Page 1 AMR (Autonomous Mobile Robot) OL-series User's Manual OL-450S2 OL-450S3 M109-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 manual is OMRON's original instructions describing the setup, operation, and user maintenance of the product. 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 User's Manual (M109)
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 Overview Specifications Installation Operation Troubleshooting Maintenance Appendices AMR (Autonomous Mobile Robot) OL-series User's Manual (M109)
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................ 11 Warranty and Limitations of Liability ......................11 Application Considerations ..........................12 Disclaimers ..............................12 Safety Precautions....................14 Definition of Precautionary Information......................14 Symbols .................................14 Dangers .................................15...
Page 9 CONTENTS Autonomous Navigation .....................1-16 Labels............................1-17 1-4-1 AMR Information Label ......................1-17 1-4-2 Battery Information Label ......................1-17 1-4-3 AMR Safety and Warning Label Locations................1-18 1-4-4 Battery Safety and Warning Label Location ................1-18 Part Numbers ........................1-20 Accessories..........................1-21 1-6-1 Stationary Electronics .......................1-21 1-6-2 Stationary Coil ...........................1-21 1-6-3 Battery ............................1-21 1-6-4...
Page 10 CONTENTS 3-2-1 Floor Conditions ..........................3-5 3-2-2 Mount the Stationary Electronics ....................3-5 3-2-3 Install the Charging Ramp......................3-5 3-2-4 Install Stationary Coil on Charging Ramp ...................3-8 3-2-5 Electrical Connections.........................3-9 3-2-6 Charging Zone Safety .......................3-10 3-2-7 Charging Station Commissioning ....................3-12 Battery Installation.......................3-13 3-3-1 Battery Installation and Connection Procedure .................3-13 Control Strip Connections ....................3-17 3-4-1...
Page 11 CONTENTS 4-11 Lift Mechanism........................4-27 4-12 Lateral Motion ........................4-28 4-13 Control Strip .........................4-29 4-13-1 Maintenance Ethernet Port .......................4-29 4-13-2 Main Disconnect Switch ......................4-29 4-13-3 Selection Switch ........................4-29 4-14 Manually Moving the AMR ....................4-31 4-14-1 Safety Considerations .......................4-31 4-14-2 Moving AMR with Lifting Plate Up .....................4-32 4-14-3 Moving AMR with Lifting Plate Down ..................4-37 4-15 Protective Stops........................4-40...
Page 12 CONTENTS Section 6 Maintenance Maintenance Introduction .....................6-2 AMR Lock-out Tag-out Procedure..................6-3 Charging Station Lock-out Tag-out Procedure ..............6-4 Lifting the AMR ........................6-5 Mounting the AMR on Work Bench..................6-7 6-5-1 Mounting Procedure ........................6-8 Removing and Mounting the Lifting Plate .................6-10 Maintenance Tasks and Schedule..................6-12 6-7-1 Lubricating the Lifting System ....................6-13 6-7-2...
Page 13: 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 14: 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 15: 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 User's Manual (M109)
Page 16: Safety Precautions
Safety Precautions Safety Precautions Definition of Precautionary Information The following notation is used in this manual to provide precautions required to ensure safe usage of the AMR. The safety precautions that are provided are extremely important to safety. Always read and heed the information provided in all safety precautions. The following notation is used.
Page 17: Dangers
Safety Precautions Dangers DANGER There is risk of serious injury by crushing if the AMR tips over as a result of improper operation on inclines that do not comply with the operating specifications. The end-user of the AMR must perform a risk assessment to identify and mitigate any additional personal and property damage hazards caused by the payload.
Page 18 Do not use organic solvents to clean any part of the AMR unless directed in the cleaning instructions. Organic solvents might damage electronics resulting in an unsafe operating state that could cause injury or damage to equipment. OMRON recommends using the Maintenance kit for cleaning supplies from the manufacturer.
Page 19 - Aucune des pièces ne peut être. There are no serviceable parts in battery. Only licensed / certified personal can replace the battery and it can only be with an OMRON factory-supplied battery intended for use in the AMR. The following actions are strictly prohibited and could result in injury or damage to the equipment.
Page 20: Operating Environment
Safety Precautions The payload or payload structure shall not be positioned in such a way that would put the operator in danger while trying to reach an emergency stop button. If the AMR transports containers of liquid or other non-solid material, consider the effect on the AMR's stability if their contents can shift.
Page 21: Cautions
Safety Precautions Cybersecurity To maintain the security and reliability of the system, a robust cybersecurity defense pro- gram should be implemented, which may include some or all of the following: Anti-virus protection • Install the latest commercial-quality anti-virus software on the computer connected to the control system and keep the software and virus definitions up-to-date.
Page 22 Safety Precautions Do not operate the AMR without shielding the Scissor Lift. Riding on the AMR is strictly prohibited and could result in injury or damage to the equip- ment. Lasers cannot reliably detect glass, mirrors, and other highly-reflective objects. Use cau- tion when operating the AMR in areas that have these types of objects.
Page 23 To ensure safety, you must always install physical barriers where there is a risk of property damage or personal hazard. OMRON is not responsible for any risks incurred by modifying safety zone sizes or other Front Safety Scanner settings.
Page 24: Precautions For Safe Use
• You must comply with the latest version of the applicable laser safety regulations. • 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 25 Precautions for Safe Use • Never remove the battery while the AMR is powered ON. Always turn the AMR OFF before attempt- ing to remove a battery. • Make sure the AMR is switched OFF before it is stored. • Carefully tilt the mast over so that the cables on the inside are not trapped. •...
Page 26: Precautions For Correct Use
• The Scissor Lift Shield may be removed only for maintenance purposes after ensuring the AMR is powered OFF. • Use only OMRON supplied Service Charger when the AMR state of charge is too low to allow dock- ing. Follow provided Service Charger instructions.
Page 27: 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 28: 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 29: 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 30: 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. Dropoff A Job segment typically used where the payload is transferred from the AMR to the Goal.
Page 31 Glossary Term / Abbreviation Description Input and output signals that are transmitted to and from a device. Immobilization An AMR state where it cannot physically move due to circumstances relat- ed to physical, electrical, and other limiting factors. Instructed persons Persons that are adequately advised or supervised by skilled persons to enable them to avoid electrical and mechanical dangers.
Page 32 Glossary Term / Abbreviation Description Skilled persons Persons that have the technical knowledge or sufficient experience to ena- ble them to avoid electrical or mechanical dangers. Shut-down The process of powering OFF in a controlled manner to allow for correct operation at the next start-up request.
Page 33: 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. M109-E-01 Cat. No. Revision code Revision code Date Revised content March 2025 Original production AMR (Autonomous Mobile Robot) OL-series User's Manual (M109)
Page 34 Revision History AMR (Autonomous Mobile Robot) OL-series User's Manual (M109)
Page 35: Overview
Overview This section provides general information about the AMR. Intended Use....................1-3 Features and Components ................1-5 1-2-1 Control Strip ....................1-6 1-2-2 Lasers......................1-8 1-2-3 Skins........................ 1-8 1-2-4 Rear Bumper ....................1-12 1-2-5 Light Strips and Signal Lamp ............... 1-12 1-2-6 Drive Train and Suspension ................
Page 36 1 Overview 1-7-4 Driving and Navigation Software ..............1-29 Payload Considerations ................1-30 Coordinate System ..................1-32 AMR (Autonomous Mobile Robot) OL-series User's Manual (M109)
Page 37: Intended Use
1 Overview Intended Use The AMR is designed to work in an indoor, industrial environment, and in the presence of trained per- sonnel. This includes structured or semi-structured workplaces such as warehouses, distribution, and logistics facilities where general public access is restricted. You must deploy it only in applications where you anticipate and mitigate potential risks to personnel and equipment.
Page 38 1 Overview WARNING • It is the end-user's responsibility to perform a task-based risk assessment and to implement appropriate safety measures at the point of use of the AMR in accord- ance with local regulations. • It is the end-user's responsibility to make sure that the AMR design and implemen- tation complies with all local standards and legal requirements.
Page 39: Features And Components
1 Overview Features and Components The Omnidirectional Lift (OL) is an intelligent AMR with a low profile lifting platform. The AMR is de- signed to transport payload carriers such as roll cages, pick carts, pallets, and trolleys autonomously throughout a facility. This section provides an overview of the basic features and components of the AMR.
Page 40 1 Overview Item Description Item Description Rear Skin Rear Light Strips Rear Scanner Rear Bumper Wheel Sets Mobile Coil Grounding Chain 1-2-1 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...
