Omron HD Series Manuals

Manuals and User Guides for Omron HD Series. We have 1 Omron HD Series manual available for free PDF download: User Manual

Omron HD Series User Manual (302 pages)

Brand: Omron | Category: Robotics | Size: 16 MB

Intended Audience
3
Units
3
Manual Information
4
Page Structure
4
Special Information
4
Sections in this Manual
7
Table of Contents
8
Terms and Conditions Agreement
14
Warranty and Limitations of Liability
14
Application Considerations
15
Disclaimers
15
Errors and Omissions
16
Safety Precautions
17
Definition of Precautionary Information
17
Symbols
17
Dangers
18
Warnings
18
Operating Environment
22
Cautions
24
Precautions for Safe Use
26
Precautions for Correct Use
29
Regulations and Standards
32
Conformance to EU Directives
32
U.S. / Canada / Industry Standards
32
Conformance to KC Certification
33
Related Manuals
34
Glossary
35
Revision History
38
Overview
39
Intended Use
41
Features and Components
44
Lasers
44
Additional Information
45
Drive Train and Suspension
46
Skins
46
AMR Controller
47
Battery
47
E-STOP Buttons
48
Operator Panel
48
Pendant
49
Light Discs and Strips
50
Speakers
50
Charging Station
51
Charging Contacts
52
User Access Panel
52
Input and Output Control
53
Wireless Antennas
53
Localization Sensors
53
Interlock Switches
53
Electronics Bay
53
Payload Mounting Surface
54
Autonomous Navigation
55
Labels
57
AMR Information Label
57
Docking Target Information Label
58
Power Supply Box Information Label
58
AMR Safety and Warning Label Locations
59
Power Supply Box Safety and Warning Label Locations
60
Docking Target Safety and Warning Label Locations
60
Model Numbers
62
Optional Items
63
Fleet Manager
63
Additional E-STOP Buttons
64
Additional Information
64
Additional Signal Beacons
65
Additional Warning Buzzers
65
Supplementary Laser Scanners
65
Mobile I/O Box
66
High Accuracy Positioning System
66
Cell Alignment Positioning System
66
Top Plate
67
FLOW Core Software
68
Mobileplanner Software
68
System Requirements
69
Fleet Management Software
69
Setnetgo Software
70
Mobilefirmware
71
Driving and Navigation Software
71
Fleet Simulator Software
72
Payload Considerations
73
Payload Structures
74
Exceeding the AMR Footprint
75
Safety Laser Scanner Zone Obstruction
76
Power Consumption
76
Coordinate System
77
Specifications
79
Performance Specifications
80
Physical Specifications
81
Dimensions
81
Weights
85
Payload Center of Gravity
85
Environmental Specifications
88
AMR Environmental Specifications
88
Charging Station Environmental Specifications
88
Battery Environmental Specifications
89
Pendant Environmental Specifications
89
Low Laser/Supplementary Laser Scanner Environmental Specifications
89
Other Specifications
90
Laser Specifications
90
Battery Specifications
90
HAPS Specifications
90
Charging Station Specifications
90
Operator Panel Screen
91
Drive Train
91
Safety Function Performance Levels
91
Stopping Distance and Time
94
Wireless Specifications
95
USER PWR Connector
96
REG PWR Connector
96
SCPU Connector
96
LIGHTS Connector
97
IO 1 Connector
97
Additional Information
97
IO 2 Connector
98
COMMS Connector
98
FTPRT SEL Connector
98
Installation
102
Installation Introduction
103
Charging Station Installation
104
Repositioning the Docking Target Power Connector
105
Mechanical Connections
105
Charging Paddle Alignment
106
Electrical Connections
109
Power Supply Box Commissioning Procedure
112
Battery Removal and Installation
114
Battery Removal Procedure
115
Battery Installation Procedure
116
Network Connections
117
Default Network Settings
117
Wired Connection Procedure
117
Wireless Connection
118
Wireless Considerations
119
Port Forwarding
120
Electrical Connections
121
User Access Panel Connections
121
Attaching the Payload
130
Payload Structure Mounting Points
130
Overhanging Payloads
132
Relocating the Operator Panel
133
HAPS Installation and Configuration
134
Front HAPS Sensor Installation
134
Rear HAPS Sensor Installation
135
Tape and Marker Application
137
Software Configuration
138
Additional Information
138
Goals and Tasks
139
Attaching Warning Labels
142
3-10 Commissioning
143
Commissioning Procedure
143
