimensions

    4 Supplementary Information Overall AMR S2 Dimensions The overall dimensions of the AMR model S2 are provided below. 2236 2200 1137 1137 4-11 AMR (Autonomous Mobile Robot) OL-series Safety, Unpacking, and Assembly Guide (M110)

  • Page 46: Overall Amr S3 Dimensions

    4 Supplementary Information Overall AMR S3 Dimensions The overall dimensions of the AMR model S3 are provided below. 2236 2200 1217 1217 4-12 AMR (Autonomous Mobile Robot) OL-series Safety, Unpacking, and Assembly Guide (M110)

  • Page 47: Charging Amr Battery

    4 Supplementary Information Charging AMR Battery The AMR features a coil (Mobile Coil) under the unit for wireless charging. When the AMR positions itself over the the Stationary Coil, current in the Stationary Coil generates a magnetic field between the two coils.

  • Page 48: Charging Battery For The First Time

    The Service Charger cables pose a tripping hazard. Place cables in a manner that prevents tripping or isolate the area to prevent people from interacting with cables. Precautions for Correct Use Use only OMRON supplied Service Charger when the AMR state of charge is too low to allow docking. Additional Information After charging is complete, disconnect the Service Charger from the AMR and do not leave it connected to the AMR.

  • Page 49: Automatic Drive Mode Charging

    4 Supplementary Information Set the Selection Switch to PAUSE to prevent any automatic or manual control of the AMR. Connect the Service Charger cable to the Service Charger connector on the Control Strip of the AMR. LED Indicators Power Button Service Power Charger...

  • Page 50: Manually Moving The Amr

    4 Supplementary Information Manually Moving the AMR If the AMR becomes immobilized (such as a depleted battery situation), it may need to be manually moved to a new location. The AMR can be lifted and moved to another location using an overhead hoist or forklift.

  • Page 51: Moving Amr With Lifting Plate Up

    4 Supplementary Information DANGER Only qualified personnel who have read and understood this manual should manually move, operate the AMR, or install accessories. WARNING • The Manual Mover must be used only to transport an OL-series AMR. Do not use the Manual Mover for any other purpose.
  • Page 52 4 Supplementary Information • Ensure that the area you will be working in is adequately protected and cannot be interrupted by other AMRs. • Ensure the AMR is powered-OFF. Refer to 4-4 AMR Shut-down Procedure on page 4-10. • Ensure a fully charged battery is installed in the Lift Bridge. Precautions for Safe Use •...
  • Page 53 4 Supplementary Information Disconnect the cable between the Lift Bridge and the AMR. Raise or lower the Manual Mover to place the pointer in the Drive Over position. 1) Attach the Lever to the Hydraulic Box and pump up the Lever to raise the Manual Mover or 2) Turn the knob on the hydraulic box to lower the Manual Mover.
  • Page 54 4 Supplementary Information Use the Knob of the Manual Mover to place the pointer in the Attach position. The Manual Mover is now at the right level for attaching the AMR. Unscrew the two star screws from their storage position on the Manual Mover and screw them into the holes on the AMR.
  • Page 55 4 Supplementary Information If your AMR does not have a payload carrier resting on it, skip to step 16. Use the Lever of the Manual Mover to raise the AMR until the AMR is just high enough to be moved without the Lifting Plate making contact with the bottom of the payload carrier. Carefully pull the Manual Mover backwards so that the AMR comes out from under the payload carrier.

  • Page 56: Moving Amr With Lifting Plate Down

    4 Supplementary Information 4-9-3 Moving AMR with Lifting Plate Down Follow the procedure below to manually move the AMR (with Lifting Plate lowered) with or without a payload carrier resting on the Lifting Plate. The Manual Mover (part number 28110-501) is required for this procedure. Make the following considerations before attempting this procedure: •...
  • Page 57 4 Supplementary Information Use the Knob of the Manual Mover to place the pointer in the Attach position. The Manual Mover is now at the right level for attaching the AMR. Unscrew the two star screws from their storage position on the Manual Mover and screw them into the holes on the AMR.
  • Page 58 4 Supplementary Information Use the Lever of the Manual Mover to place the pointer in the Transport position. The AMR is now lifted high enough to be wheeled. Move the Manual Mover (attached to the AMR) to your desired location. Use the Knob of the Manual Mover to place the pointer in the Attach position.

  • Page 59: 4-10 Removing And Replacing Skins

    The following sections gives details about removal and replacement of the Front Skin. Additional Information The Rear Skin is not a user-replaceable part. To remove or replace the Rear Skin, contact your local OMRON service representative. 4-10-1 Remove Front Skin Follow the procedure below to remove the Front Skin from the AMR.

  • Page 60: Replace Front Skin

    4 Supplementary Information 4-10-2 Replace Front Skin Follow the procedure below to replace the Front Skin. The following items are required for this procedure. • A triangle spanner key (included) • Replacement Front Skin (28110-726F) Hook the Front Skin over the Control Strip to position it on the front of the AMR. Tighten the two machine locks with the triangle spanner key (quarter turn to the right) to com- plete the procedure.

  • Page 61: 4-11 Emergency Stop Recovery Procedure

    4 Supplementary Information 4-11 Emergency Stop Recovery Procedure Recovery from an emergency stop requires additional manual actions only after the operator has con- firmed that it is safe to return the AMR to operation. The AMR's drive motors remain disabled until the procedure below is executed.

  • Page 62: 4-12 Service Charger Specifications

    4 Supplementary Information 4-12 Service Charger Specifications Specifications for the Service Charger are provided below. Item Specification Input Voltage 220 to 240 VAC, 50 to 60 Hz Maximum Input Current 2.2 A at 230 VAC Output Voltage 24 VDC Output Current 15 A (fused to 20 A) Ambient Operating Tempera- 0°...

  • Page 63: 4-13 Lifting The Amr

    Perform the appropriate Lock-out Tag-out procedures. Refer to 4-14 AMR Lock-out Tag-out Procedure on page 4-31 for more information. Attach the OMRON-supplied Lifting Rings to the locations shown in the figure below. 4-29 AMR (Autonomous Mobile Robot) OL-series Safety, Unpacking, and Assembly Guide (M110)
  • Page 64 4 Supplementary Information Attach the Lifting Slings to the Lifting Rings. Using an overhead hoist or a forklift, lift the AMR. Gently lower the AMR and place it on the workspace floor or the Work Bench. Remove the Lifting Rings and Slings before operating the AMR to complete this procedure. Save the Lifting Rings and Lifting Slings for future use.

  • Page 65: 4-14 Amr Lock-Out Tag-Out Procedure

    4 Supplementary Information 4-14 AMR Lock-out Tag-out Procedure Use the following procedure to execute Lock-out Tag-out before performing any maintenance or instal- lation work on the AMR. Shut down the AMR. Refer to 4-4 AMR Shut-down Procedure on page 4-10 for more informa- tion.
  • Page 66 4 Supplementary Information 4-32 AMR (Autonomous Mobile Robot) OL-series Safety, Unpacking, and Assembly Guide (M110)
  • Page 68 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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