Page 41: Selection Switch
1 Overview Item Description Item Description Main Disconnect Switch Reset Button Power LED Selection Switch Emergency Stop Button The AMR is equipped with two E-STOP buttons on either side of the Control Strip. Pressing the E- STOP button activates the emergency stop circuit and the AMR comes to a stop immediately. Additional Information Refer to 4-16-1 Emergency Stop Recovery Procedure on page 4-41 for more information about restarting the AMR after an emergency stop.
Page 42: Lasers
• You must comply with the latest version of the applicable laser safety regulations. • 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 43 Removal of the Rear skin provides access to the following items. Additional Information The Rear Skin is not a user-replaceable part. To remove or replace the Rear Skin, contact your local OMRON service representative. AMR (Autonomous Mobile Robot) OL-series User's Manual (M109)
Page 44 1 Overview Item Description Mobile Electronics Lifting System  Lifting System Components The Lifting System components are shown below. 1-10 AMR (Autonomous Mobile Robot) OL-series User's Manual (M109)
Page 45 1 Overview Item Description Item Description Spindle Shaft Spindle Nut Lifting Plate Rubber Strip 1-11 AMR (Autonomous Mobile Robot) OL-series User's Manual (M109)
Page 46: Rear Bumper
1 Overview Item Description Item Description Scissor Lift Track Rollers (4x) Locking Hole (2x) The Scissor Lift Shield consists of slats attached to the Scissors on either side of the AMR, shield- ing them at each lift position. The image above shows the AMR without the Scissor Lift Shield. CAUTION Do not operate the AMR without shielding the Scissor Lift.
Page 47: Additional Information
1 Overview Item Description Item Description Velcro strap (2x) Battery CAN connector (2x) Anderson Powerpole socket Additional Information The battery is shipped separately from the AMR to comply with dangerous goods shipping reg- ulations. 1-2-9 Charging Station The Charging Station enables the AMR to charge autonomously. The Charging Station is equipped with infrared communication sensors that detect the presence of the AMR and provide communica- tions between the battery and the Charging Station.
Page 48: Wireless Antennas
1 Overview • The Charging Ramp is the charging platform on which the Stationary Coil is mounted. Stationary Coil Charging Ramp Additional Information If you have more than one AMR that use a single Charging Station, make sure that your map contains features such as parking spaces or queuing lanes to accommodate AMRs that are ap- proaching and leaving the charging area.
Page 49: Localization
1 Overview 1-2-11 Localization Localization is the process by which the AMR determines its location within its work environment. Though any two AMR lasers can be configured at a time for localization, the AMR's primary method of localization utilizes the Front Safety Scanners to scan and detect features in its environment. Each drive wheel is equipped with an encoder that sends information to the navigation system about the distance traveled and direction.
Page 50: Autonomous Navigation
1 Overview Autonomous Navigation The AMR combines hardware and mobile-robotics software to provide an adaptive lifting platform to transport a payload. It is equipped with an autonomous navigation system which enables the AMR to navigate and perform its basic functions independently and without the need for facility modification. After it scans the physical features in its environment, the AMR navigates safely and autonomously to any accessible destination.
Page 51: Labels
1 Overview Labels Labels provide important information about the AMR and Charging Station components. Use the fol- lowing information to understand label details and placement locations. 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.
Page 52: Amr Safety And Warning Label Locations
1 Overview Item Name Description Part Number The Battery part number is provided. Product Type The product type is provided. Battery Information Details about the Battery are provided. Production Information The following information is provided. • SN indicates the serial number. •...
Page 53 1 Overview Symbol Meaning Battery leak hazard Electric shock hazard Arc flash hazard 1-19 AMR (Autonomous Mobile Robot) OL-series User's Manual (M109)
Page 54: Part Numbers
1 Overview Part Numbers The AMR and battery part numbers are provided in the table below. Refer to A-1 Parts List on page A-2 for accessories and user-replaceable spare parts. Item Part Number OL-450 S2 AMR 28110-002 OL-450 S3 AMR 28110-003 Battery 28110-201...
Page 55: Accessories
1 Overview Accessories Information about the accessories for the AMR is provided in this section. Precautions for Safe Use For more information about each accessory for the AMR, refer to its original manufacturer's documentation. Precautions for Correct Use It is the end-user's responsibility to perform a risk assessment before implementing any acces- sory to ensure its compatibility with the work environment.
Page 56: Fleet Manager
1 Overview 1-6-5 Fleet Manager To manage and administer multiple AMRs in the same workspace, you must use a Fleet Manager run- ning the Fleet Operations Workspace (FLOW) software. The Fleet Manager is a computing device with a processor capable of running the Fleet Operations Workspace Core suite. For a fleet of AMRs, the Fleet Operations Workspace Core (FLOW Core) software running on a Fleet Manager shares the map between all AMRs in the fleet.
Page 57: Lift Bridge
28110-503). A charger for charging the Lift Bridge battery is available (part number 28110-508). The charger is rated for 220 - 240 V at 50 Hz (Europe only). For other regions, OMRON recommends locally sourced Makita DC18RC Fast Charger. 1-6-8...
Page 58: Mobile I/O Box
1 Overview to all parts of the AMR (including the underside) at a convenient height for completing maintenance procedures. 1-6-10 Mobile I/O Box The Mobile I/O box is a small external unit that interfaces with an AMR or fleet of AMRs wirelessly. It can be used to: 1.
Page 59: Cycle Time Optimization
1 Overview 1-6-12 Cycle Time Optimization Cycle Time Optimization is an optional software feature that promotes higher efficiency by eliminating delays. Included in the license is Seamless Motion, a feature that allows the AMR to complete a job and accept the next without stopping. Also included are path caching algorithms that maintain and re- use the most efficient routes for additional time savings.
Page 60: Flow Core Software
1 Overview FLOW Core Software The FLOW (Fleet Operations Workspace) Core software package consists of different software com- ponents that provide specific functionality during AMR configuration and operation. The information in this section provides an overview of the different FLOW Core software components, their functions, and interactions within the AMR system.
Page 61: System Requirements
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 62: Setnetgo Software
Refer to the Mobile I/O Box User's Manual (Cat. No. I677) for more information. Integration Toolkit (ITK) 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).
Page 63: Driving And Navigation Software
1 Overview  ARCL Programming Language The Advanced Robotics Command Language (ARCL) is a programming language integrated into the AMR control system. Its operating format is a text-based command and response server. Use ARCL to integrate one or more AMRs into an external automation system. You do not need access to MobilePlanner to use ARCL.
Page 64: Payload Considerations
1 Overview Payload Considerations This section describes considerations and requirements for AMR payloads. A payload is considered as any item(s) that are placed on the AMR for the purposes of securing, transporting, and transferring. A payload carrier is required to secure an object during transport. The payload carrier can be a cart, trolley, cage, pallet, or a pick-up and drop-off (P&D) stand.
Page 65 1 Overview • All wheels that may be present on a payload carrier must be the same size. • Ensure the payload carrier is in good condition and free of defects. • Ensure there is no debris or dirt on the underside and wheels of the payload carrier. Careful considerations for the center of gravity and moment of inertia of the payload carrier must be made.
Page 66: Coordinate System
1 Overview Coordinate System AMRs use the X, Y, Z, and Theta coordinate system displayed in the figure below. This information is relevant for identifying which is the left or right side of the AMR. For example, the +X direction is the direction of AMR forward travel.
Page 67: Specifications
Specifications This section provides specifications of the AMR and other associated items. Performance Specifications ................2-2 Lifting Specifications ..................2-3 Physical Specifications ................. 2-4 2-3-1 Dimensions...................... 2-4 2-3-2 Payload Center of Gravity ................2-10 2-3-3 Weights ......................2-11 Environmental Specifications ..............2-12 2-4-1 AMR Environmental Specifications ...............
Page 68: Performance Specifications
2 Specifications Performance Specifications Performance specifications for the AMR are provided below. Specification Item OL-450S2 OL-450S3 Maximum payload capacity 450 kg Run time Full payload: approximately 7 hours No payload: approximately 11 hours Swing radius 685 mm Turn radius 750 mm Maximum translational speed (for- 1200 mm/s ward and sideways)
Page 69: Lifting Specifications
2 Specifications Lifting Specifications The AMR lift mechanism specifications are provided below. Specification Item OL-450S2 OL-450S3 Maximum Lifting Height 308 mm Lifting Speed 40 mm/s Height of Lifting Plate 108 mm Length of Lifting Plate 771 mm 851 mm Width of Lifting Plate 446 mm AMR (Autonomous Mobile Robot) OL-series User's Manual (M109)
Page 70: Physical Specifications
2 Specifications Physical Specifications Physical specification of the AMR and other items are provided below. 2-3-1 Dimensions Dimensional specifications are provided in the following sections. Overall AMR S2 Dimensions The overall dimensions of the AMR model S2 are provided below. 2236 2200 1137...
