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LD-250
Omron LD-250 Manuals
Manuals and User Guides for Omron LD-250. We have
6
Omron LD-250 manuals available for free PDF download: User Manual, Assembly Instructions Manual, Technical Manual, Manual
Omron LD-250 User Manual (306 pages)
Platform
Brand:
Omron
| Category:
Robotics
| Size: 26 MB
Table of Contents
Intended Audience
3
Applicable LD Models
3
Units
3
Manual Information
4
Page Structure
4
Special Information
4
Additional Information
5
Sections in this Manual
7
Table of Contents
8
Terms and Conditions Agreement
14
Warranty and Limitations of Liability
14
Application Considerations
14
Disclaimers
15
Safety Precautions
16
Definition of Precautionary Information
16
Symbols
16
Dangers
17
Warnings
17
Battery and Docking Station
19
Operating Environment
20
Cautions
22
Precautions for Safe Use
24
Precautions for Correct Use
26
Regulations and Standards
28
Conformance to EU Directives
28
Related Manuals
29
Glossary
30
Revision History
33
Overview
35
Intended Use
37
Features and Components
39
Lasers
40
Additional Information
40
Skins
41
Payload Bay
42
Operator Panel
42
Key Switch
43
E-STOP Buttons
43
Wireless Antennas
43
Light Discs
43
Access Panel
44
Rear Sensor
45
Charging Contacts
45
Battery
45
Pendant
46
Drive Train and Suspension
47
AMR Core
47
Speakers
47
Docking Station
48
Localization Sensors
49
Autonomous Navigation
50
Labels
52
AMR Information Label
52
Docking Station Information Label
52
Model Numbers
54
Optional Items
55
Fleet Manager
55
Additional E-STOP Buttons
56
Additional Signal Beacons
56
Additional Warning Buzzers
56
Side Lasers
57
Mobile I/O Box
57
High Accuracy Positioning System
57
Cell Alignment Positioning System
58
Acuity Localization
58
Electrostatic Discharge (ESD) Protection
58
Wireless Antenna Extension Kit
58
Digital I/O Terminal Block Kit
59
FLOW Core Software
60
Mobileplanner Software
60
System Requirements
61
Fleet Management Software
62
Setnetgo Software
62
Driving and Navigation Software
63
Fleet Simulator Software
64
Payload Considerations
65
Payload Structures
66
Exceeding the AMR Footprint
67
Safety Laser Scanner Zone Obstruction
68
Power Consumption
68
Coordinate System
69
Specifications
71
Performance Specifications
72
Physical Specifications
73
Dimensions
73
Center of Rotation
75
Center of Gravity
75
Payload Center of Gravity
76
Weights
76
Environmental Specifications
77
AMR Environmental Specifications
77
Docking Station Environmental Specifications
78
Battery Environmental Specifications
78
Pendant Environmental Specifications
78
Other Specifications
79
Laser Specifications
79
Battery Specifications
79
HAPS Specifications
79
Acuity Specifications
80
Docking Station Specifications
80
Safety Function Performance Levels
80
Drive Train
81
Operator Panel Screen
81
Wireless Specifications
81
DIGITAL IO Connector
82
Additional Information
82
Digital Input Specifications
82
AUX SENSORS Connector
83
RS232 Connector
83
LIGHTS Connector
83
USER INTERFACE Connector
84
USER BUMP Connector
84
AUX PWR Connector
85
USER PWR Connector
85
JOYSTICK Connector
86
HMI PANEL Connector
86
OPT out Connector
86
ANT Connector
86
AUDIO in / AUDIO out Connectors
86
Installation Introduction
91
Docking Station Installation
92
Mechanical Considerations
92
Electrical Considerations
93
Attaching the Temporary Floor Plate
93
Attaching to a Floor
94
Attaching to a Wall
95
Charging Paddle Alignment Procedure
96
Battery Installation Procedure
99
Network Connections
101
Default Network Settings
101
Wired Connection Procedure
101
Wireless Connection
102
Wireless Considerations
104
Port Forwarding
105
Electrical Connections
106
Payload Bay Connections
106
User Interface
114
Hmi Panel
119
Audio In/Out
120
Attaching the Payload
121
Payload Structure Mounting Points
121
Relocating the Operator Panel
124
Adding Additional Object Detection Sensors
125
Installation
125
Configuration
126
Setting Values
129
HAPS Installation and Configuration
131
HAPS Sensor Installation Overview
131
Reassembly Procedure
140
Tape and Marker Application
141
Software Configuration
142
Additional Information
142
Goals and Tasks
143
3-10 CAPS Configuration
146
Normal Setup
146
Final Settings
147
Initial Settings
147
Parameter Mode
148
Advanced Setup
148
Search Mode
149
Fail Mode
150
3-11 Acuity Installation Procedure
154
Mounting Location
154
Acuity Hardware Installation
155
Configuration and Setup
161
Mapping with Acuity
165
Scan Pattern
166
Other Acuity Adjustments
171
Wireless Antenna Relocation Procedure
173
3-13 Attaching Warning Labels
174
3-14 Commissioning
175
Commissioning Procedure
175
Additional Information
175
3-15 Map Creation Overview
176
Basic Mapping Tasks
177
Operation
179
Payload Movement and Transfer
181
AMR Start-Up
182
AMR Shut-Down
183
AMR Core LED Indicators
184
Workspace
185
Physical Barriers
186
Logical Barriers