3-11 Map Creation Overview
144
Basic Mapping Tasks
145
Supplementary Laser Scanner Installation
146
Mounting Considerations
146
Supplementary Laser Scanner Connection Procedure
147
Supplementary Laser Scanner Configuration
148
Operation
151
Payload Movement and Transfer
153
AMR Start-Up
154
AMR Shut-Down
155
AMR Controller LED Indicators
156
Workspace
157
Physical Barriers
159
Logical Barriers
159
Obstacles
160
Environmental Hazards
160
Restricted Zones
160
Operating Hazard Zones
161
Payload Transfer Stations
161
Ramps
162
Additional Information
162
Clearances
164
Rotational Clearances
164
Docking Clearances
164
Narrow Passageway Behavior (Linear)
167
Narrow Passageway Behavior (Non-Linear)
168
U-Turn in a Narrow Passageway
168
U-Turn through a Narrow Doorway
168
4-10 Minimum Lane Width
170
4-11 Immobilization
171
4-12 Battery and Charging
172
Battery Indicators and Controls
173
Charging Station
173
Power Supply Box
174
Operation
175
Charging the Battery
176
Balancing the Battery
179
Storing Batteries
179
4-13 Operator Panel
181
Main Screen
181
Boot-Up Screen
181
ON Button
181
OFF Button
182
Brake Release Button
182
Maintenance Ethernet Port
182
Main Disconnect Switch
183
Pendant Port
183
4-14 Releasing the Brakes
184
4-15 Manually Pushing the AMR
185
4-16 Emergency Stop
186
Additional Information
186
Emergency Stop Recovery Procedure
186
4-17 Protective Stops
188
AMR Response During Protective Stops
188
4-18 Overspeed Protection
189
Light Discs and Optional Beacon States
190
Driving Straight
190
Turn Signal
190
Emergency Stop
190
Lost
190
Stopped
191
Stopped with Warning
191
Obstacle Detected / Protective Stop
191
Charging
191
Booting
192
Operating Inside a Designated Mutepersonneldetectionsector Area
192
Light Strips and Optional Beacon States
193
Driving Straight
193
Turn Signal
193
Emergency Stop
193
Lost
194
Stopped
194
Stopped with Warning
194
Obstacle Detected / Protective Stop
194
Charging
195
Booting
195
Operating Inside a Designated Mutepersonneldetectionsector Area
195
4-21 pendant Operation
197
Driving with the pendant
198
4-22 Warning Buzzer
199
4-23 Back up and Restore the AMR
200
Creating Backup Files
200
Create a Restore-Point
200
Configuration File Backup
201
Restoring the AMR
202
Setnetgo Recovery Mode
207
4-24 Safety Laser Scanner Zones
211
Safety Zone Pairs
211
Alternate Safety Laser Scanner Zones
233
4-25 Motion Limits
234
Additional Information
234
4-26 Emergency Situations
235
4-27 Tilt Detection
236
Tilt Detection Event Recovery
236
4-28 Interlock Switches
237
Collecting Troubleshooting Information
240
Restoring the AMR Configuration
241
Power Supply Box Problems
242
Battery Problems
244
Low Battery Recovery
244
Battery Charging Problems
244
Leaking Batteries
246
Exposure to Liquids
248
AMR Start-Up Problems
249
AMR Shut-Down Problems
250
AMR Controller Errors
251
Operator Panel Information
252
Stop Flags
252
Text Messages
253
Maintenance Introduction
256
Charging Station Lock-Out Tag-Out Procedure
258
AMR Lock-Out Tag-Out Procedure
259
Lifting the AMR
260
Maintenance Items
262
Mechanical Brake Inspection Procedure
262
AMR Charging Contact Inspection
263
Docking Target Inspection
263
Safety and Warning Labels
264
Drive Power Indicator Check Procedure
264
Caster Lubrication Procedure
264
Storing Batteries
266
Cleaning
267
Cleaning Intervals
267
Cleaning AMR Charging Contacts
267
Cleaning the Power Supply Box Cooling Ducts
268
Cleaning Laser Lenses
269
Cleaning Caster Treads
270
Cleaning Drive Wheels
270
Replacing Items
271
Removing and Replacing Skins
271
Light Disc LED Replacement Procedure
275
Light Strip LED Replacement Procedure
277
Operator Panel Replacement / Removal Procedure
278
Wireless Antenna Replacement Procedure
279
AMR Charging Contact Replacement Procedure
280
A-1 Unpacking
284
Power Supply Box Shipping Crate Information
285
A-1-2 Battery Shipping Crate Information
286
A-1-3 Docking Target Shipping Crate Information
287
Docking Target Shipping Crate Information
287
A-1-4 AMR Shipping Crate Information
288
A-2 Parts List
292
A-3 Network Port Allocation
294
A-4 Input and Output Control
296

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