Page 71 2 Specifications Overall AMR S3 Dimensions The overall dimensions of the AMR model S3 are provided below. 2236 2200 1217 1217 Center of Rotation The dimensions of the AMR center of rotation is provided below. AMR (Autonomous Mobile Robot) OL-series User's Manual (M109)
Page 72 2 Specifications 1137 1217 Rotation Point Rotation Point AMR Model S2 AMR Model S3 Stationary Electronics Dimensions Physical dimensions of the Stationary Electronics are provided below. Ø5.5 Ø12 Stationary Coil Dimensions Physical dimensions of the Stationary Coil are provided below. AMR (Autonomous Mobile Robot) OL-series User's Manual (M109)
Page 73 2 Specifications Charging Ramp Dimensions Physical dimensions of the Ramp are provided below. 2394 2004 (4x) 1000 Fischer Hammerfix plug N5x30 (10x) Fischer Hammerset anchor M8 (10x) 1.3° AMR (Autonomous Mobile Robot) OL-series User's Manual (M109)
Page 74: Battery Dimensions
2 Specifications Distance to Center of Coil Dimensions The following sections provide the dimensions for the distance to the center of the Mobile and Station- ary Coils.  Distance to Center of Mobile Coil The dimensions for the distance to the center of the Mobile Coil (AMR) in the charging position are provided below.
Page 75 2 Specifications 151.5 Payload Carrier Dimensions Physical dimensions of the payload carrier are provided below. 2000 max. 1000 max. Center of Gravity 125 min. Width 190 max. dependent on stability 486 min. AMR (Autonomous Mobile Robot) OL-series User's Manual (M109)
Page 76: Payload Center Of Gravity
2 Specifications Positioning Pin Mounting Hole Dimensions Positioning Pin mounting hole dimensions are provided below. Refer to the image below for the AMR S2 model mounting hole dimensions. max. (6x) Refer to the image below for the AMR S3 model mounting hole dimensions. max.
Page 77: Weights
2 Specifications • If the payload is tall and also has substantial weight, consider the effect on the AMR's center of gravity. • Tipping hazards are more likely if the payload center of gravity is outside the recommended specifi- cations. The following figure provides information about the payload's center of gravity allowable limits.
Page 78: Environmental Specifications
2 Specifications Environmental Specifications Environmental specifications are provided in the following sections. 2-4-1 AMR Environmental Specifications Environmental specifications for the AMR are provided below. Item Specification Ambient operating temperature 5 to 40°C Storage temperature -20 to 60°C Operating / storage humidity 5% to 95%, non-condensing Altitude 2000 m maximum...
Page 79: Charging Station Environmental Specifications
2 Specifications 2-4-2 Charging Station Environmental Specifications Environmental specifications for the Stationary Electronics are provided below. Item Specification Ambient operating temperature -10 to 40°C Storage temperature -20 to 55°C Relative humidity 0 to 95%, non-condensing Altitude 2000 m maximum Pollution degree Noise 55 dB(A) Ingress protection...
Page 80: Other Specifications
2 Specifications Other Specifications Other specifications are provided in the following sections. 2-5-1 Laser Specifications Specifications for the lasers are provided below. Item Scanning Plane Scanning Class Front Safety Scan- Horizontal plane 105 mm from floor surface to Class 1M in accordance with the fol- ners a range of 40 m.
Page 81: Additional Information
2 Specifications Item Specification Output voltage 28 VDC (nominal) 60 VDC (maximum) 15 VDC (minimum) Maximum output power 3 kW Maximum output current 60 A Charging time 45 minutes (approx.) Electrical interface specifications for the Stationary Electronics are provided below. Item Specification 5-pole M12 connector...
Page 82 2 Specifications Safety Reset Safety Function Description Category PFHd Stop Type Type Front Safety Scan- Protective Auto- If an obstacle intrudes in- 1.00 x 10 ner Detection Stop matic to the safety zones, the Reset Front Safety Scanner (s) will trigger a protective stop (category 1 stop).
Page 83: Stopping Distance And Time
2 Specifications 2-5-6 Stopping Distance and Time The Stopping Distance and Time test has been performed for the AMR. For this evaluation, the AMR drove towards an obstacle with the path planning and obstacle avoidance features disabled. The AMR navigated to a stop using only the safety system. For the duration of this test, the AMR was monitored by a motion capture system that measured the time elapsed and distance traveled as the AMR came to a stop.
Page 84 2 Specifications Stopping Time (Straight Motion) Stopping Distance Zone Pair Transition 1000 1200 Velocity (mm/s) Stopping Distance (Lateral Motion) Stopping Distance 1400 Zone Pair Transition 1200 1000 1100 1000 1200 Velocity (mm/s) 2-18 AMR (Autonomous Mobile Robot) OL-series User's Manual (M109)
Page 85: Wireless Specifications
2 Specifications Stopping Time (Lateral Motion) Stopping Distance Zone Pair Transition 1000 1200 Velocity (mm/s) 2-5-7 Wireless Specifications Wireless network specifications for the AMR are provided below. Item Description Signal Strength The minimum required signal strength is -60 dBm. Channel Interference No more than two detectable access points at a level of -85 dBm at any given location.
Page 86 2 Specifications Item Specification 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° to 35°C ture Ingress Protection IP21 Weight 3.5 kg 2-20 AMR (Autonomous Mobile Robot) OL-series User's Manual (M109)
Page 87: Installation
Installation This section describes how to install and configure the AMR for operation. Installation Introduction ................3-2 Charging Station Installation ................ 3-4 3-2-1 Floor Conditions ....................3-5 3-2-2 Mount the Stationary Electronics..............3-5 3-2-3 Install the Charging Ramp................3-5 3-2-4 Install Stationary Coil on Charging Ramp ............
Page 88: Installation 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 89 3 Installation Configure the network connections. Refer to 3-5 Network Connections on page 3-18 for more information. Install any optional items. Refer to 1-6 Accessories on page 1-21 for more information. Generate a map for the AMR. Refer to 3-9 Map Creation Overview on page 3-25 for more information. AMR (Autonomous Mobile Robot) OL-series User's Manual (M109)
Page 90: Charging Station Installation
3 Installation Charging Station Installation Make the following considerations before installing the Charging Station. • The charging zone must be clearly marked with floor/ground markings. • Mount the Stationary Electronics in a safe, dry place and out of direct sunlight. •...
Page 91: Floor Conditions
3 Installation 3-2-1 Floor Conditions The floor on which the Charging Ramp (with the Stationary Coil) is mounted must be flat, stable, clean, and dry. Avoid liquids (water) on the floor where the Stationary Coil and cables are located as this may damage the coil.
Page 92: Installation Procedure
• The Charging Ramp consists of three plates which need to be assembled first and then installed on the floor. • The screws to secure the Charging Ramp to the floor must be provided by the user. OMRON recom- mends using anchors for the screws. Refer to Charging Ramp Dimensions on page 2-7 for more information about the Charging Ramp dimensions and hole specifications.
Page 93 3 Installation Align and place plate 2 over the dowel pins on plate 1 and press down. Place the four short dowels on the holes and press down. Align and place plate 3 over the dowel pins on plate 2 and press down. The Charging Ramp is now assembled.
Page 94: Install Stationary Coil On Charging Ramp
3 Installation Position the Charging Ramp on the floor by aligning all ten holes on the Charging Ramp with the holes on the floor. Insert and tighten all ten screws to secure the Charging Ramp to the floor. This concludes the procedure. 3-2-4 Install Stationary Coil on Charging Ramp Follow the procedure below to install the Stationary Coil on the Charging Ramp.
Page 95: Electrical Connections
3 Installation Insert the screws and tighten to secure the covers for the Stationary Coil and the cable to the Charging Ramp. This completes the procedure. 3-2-5 Electrical Connections Make the following considerations before connecting the Stationary Electronics to facility AC power and to the Stationary Coil.
Page 96: Connection Procedure
3 Installation Connection Procedure Follow the procedure below to connect the Stationary Electronics to facility AC power and to the Sta- tionary Coil. Callout Connector CAN socket IrDa socket Coil connection Retaining bracket AC input socket Connect the square plug from the Stationary Coil to the coil connection socket (3) on the Sta- tionary Electronics.
Page 97 3 Installation Coil Hazard Zone Strong magnetic fields occur around the coils while charging. These magnetic fields can pose a health hazard to personnel. Do not allow personnel to enter this zone while charging is in progress. Keep the charging area floor clean and clear of any conducting objects (metals, carbon, etc.) to pre- vent them from coming between the Stationary and Mobile Coils.
Page 98: Charging Station Commissioning
3 Installation 3-2-7 Charging Station Commissioning Make the following considerations before commissioning the Charging Station. • Ensure all the precautions and procedural steps listed in 3-2-5 Electrical Connections on page 3-9 are followed. • Ensure the facility AC power cable is connected to the Stationary Electronics. •...
Page 99: Battery Installation
3 Installation 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. WARNING Do not damage the battery by subjecting it to impacts or shocks.
Page 100 3 Installation Refer to 6-9-1 Removing and Replacing Skins on page 6-23 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 101 3 Installation 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. 3-15 AMR (Autonomous Mobile Robot) OL-series User's Manual (M109)
Page 102 3 Installation Replace the Front Skin and tighten the two machine locks to complete this procedure. 3-16 AMR (Autonomous Mobile Robot) OL-series User's Manual (M109)
Page 103: Control Strip Connections
3 Installation Control Strip Connections The following information describes the connectors and port in the Control Strip of the AMR. These items are typically used when performing configuration or maintenance procedures. 3-4-1 Service Charger Connection The Anderson Powerpole 2-pole (small PP15/30/45) panel connector is typically used for connecting the Service Charger.
Page 104: Network Connections
3 Installation Network Connections Wireless and wired networks are available on the AMR. The wired network is typically used for initial configuration and troubleshooting. The wireless network is typically used during normal operation and can also be used for maintenance and troubleshooting. Use the information in this section to configure the network settings of the AMR.
Page 105: Wireless Connection
3-5-3 Wireless Connection OMRON recommends wireless connectivity for a single AMR operating in a workspace, though it can operate temporarily without a wireless network. A wireless connection is required when the AMR is op- erating in a workspace with other AMRs. You must use a wired connection to access SetNetGo for the initial wireless connection configuration.
Page 106: Wireless Considerations
3 Installation Item Details Security Encryption Disabled TKIP/RC4 CCMP/AES TKIP/CCMP/AES Authentication OPEN (not recom- Method mended) WPA2-PSK Key is either: Passphrase (8-63 ASCII only) Raw Hex (64 Hex-on- WPA-PSK Key is either: Passphrase (8-63 ASCII only) Raw Hex (64 Hex-on- •...
Page 107 3 Installation • A signal strength of > -40 dBm is the ideal wireless signal strength. A signal strength of -60 dBm is the recommended minimum. • Do not obstruct the wireless antenna areas with metal or other objects that can degrade the signal. Refer to 1-2 Features and Components on page 1-5 for more information about the location of wire- less antennas.
Page 108: Payload Carrier Mounting Points
3 Installation Payload Carrier Mounting Points Six payload carrier mounting points are provided on the Lifting Plate of the AMR. Positioning pins can be installed on the mounting holes of the AMR. Alignment hardware can be added to these positioning pins to ensure the correct positioning of the payload carrier.
Page 109: Attaching Warning Labels
3 Installation Attaching Warning Labels A laser warning label is provided with the AMR. The label should be placed where the operators will see it and must be visible from at least two opposing sides of the AMR. All other warning labels are attached at the factory.
Page 110: Amr Commissioning
3 Installation AMR Commissioning Although the AMR is commissioned at the factory, the user must perform commissioning as part of the initial setup upon receipt. The AMR must be commissioned before it can operate autonomously. Commissioning is used to confirm the correct operation of the following equipment and functions: •...
Page 111: Map Creation Overview
3 Installation Map Creation Overview A map is a scanned representation of the floor plan in the AMR's operating space. Maps contain the static features in the AMR's environment, such as walls, doors, permanent shelving, etc. They also contain user-definable sectors, lines, and areas that help the AMR perform its Job. Maps also contain a variety of Goals, Routes, and Tasks that comprise the destinations and activities of the AMR in the workspace.
Page 112: Basic Mapping Tasks
AMRs. To maintain optimal performance of all AMRs in a mixed fleet, gener- ate a map using the OL-series AMR and merge it with an existing map created by another OMRON AMR in the fleet.
Page 113: Operation
Operation This section provides information about the operation of the AMR. Payload Movement and Transfer ..............4-3 4-1-1 Payload Detection and Monitoring ..............4-3 Overhanging Payloads .................. 4-5 AMR Start-up ....................4-6 4-3-1 AMR Start-up Procedure ................. 4-6 AMR Shut-down Procedure................4-8 Workspace ......................
Page 114 4 Operation 4-14 Manually Moving the AMR................4-31 4-14-1 Safety Considerations ................... 4-31 4-14-2 Moving AMR with Lifting Plate Up ..............4-32 4-14-3 Moving AMR with Lifting Plate Down ............4-37 4-15 Protective Stops ................... 4-40 4-16 Emergency Stop ................... 4-41 4-16-1 Emergency Stop Recovery Procedure ............
Page 115: Payload Movement And Transfer
It is the user's responsibility to procure additional laser scanner(s) and determine an appropriate mounting location and method. The following is a list of OMRON recommended laser scanners for payload detection and monitoring. • Hokuyo UST • TiM 551 / 561 •...
Page 116 4 Operation Precautions for Correct Use Select the right sensors to detect that the payload is in the right position. AMR (Autonomous Mobile Robot) OL-series User's Manual (M109)
Page 117: Overhanging Payloads
4 Operation Overhanging Payloads OMRON recommends that you use payload carriers that conform to the size restrictions specified in this manual. Refer to Payload Carrier Dimensions on page 2-9 for more information. If your payload carrier is wider than 800 mm, you will need to increase the dimensions of the AMR's safety zones.
Page 118: Amr Start-Up
4 Operation 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 4-10 Charging AMR Battery on page 4-20 for more in- formation.
Page 119 4 Operation 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 User's Manual (M109)
Page 120: Amr Shut-Down Procedure
4 Operation 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 121: Workspace
4 Operation Workspace The workspace is considered to be any area where the AMR will travel. It must be carefully evaluated and prepared before the AMR is placed into operation. Use the information below to adapt your work- space for optimal AMR performance. The workspace must be flat, level floor with no steps or inclined surfaces, free of clutter and debris, and have adequately wide doorways and corridors to allow navigation by an AMR.
Page 122: Operating Zone
• Observe the maximum gap traversal details provided in this manual. Refer to 2-4-1 AMR Environ- mental Specifications on page 2-12 for more information. • Frequent driving over gaps will shorten the lifespan of the drivetrain components. OMRON recom- mends rectifying floor gaps.
Page 123: Restricted Zones
4 Operation You must make these areas visually distinct. Personnel that will work near these zones must be trained and informed about your chosen method used to make hazard zones visually distinct. 4-5-3 Restricted Zones Restricted zones are areas of inadequate clearance which cannot be protected by the AMR detection devices.
Page 124: Logical Barriers
4 Operation 4-5-5 Logical Barriers In addition to physical barriers, use MobilePlanner to create Forbidden Areas or Lines as logical barri- ers on the workspace map to prevent AMRs from closely approaching a fall hazard. These map fea- tures assume proper AMR localization. These restrictions must be continuous so that the AMR cannot plan a path around the logical barrier.
Page 125 4 Operation Situation Risk Mitigation Image • AMR drives in the operat- Risk of entrap- Personnel should avoid ing hazard zone where ment. this zone as much as there is less than 500 mm possible. between the side of the •...
Page 126 4 Operation Situation Risk Mitigation Image • The AMR sets down or The AMR’s safe- Personnel should be picks up a payload. ty system is dis- trained on proper use abled (during of the AMR and AMR loading, unload- safety. •...
Page 127: Clearances
4 Operation Clearances The AMR must operate in an environment that is generally flat, with no doors or other restricted areas that are too narrow for the AMR to pass through. The AMR is designed to operate in environments that contain doors, passageways, or other constrained areas that are wide enough for it to traverse. You must ensure that adequate clearance is maintained on each side of the AMR, so that a person cannot get trapped between the AMR and a wall or other fixed object.
Page 128 4 Operation 1700 Dock Goal Charging Station Operating areas where the clearance between the AMR and its surroundings is 500 mm or less are considered hazard zones. You must make these areas visually distinct. Personnel that will work near these zones must be trained and informed about your chosen method used to make docking area haz- ard zones visually distinct.
Page 129: Narrow Passageway Behavior (Linear)
4 Operation Narrow Passageway Behavior (Line- The AMR can operate at its maximum speed (1200 mm) through a 2000 mm wide passageway. It will travel at a slower speed when traversing through a passageway less than 2000 mm wide. The practical minimum width for a passageway is 1300 mm. The most narrow passageway it can tra- verse is 1200 mm wide.
Page 130: Minimum Lane Width
AMRs to slow down when traveling in the area in close proximity to one another. The minimum lane width requirement will increase if the AMRs are transporting extra-wide payload carriers or if an OL-series AMR is operating with another OMRON AMR such as an MD-series or HD AMR. 1900 mm...
Page 131: Immobilization
4 Operation Immobilization In rare circumstances, it is possible for the AMR to become physically immobilized in a position from which it cannot move without operator assistance. Immobilization may also occur from a low battery or AMR error. WARNING Immobilization might cause motors in the AMR to overheat, resulting in a fire. Refer to the following sections for information about recovering from immobilization.
Page 132: Charging Amr Battery
4 Operation 4-10 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 133 4 Operation WARNING Do not allow liquids of any kind to come in contact with the Stationary or Mobile Coil. WARNING The Charging Station transfers high electric power, and contains hazardous voltage. The user must take necessary precautions when working near the Charging Station, and follow appropriate Lock-Out, Tag-Out (LOTO) instructions prior to any mainte- nance work done on the Charging Station.
Page 134: Charging Battery For The First Time
Charging Battery for the First Time OMRON recommends that you charge the battery immediately after unpacking and installing the bat- tery in the AMR for the first time. The battery is shipped with 30% state of charge (SOC) and discharg- ing may have occurred during transport.
Page 135 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 136: Autonomous Charging
4 Operation LED Indicators Power Button Service Power Charger Cable Cable Connect the power cable of the Service Charger to a wall socket. Press the Power button on the Service Charger. The AMR battery begins charging. The LED indicators on the Service Charger show the battery SOC. The charging process takes approximately 2.5 hours to complete.
Page 137: Balancing The Battery
4 Operation CAUTION Beware of entrapment danger when the AMR moves backwards during docking. En- trapment danger exists between the payload carrier and the AMR. Ensure the battery SOC does not fall below 10%. If the battery level becomes too low or absolutely depleted, the AMR is immobilized and autonomous charging will not be possible.
Page 138: Storing Batteries
4 Operation Set the AMR's DockUntilDoneCharging parameter to True to balance the battery every time the AMR engages the Docking Target. In this mode, the battery will typically take about 15 additional minutes to balance after charging. Additional Information If the AMR's DockUntilDoneCharging parameter is set to False while the StateOfChargeTo- ChargeTo and MinutesToChargeFor parameters are both set to a default value of 0, the AMR will never leave the Charging Station.
Page 139: Lift Mechanism
4 Operation 4-11 Lift Mechanism The AMR's lifting mechanism is designed to raise and lower a payload carrier during pick-up and drop- off operations. The Lifting Plate (or deck) height can be controlled with Tasks and Macros configured in MobilePlan- ner.
Page 140: Lateral Motion
4 Operation 4-12 Lateral Motion The AMR is capable of moving laterally (sideways) to transport the load. You can control the AMR’s lateral motion using the LateralMovetask in MobilePlanner. For the lateral distance traversed by the AMR, use the LateralDistance parameter. Specifying positive values will move the AMR to the left while negative values will move it to the right.
Page 141: Control Strip
4 Operation 4-13 Control Strip The following sections describe the functions of the Maintenance Ethernet Port, Main Disconnect Switch and Mode Selection Switch in operating the AMR. 4-13-1 Maintenance Ethernet Port Use the maintenance Ethernet port to connect a PC directly to the AMR when using software for con- figuration or troubleshooting.
Page 142 4 Operation Switch Position Description AUTO Normal operational state. The AMR can be controlled by either the Fleet Manag- er or MobilePlanner. The Power LED is on. PAUSE Operational pause. Selecting this option brings the AMR to a stop without en- gaging the safety circuit.
Page 143: Manually Moving The Amr
4 Operation 4-14 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 144: Moving Amr With Lifting Plate Up
4 Operation 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 145 4 Operation • 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 4-8. • Ensure a fully charged battery is installed in the Lift Bridge. Precautions for Safe Use •...
Page 146 4 Operation 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 147 4 Operation 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 148 4 Operation 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 149: Moving Amr With Lifting Plate Down
4 Operation 4-14-3 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 150 4 Operation 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 151 4 Operation 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. The Manual Mover is now at the correct level to be detached from the AMR.
Page 152: Protective Stops
4 Operation 4-15 Protective Stops Protective stops are initiated by the AMR in response to its environment. When a protective stop is triggered, the AMR decelerates to a stop at the maximum allowed rate. It then removes power to its motors and engages the brakes.
Page 153: Emergency Stop
4 Operation 4-16 Emergency Stop An emergency stop (E-STOP) is initiated usually for safety reasons either by pressing the E-STOP button or by pressing the Rear Bumper. When an emergency stop is triggered, the AMR decelerates to a controlled stop, de-energizes the safety outputs, and then disables its motors and engages the brakes.
Page 154: 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 155: Light Strips And Signal Lamp States
4 Operation 4-18 Light Strips and Signal Lamp States The LED Light Strips located on the front and rear of the AMR and the LED Signal Lamp on the mast provide a visual indication of its operational state. The LEDs can display one of the following states. •...
Page 156: Turning Right
4 Operation LED Signal Front Light Strips Rear Light Strips Lamp Movement Left Right Left Right Lateral mo- Flashing yellow Pulsing blue Flashing yellow Pulsing blue tion to the light light light light left 4-18-5 Turning Right In preparation for and during a right turn, the following light patterns are displayed. LED Signal Front Light Strips Rear Light Strips...
Page 157: Booting
4 Operation LED Signal Front Light Strips Rear Light Strips Lamp Movement Left Right Left Right Charging Green light moving in front-to-back Green light moving in front-to-back Flashing green pattern according to the current bat- pattern according to the current bat- light tery state of charge tery state of charge...
Page 158: Lost
4 Operation 4-18-13 Lost When the AMR is lost, the following light pattern is displayed. LED Signal Front Light Strips Rear Light Strips Lamp Movement Left Right Left Right Lost Repeated cyclical pattern of orange Repeated cyclical pattern of orange Repeated cycli- light light...
Page 159: Warning Buzzer
4 Operation 4-19 Warning Buzzer The AMR has a warning buzzer that provides an audible alert during certain operating conditions. CAUTION Changing warning buzzer parameter values might make the AMR unsafe and affect its compliance to safety standards. Refer to the applicable safety standards for your locale before you change any parameter values.
Page 160: Safety Scanner Zones
The safety zones adjust their detection range and shape automatically as the AMR drives forward, sideways, or turns in place. CAUTION OMRON is not responsible for any risks incurred by modifying safety zone sizes or other Front Safety Scanner settings. Additional Information Software-based obstacle protection is used regardless of the AMR speed.
Page 161 4 Operation Safety Zone Pair(s) Operational Conditions Enabled when the AMR is rotating. Refer to Rotating in Place on page 4-77 for more information. Additional Information The following functionalities are not supported for the OL-series AMR. • Switching the AMR footprint for varying payload sizes. •...
Page 162 4 Operation Safety Zone Pair 1 Left Zone 2000 Right Zone Left Laser Right Laser 1000 -1000 -2000 -2000 -1000 1000 2000 AMR X-axis 4-50 AMR (Autonomous Mobile Robot) OL-series User's Manual (M109)
Page 163 4 Operation Safety Zone Pair 2 Left Zone 2000 Right Zone Left Laser Right Laser 1000 -1000 -2000 -2000 -1000 1000 2000 AMR X-axis 4-51 AMR (Autonomous Mobile Robot) OL-series User's Manual (M109)
Page 164 4 Operation Safety Zone Pair 3 Left Zone 2000 Right Zone Left Laser Right Laser 1000 -1000 -2000 -2000 -1000 1000 2000 AMR X-axis 4-52 AMR (Autonomous Mobile Robot) OL-series User's Manual (M109)
Page 165 4 Operation Safety Zone Pair 4 Left Zone 2000 Right Zone Left Laser Right Laser 1000 -1000 -2000 -2000 -1000 1000 2000 AMR X-axis 4-53 AMR (Autonomous Mobile Robot) OL-series User's Manual (M109)
Page 166 4 Operation Safety Zone Pair 5 Left Zone 2000 Right Zone Left Laser Right Laser 1000 -1000 -2000 -2000 -1000 1000 2000 AMR X-axis 4-54 AMR (Autonomous Mobile Robot) OL-series User's Manual (M109)
Page 167 4 Operation Safety Zone Pair 6 Left Zone 2000 Right Zone Left Laser Right Laser 1000 -1000 -2000 -2000 -1000 1000 2000 AMR X-axis 4-55 AMR (Autonomous Mobile Robot) OL-series User's Manual (M109)
Page 168 4 Operation Safety Zone Pair 7 Left Zone 2000 Right Zone Left Laser Right Laser 1000 -1000 -2000 -2000 -1000 1000 2000 AMR X-axis 4-56 AMR (Autonomous Mobile Robot) OL-series User's Manual (M109)
Page 169 4 Operation Safety Zone Pair 8 Left Zone 2000 Right Zone Left Laser Right Laser 1000 -1000 -2000 -2000 -1000 1000 2000 AMR X-axis 4-57 AMR (Autonomous Mobile Robot) OL-series User's Manual (M109)
Page 170 4 Operation Safety Zone Pair 9 Left Zone 2000 Right Zone Left Laser Right Laser 1000 -1000 -2000 -2000 -1000 1000 2000 AMR X-axis 4-58 AMR (Autonomous Mobile Robot) OL-series User's Manual (M109)
Page 171 4 Operation Safety Zone Pair 10 Left Zone 2000 Right Zone Left Laser Right Laser 1000 -1000 -2000 -2000 -1000 1000 2000 AMR X-axis 4-59 AMR (Autonomous Mobile Robot) OL-series User's Manual (M109)
Page 172 4 Operation Safety Zone Pair 11 Left Zone 2000 Right Zone Left Laser Right Laser 1000 -1000 -2000 -2000 -1000 1000 2000 AMR X-axis 4-60 AMR (Autonomous Mobile Robot) OL-series User's Manual (M109)
Page 173 4 Operation Safety Zone Pair 12 Left Zone 2000 Right Zone Left Laser Right Laser 1000 -1000 -2000 -2000 -1000 1000 2000 AMR X-axis 4-61 AMR (Autonomous Mobile Robot) OL-series User's Manual (M109)
Page 174 4 Operation Safety Zone Pair 13 Left Zone 2000 Right Zone Left Laser Right Laser 1000 -1000 -2000 -2000 -1000 1000 2000 AMR X-axis 4-62 AMR (Autonomous Mobile Robot) OL-series User's Manual (M109)
Page 175 4 Operation Safety Zone Pair 14 Left Zone 2000 Right Zone Left Laser Right Laser 1000 -1000 -2000 -2000 -1000 1000 2000 AMR X-axis  Driving Laterally Safety zone pairs 15 to 28 are used when the AMR is driving laterally with the following speeds. Safety Safety Zone Braking Distance...
Page 176 4 Operation Safety Zone Pair 15 Left Zone 2000 Right Zone Left Laser Right Laser 1000 -1000 -2000 -2000 -1000 1000 2000 AMR X-axis 4-64 AMR (Autonomous Mobile Robot) OL-series User's Manual (M109)
Page 177 4 Operation Safety Zone Pair 16 Left Zone 2000 Right Zone Left Laser Right Laser 1000 -1000 -2000 -2000 -1000 1000 2000 AMR X-axis 4-65 AMR (Autonomous Mobile Robot) OL-series User's Manual (M109)
Page 178 4 Operation Safety Zone Pair 17 Left Zone 2000 Right Zone Left Laser Right Laser 1000 -1000 -2000 -2000 -1000 1000 2000 AMR X-axis 4-66 AMR (Autonomous Mobile Robot) OL-series User's Manual (M109)
Page 179 4 Operation Safety Zone Pair 18 Left Zone 2000 Right Zone Left Laser Right Laser 1000 -1000 -2000 -2000 -1000 1000 2000 AMR X-axis 4-67 AMR (Autonomous Mobile Robot) OL-series User's Manual (M109)
Page 180 4 Operation Safety Zone Pair 19 Left Zone 2000 Right Zone Left Laser Right Laser 1000 -1000 -2000 -2000 -1000 1000 2000 AMR X-axis 4-68 AMR (Autonomous Mobile Robot) OL-series User's Manual (M109)
Page 181 4 Operation Safety Zone Pair 20 Left Zone 2000 Right Zone Left Laser Right Laser 1000 -1000 -2000 -2000 -1000 1000 2000 AMR X-axis 4-69 AMR (Autonomous Mobile Robot) OL-series User's Manual (M109)
Page 182 4 Operation Safety Zone Pair 21 Left Zone 2000 Right Zone Left Laser Right Laser 1000 -1000 -2000 -2000 -1000 1000 2000 AMR X-axis 4-70 AMR (Autonomous Mobile Robot) OL-series User's Manual (M109)
Page 183 4 Operation Safety Zone Pair 22 Left Zone 2000 Right Zone Left Laser Right Laser 1000 -1000 -2000 -2000 -1000 1000 2000 AMR X-axis 4-71 AMR (Autonomous Mobile Robot) OL-series User's Manual (M109)
Page 184 4 Operation Safety Zone Pair 23 Left Zone 2000 Right Zone Left Laser Right Laser 1000 -1000 -2000 -2000 -1000 1000 2000 AMR X-axis 4-72 AMR (Autonomous Mobile Robot) OL-series User's Manual (M109)
Page 185 4 Operation Safety Zone Pair 24 Left Zone 2000 Right Zone Left Laser Right Laser 1000 -1000 -2000 -2000 -1000 1000 2000 AMR X-axis 4-73 AMR (Autonomous Mobile Robot) OL-series User's Manual (M109)
Page 186 4 Operation Safety Zone Pair 25 Left Zone 2000 Right Zone Left Laser Right Laser 1000 -1000 -2000 -2000 -1000 1000 2000 AMR X-axis 4-74 AMR (Autonomous Mobile Robot) OL-series User's Manual (M109)
Page 187 4 Operation Safety Zone Pair 26 Left Zone 2000 Right Zone Left Laser Right Laser 1000 -1000 -2000 -2000 -1000 1000 2000 AMR X-axis 4-75 AMR (Autonomous Mobile Robot) OL-series User's Manual (M109)
Page 188 4 Operation Safety Zone Pair 27 Left Zone 2000 Right Zone Left Laser Right Laser 1000 -1000 -2000 -2000 -1000 1000 2000 AMR X-axis 4-76 AMR (Autonomous Mobile Robot) OL-series User's Manual (M109)
Page 189 4 Operation Safety Zone Pair 28 Left Zone 2000 Right Zone Left Laser Right Laser 1000 -1000 -2000 -2000 -1000 1000 2000 AMR X-axis  Rotating in Place Safety zone pair 29 is used when the AMR rotates in place. Safety Max.
Page 190 4 Operation Safety Zone Pair 29 Left Zone 2000 Right Zone Left Laser Right Laser 1000 -1000 -2000 -2000 -1000 1000 2000 AMR X-axis 4-78 AMR (Autonomous Mobile Robot) OL-series User's Manual (M109)
Page 191: Motion Limits
4 Operation 4-21 Motion Limits An AMR has default limits on its maximum linear and rotational acceleration, deceleration, and speed for safety purposes. Changing these limits might affect the AMR's stability, depending on the center of gravity of the combined AMR and its payload. WARNING While it is possible to generally reduce AMR deceleration settings for normal opera- tion, the maximum deceleration used in the case of emergency stops, or stops due to...
Page 192: Back Up And Restore The Amr
4 Operation 4-22 Back up and Restore the AMR The following sections provide information about backing up and restoring the AMR. The AMR configuration may need to be restored from a backup file under special circumstances, such as if the AMR PC has been replaced or if an AMR needs to be re-purposed with a different configura- tion.
Page 193: Configuration File Backup
4 Operation Configuration File Backup SetNetGo provides a restore option to revert the AMR to a backed up configuration file. This method restores only user-defined software settings on the Configuration Tab. Use the following procedure to back up an AMR configuration file. Click the Configuration Icon to open the Configuration Tab in MobilePlanner.
Page 194: Restoring The Amr
4 Operation Click Save to complete the procedure. Debug Info File Backup SetNetGo provides a restore option to revert an AMR to a backed up Debug Info .zip folder saved on a PC. This provides an alternate backup location compared to a Restore-Point. This method will revert the ARAM and AMR settings on the Configuration Tab and the last 10 saved maps to the saved De- bug Info parameters.
Page 195 4 Operation Revert to a Restore-Point SetNetGo provides a restore option to revert the AMR to a user-defined Restore-Point. You can revert to a Restore-Point from the System Tab's Backup & Restore Options in SetNetGo. Click the Restore Now Button to revert to a saved Restore-Point. Additional Information The MobilePlanner connection will be terminated when reverting to a Restore-Point.
Page 196 4 Operation  Revert to Previous Configuration SetNetGo provides a restore option to revert the AMR to its previous configuration settings by click- ing the Revert to Previous Configuration Button. This method reverts the ConfigurationTab to its previous settings before a change was made. Changes could include uploading a new Configu- ration file or reverting to default values.
Page 197 4 Operation Select the type of configuration file and what sections to import. Click OK to confirm the import. Save MobilePlanner using File > Save to upload the configuration to the AMRs. An asterisk will be present on the Configuration tab, which will clear when saving is complete. If no errors occur during importing or saving, the procedure is complete.
Page 198 4 Operation 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. 4-86 AMR (Autonomous Mobile Robot) OL-series User's Manual (M109)
Page 199: Setnetgo Recovery Mode
4 Operation Hovering the mouse over each button will open a tooltip with more information. • Restore all Settings button: Use this operation to restore all settings in the selected DebugInfo file to this robot PC. This feature is useful if you replace the robot PC hardware. You must update the WiFi security credentials (such as PSK and certificates) after you re- store the PC.
Page 200 4 Operation Recovery Option Details Reset Entire ARAM Config Resets the ARAM configuration settings to remove all defaults. Con- figuration settings will need to be restored after exiting Recovery Mode. MobilePlanner can then be used to set the appropriate Robot_Type. Low-Level Factory Reset Removes all SetNetGo and ARAM configuration settings.
Page 201 4 Operation Wait approximately 30 seconds and then refresh the page after entering Recovery Mode. The SetNetGo Recovery Mode URL changes from HTTPS:// to HTTP://. After refreshing, the following will be displayed on the top bar to confirm the AMR is in Recov- ery Mode.
Page 202 4 Operation Confirm on the dialog box that pops up that you wish to reboot and disconnect all connections. Wait for a message to appear stating that the change was made successfully. Power cycle the AMR (push the OFF button and then push the ON button) or reboot the AMR using the Reboot Button under the Upload new OS Menu.
Page 203: Emergency Situations
4 Operation 4-23 Emergency Situations In case of an emergency such as a fire or collision, you should stop the AMR quickly and safely. If the emergency situation is near the Charging Station, you must turn OFF the facility AC power to the Sta- tionary Electronics.
Page 204 4 Operation 4-92 AMR (Autonomous Mobile Robot) OL-series User's Manual (M109)
Page 205 Troubleshooting This section provides troubleshooting information. Collecting Troubleshooting Information ............5-2 Stationary Electronics Problems ..............5-3 Battery Problems ................... 5-5 5-3-1 Low Battery Recovery ..................5-5 5-3-2 Battery Charging Problems ................5-5 5-3-3 Leaking Batteries..................... 5-6 Exposure to Liquids..................5-7 AMR Start-up Problems .................
Page 206: Collecting Troubleshooting Information
5 Troubleshooting Collecting Troubleshooting Informa- tion Troubleshooting information can be collected from the AMR by downloading a Debug Info File using SetNetGo. This is a collection of configuration, log, and system status files that support personnel can use for debugging and troubleshooting. Use the following procedure to download a Debug Info File for troubleshooting or diagnostic purposes.
Page 207: Stationary Electronics Problems
This affects both coils and Stationary Electronics. may also detect grounding fault on 2. Check Stationary Electronics and the Stationary side. Stationary Coil for possible shorts to ground. 3. Contact OMRON Service repre- sentative. AMR (Autonomous Mobile Robot) OL-series User's Manual (M109)
Page 208 2-4-2 Charging Station Environ- mental Specifications on page 2-13 for more information. 2. Power OFF Stationary Electron- ics and let it cool down. 3. Contact OMRON Service repre- sentative. Green flashing rapidly, yellow Mobile side fault. 1. Power OFF and Power ON the steady, red steady AMR.
Page 209: Battery Problems
AVERTISSEMENT: Risque d’incendie - Aucune des pièces ne peut être. WARNING There are no serviceable parts in battery. Only licensed / certified personal can re- place the battery and it can only be with an OMRON factory-supplied battery intended for use in the AMR. Precautions for Safe Use In case of fire, use a type ABC or type BC dry chemical fire extinguisher.
Page 210: Leaking Batteries
5 Troubleshooting • Many battery charging problems are caused by incorrect Stationary Electronics electrical connec- tions during installation. Confirm that the wiring between the Stationary Electronics, the Stationary Coil, and facility AC power is correct if battery charging problems occur. Refer to 3-2 Charging Sta- tion Installation on page 3-4 for more information.
Page 211: Exposure To Liquids
5 Troubleshooting 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. AMR (Autonomous Mobile Robot) OL-series User's Manual (M109)
Page 212: Amr Start-Up Problems
• Check the battery's SOC% through MobilePlanner to ensure sufficient power is available. • Check that the skins are in place and fastened correctly. If the AMR does not start-up after the actions above, contact your local OMRON representative. AMR (Autonomous Mobile Robot) OL-series User's Manual (M109)
Page 213: Circuit Breaker Panel
5 Troubleshooting Circuit Breaker Panel Use the following information to understand circuit breaker functionality. -24F1 -25F4 -25F5 -25F1 -35F1 -35F2 -35F7 -36F1 -36F2 -40F6 -70F1 -36F7 -50F0 -75F1 Label Rating Function 24F1 16 A Service Charger input 25F4 12 V PC power 25F5 12 V LEDs 25F1...
Page 214: Localization Problems
5 Troubleshooting Localization Problems Localization problems may occur that affect navigation, accuracy, or repeatability during AMR opera- tion. Take the following actions to improve or correct localization: • If the AMR becomes lost, use the localization feature in MobilePlanner to relocalize the AMR. •...
Page 215: Other Amr Problems
5 minutes, and then turn the AMR ON. Battery problem. Refer to 5-3 Battery Problems on page 5-5 for more information. If battery will not charge, contact your local OMRON representative. 5-11 AMR (Autonomous Mobile Robot) OL-series User's Manual (M109)
Page 216 5 Troubleshooting 5-12 AMR (Autonomous Mobile Robot) OL-series User's Manual (M109)
Page 217 Maintenance This section describes periodic maintenance and user-serviceable parts replacement for the AMR and the Charging Station. Maintenance Introduction................6-2 AMR Lock-out Tag-out Procedure ..............6-3 Charging Station Lock-out Tag-out Procedure ........... 6-4 Lifting the AMR....................6-5 Mounting the AMR on Work Bench .............. 6-7 6-5-1 Mounting Procedure ..................
Page 218: Maintenance Introduction
AMRs. WARNING • Use only the specified tools, equipment, cleaners, and OMRON-supplied spare parts to service and maintain the AMR and Charging Station according to the speci- fied service interval. Failure to do so could result in an unsafe operating state than might result in injury to person or damage to property.
Page 219: Amr Lock-Out Tag-Out Procedure
6 Maintenance AMR Lock-out Tag-out Procedure Use the following procedure to execute Lock-out Tag-out before performing any maintenance or instal- lation work on the AMR. Shut down the AMR. Refer to 4-4 AMR Shut-down Procedure on page 4-8 for more informa- tion.
Page 220: Charging Station Lock-Out Tag-Out Procedure
6 Maintenance Charging Station Lock-out Tag-out Procedure Use the following procedure to execute Lock-out Tag-out before performing any maintenance or instal- lation work on the Charging Station. Disconnect the cable connections between the Stationary Electronics and the Stationary Coil. Refer to Connection Procedure on page 3-10 for more information. Remove the retaining bracket and disconnect the AC input connector and cable from the Sta- tionary Electronics.
Page 221: Lifting The Amr
Perform the appropriate Lock-out Tag-out procedures. Refer to 6-2 AMR Lock-out Tag-out Procedure on page 6-3 for more information. Attach the OMRON-supplied Lifting Rings to the locations shown in the figure below. AMR (Autonomous Mobile Robot) OL-series User's Manual (M109)
Page 222 6 Maintenance 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 223: Mounting The Amr On Work Bench
6 Maintenance Mounting the AMR on Work Bench The Work Bench (part number 28110-504) is a sturdy table with adjustable height used for performing maintenance tasks for the AMR. Item Description Mounting Rods for holding the AMR Locking Pins to secure the Mounting Rods at desired height Bolts to secure the legs at desired height Leg with foot pad to securely fix the Work Bench on the floor A fully-assembled Work Bench is shipped.
Page 224: Mounting Procedure
6 Maintenance 6-5-1 Mounting Procedure Follow the procedure below to mount the AMR on the Work Bench. Prepare the Work Bench by adjusting each mounting rod to the desired height. Ensure all the four mounting rods are at the same level and the locking pins are in place to fix them.
Page 225 6 Maintenance After completing the maintenance task, lift the AMR off the Work Bench and place it carefully on the floor. AMR (Autonomous Mobile Robot) OL-series User's Manual (M109)
Page 226: Removing And Mounting The Lifting Plate
6 Maintenance Removing and Mounting the Lifting Plate Follow the procedure below to remove and mount the Lifting Plate. A hex bit size 6 and torque wrench are required for this procedure. Position the Lifting Plate at the highest point using MobilePlanner. Refer to 4-11 Lift Mechanism on page 4-27 for more information.
Page 227 6 Maintenance After completing your maintenance task, position the Lifting Plate and Rubber Strips on the lift- ing frame. Tighten the six socket-head screws to a torque of 10 N-m. Power-ON the AMR. Refer to 4-3-1 AMR Start-up Procedure on page 4-6 for more information. Lower the Lifting Plate using MobilePlanner to complete this procedure.
Page 228: Maintenance Tasks And Schedule
Skins on page 6-23 for more infor- mation. Inspect Rear Bumper Visual and Service Daily Check the Rear Bumper for any damage. Contact OMRON for re- placement. Charging Zone Visual and actionable Daily Check and clear the charging area of any conductive materials such as metal or carbon.
Page 229: Lubricating The Lifting System
6 Maintenance Item Inspection Method Inspection Frequency Additional Information Wheel Sets Visual and service 6 months Check the Wheel Sets for exces- sive wear, uneven wear, or debris. To replace and calibrate the the Wheel Sets, contact your local OM- RON service representative.
Page 230 6 Maintenance Slide up the maintenance cover (2). Unscrew the six socket-head screws (three on each side) on the Lifting Plate of the AMR and set the screws aside. Remove the Lifting Plate and set aside. Inject one pump of the lubricant into the grease nipple (3) of the Spindle Nut. 6-14 AMR (Autonomous Mobile Robot) OL-series User's Manual (M109)
Page 231 6 Maintenance Slide down the maintenance cover (2). Tighten the screw (1) of the maintenance cover. Place the Lifting Plate back on the platform and tighten the six socket-head screws to complete this procedure. Lubricating the Track Rollers Follow the procedure below to lubricate the Track Rollers. The following items are required for this procedure: •...
Page 232 6 Maintenance Remove the Lifting Plate and set aside. Unscrew the two socket-head screws of each scissor assembly. There are two scissor assemblies on each side of the AMR. Lower the Scissor Lift Shield on each side. Insert a pin into both locking holes to secure the Scissor Lift. 6-16 AMR (Autonomous Mobile Robot) OL-series User's Manual (M109)
Page 233 6 Maintenance Lubricate the inside of the two Track Rollers at the top of the Scissor Lift. Remove the four snap rivets (two on each side) holding the cover plate in place and set them aside. 6-17 AMR (Autonomous Mobile Robot) OL-series User's Manual (M109)
Page 234 6 Maintenance Remove the cover. Lubricate the inside of the two Track Rollers at the bottom of the Scissor Lift. Replace the cover removed in step 10 above and secure with snap rivets. Remove both pins from the locking holes securing the Scissor Lift. Hold the Scissor Lift Shield and pull it up.
Page 235: Safety And Warning Labels
6 Maintenance Place the Lifting Plate on the platform, insert and secure the six socket-head screws on the Lifting Plate. Lower the lifting Plate to complete this procedure. 6-7-2 Safety and Warning Labels Perform periodic checks to ensure safety and warning labels are not damaged or removed. Yellow backings for emergency stop buttons must also remain in place.
Page 236: Cleaning
Do not use organic solvents to clean any part of the AMR unless directed in the clean- ing instructions. Organic solvents might damage electronics resulting in an unsafe op- erating state that could cause injury or damage to equipment. OMRON recommends using the Maintenance Kit from the manufacturer for cleaning supplies.
Page 237: Cleaning Drive Wheels
6 Maintenance OMRON recommends that laser scanners be cleaned at least once every week; however, depending on the environment, the laser may have to be cleaned more often. The following items are required to clean the laser lenses. • Maintenance Kits 1 and 2 (part numbers 28110-506 and 28110-505) or •...
Page 238 6 Maintenance Use a lint-free cloth wetted with isopropyl alcohol to thoroughly clean the drive Wheel Sets. You should also remove any foreign objects embedded in the wheels (such as small rocks, sta- ples, or screws). Lift the AMR out of the Workbench and place it securely on the ground to complete this proce- dure.
Page 239: Replacing Items
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. Remove Front Skin Follow the procedure below to remove the Front Skin from the AMR.
Page 240 6 Maintenance Lift up the Front Skin and remove it to complete this procedure. 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) •...
Page 241: Removing And Replacing Battery
The following section provides details about removal and replacement of the AMR's battery. WARNING There are no serviceable parts in battery. Only licensed / certified personal can re- place the battery and it can only be with an OMRON factory-supplied battery intended for use in the AMR. Precautions for Safe Use Never remove the battery while the AMR is powered ON.
Page 242 6 Maintenance Loosen the four bolts securing the battery to the base plate of the AMR. Save the bolts for use later. Carefully lift the battery out of the AMR. If disposing the battery, safely dispose of the battery through a designated facility according to all local and national environmental regulations regarding lithium battery disposal.
Page 243: Replacing Lifting Plate Rubber Strips
6-9-3 Replacing Lifting Plate Rubber Strips You may need to replace the Rubber Strips on the Lifting Plate if they are worn or cracked. OMRON recommends replacing both Rubber Strips even if only one is damaged. Follow the procedure below to replace the Rubber Strips.
Page 244: Replacement Procedure
• To avoid data loss, the AMR must remain powered on during Motion Controller battery re- placement. • OMRON recommends using only Renata battery (Cat. No. CR2032) for replacement. Replacement Procedure Follow the procedure below to replace the Motion Controller buffer battery.
Page 245: Replacing Grounding Chain
The Grounding Chain is located at the bottom of the AMR. The Grounding Chain ensures that built-up floating voltages and static electricity are dissipated. Upon inspection, if the Grounding Chain no lon- ger touches the ground, it should be replaced. OMRON recommends inspecting the Grounding Chain for damage or jamming every six months.
Page 246 6 Maintenance Reinstall the battery on the AMR. Replace the Front Skin to complete the procedure. 6-30 AMR (Autonomous Mobile Robot) OL-series User's Manual (M109)
Page 247 Appendices Parts List ......................A-2 Network Port Allocation................A-3 Storing the AMR .................... A-5 Shipping the AMR ..................A-6 Lubricants ...................... A-7 AMR (Autonomous Mobile Robot) OL-series User's Manual (M109)
Page 248: Parts List
Appendices A-1 Parts List AMR spare parts and accessories are provided in the following table. Item Ordering Code Details Rubber strip Right 28110-716F Protective strips on the Lifting Plate that en- for S2 sure the stability of the payload. Left 28110-715F Rubber strip Right...
Page 249: Network Port Allocation
Appendices A-2 Network Port Allocation Network ports are assigned as described in the table below. Initiator to Re- Port Protocol Category Details cipient Intra-fleet Communica- AMR to Fleet Maintenance, Management, and Fleet tions Ports. Manager ports use this. Used to broadcast con- 5000 TCP/UDP Fleet port uses this.
Page 250 Appendices Initiator to Re- Port Protocol Category Details cipient 7171 Job Monitoring and WMS/MES to If ARCL Server is enabled in the config- Submission (ARCL In- Fleet Manager uration (Robot Interface and then ARCL terface). Server Setup), then this port is open on Used for managing the Fleet Manager and accepts unlimit- Jobs on the Fleet Man-...
Page 251: Storing The Amr
Appendices A-3 Storing the AMR If the AMR will not be operated for a period of time, the AMR may be stored in a safe location following the environmental storage conditions specified in this manual. Refer to 2-4-1 AMR Environmental Specifications on page 2-12 for more information.
Page 252: Shipping The Amr
Appendices A-4 Shipping the AMR Make the following considerations when shipping the AMR to another location. • Keep the original crate and shipping materials supplied with the AMR. Use these to repackage the AMR before shipping. Reverse the unpacking instructions provided in AMR (Autonomous Mobile Robot) OL-series Safety, Unpacking , and Assembly Guide (Cat.
Page 253: Lubricants
Appendices A-5 Lubricants OMRON recommends the use of the following lubricants for the AMR's Lifting System. Lubricant type: Lithium saponified, Consistency: NLGI 2 Item Brand Energrease LS 2 Longtime PD 2 Castrol Renolit GP 2 Fuchs Multemp PS No.2 Kyodo Yushi...
Page 254 Appendices AMR (Autonomous Mobile Robot) OL-series User's Manual (M109)
Page 256 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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