187
Obstacles
187
Environmental Hazards
187
Restricted Zones
187
Operating Hazard Zones
188
Confined Zones
188
Payload Transfer Stations
188
Clearances
189
Rotational Clearances
189
Docking Clearances
190
Narrow Passageway Behavior (Linear)
191
Narrow Passageway Behavior (Corners)
191
Immobilization
193
Battery and Charging
194
Battery Indicators and Controls
194
Battery Removal and Installation
196
Docking Station
198
Additional Information
199
Charging the Battery
199
Balancing the Battery
201
Storing Batteries
202
Operator Panel
203
Main Screen
203
Boot-Up Screen
203
Emergency Stop Button
204
ON Button
204
OFF Button
204
Brake Release Button
205
4-10 Releasing the Brakes
206
4-11 Manually Pushing the AMR
207
Engage and Disengage the Drive Wheels
207
4-12 Emergency Stop
209
Emergency Stop Recovery Procedure
209
4-13 Protective Stops
211
4-14 Overspeed Protection
212
Light Discs and Optional Beacon States
213
Driving Straight
213
Turn Signal
213
Emergency Stop
213
Lost
214
Stopped and Ready
214
Stopped with Warning
214
Driving with Warning
214
Turn Signal with Warning
214
Driving Slowly, Scanning Laser E-STOP Inactive
215
4-15-10 Obstacle Detected / Protective Stop
215
4-15-11 Charging
215
4-15-12 Booting
216
4-16 Manual Driving
217
Driving with the pendant
217
4-17 Warning Buzzer
219
4-18 Back up and Restore the AMR
220
Creating Backup Files
220
Configuration File Backup
221
Restoring the AMR
222
Setnetgo Recovery Mode
227
4-19 Safety Laser Scanner Zones
231
Safety Zones
231
Rear Sensor Operational Considerations
236
Approaching the Docking Station
237
Using Move or Gotostraight in Mobileplanner
237
4-21 Motion Limits
239
4-22 Emergency Situations
240
4-23 Tilt Detection
241
Tilt Detection Event Recovery
241
Collecting Troubleshooting Information
244
Battery Problems
245
Battery Errors
245
Low Battery Recovery
247
Battery Charging Problems
247
Leaking Batteries
248
Exposure to Liquids
250
AMR Start-Up Problems
251
AMR Shut-Down Problems
252
Operator Panel Information
253
Text Messages
253
Maintenance Introduction
256
AMR Lock-Out Tag-Out Procedure
257
Docking Station Lock-Out Tag-Out Procedure
258
Lifting the AMR
259
Wheel Lift Tool
260
Maintenance Items
262
Mechanical Brake Inspection Procedure
262
Drive Wheel Inspection
263
Caster Inspection
263
Docking Station Charging Mechanism Inspection
264
Motor Brushes Inspection
265
Safety and Warning Labels
265
Lubricating Casters
266
Cleaning
269
Cleaning Intervals
269
Cleaning AMR Charging Contacts
269
Cleaning Docking Station Charging Contacts
270
Cleaning Laser Lenses
271
Cleaning Rear Sensor
271
Cleaning Caster Treads
272
Cleaning ESD Caster Treads
272
Cleaning Drive Wheels
273
Distance Traveled by the AMR
274
Replacing Items
275
Removing and Replacing Skins
275
Drive Wheel Replacement Procedure
282
Wireless Antenna Replacement Procedure
284
Motor Brushes Replacement Procedure
284
Docking Station Roller Replacement Procedure
286
Docking Station Power Switch Fuse Replacement Procedure
286
A-1 Parts List
290
A-2 Network Port Allocation
292
Good USER PWR Load Connections
294
Bad USER PWR Load Connections
294
A-4 Unpacking
296
A-4-1 AMR Shipping Crate Information
296
AMR Shipping Crate Information
296
A-4-2 Battery Shipping Crate Information
299
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Omron LD-250 User Manual (207 pages)
Platform
Brand:
Omron
| Category:
Robotics
| Size: 13 MB
Table of Contents
Table of Contents
3
Chapter 1: Introduction
11
Definitions
11
Product Description
11
Autonomous Navigation
12
LD-250 Autonomous Navigation
12
Localization
13
Acuity Localization Option
13
Custom Payload Structures
13
LD-250 Localization
13
Chassis and Drive Train
14
What's Included - Basic Components
15
Optional Features and Components (Partial List)
18
Options for Enhancing Your Payload Structures
18
Software Overview
19
Software
19
Setnetgo
23
How Can I Get Help
24
Related Manuals
24
Support
24
Download a Debuginfo File for Support
24
Configure the Maintenance Network
25
Obtain a Debuginfo File from Setnetgo
26
Chapter 2: Safety
29
General Hazards
29
What to Do in an Emergency
30
Releasing the Brakes to Move the LD-250 Manually
30
Releasing an E-Stop
31
Dangers, Warnings, and Cautions
32
Alert Levels
32
Alert Icons
32
Special Information
34
User's Responsibilities
34
Understanding Electrical Hazards
34
Magnetic Field Hazards
35
Qualification of Personnel
35
Payload Movement and Transfer
36
Configurable Warning Buzzer
36
Fleet Management
37
Environment
37
General Environmental Conditions
37
Public Access
38
Clearances When Operating
38
Obstacles
39
Emergency Stops that Are Initiated by AMR Safety Lasers
39
Safety System Overspeed Faults
40
Intended and Non-Intended Use
40
Intended Use
40
Non-Intended Use
41
Modifications
42
Battery Safety
42
LD-250 Modifications
42
Battery Maintenance
43
Battery Safety Precautions
43
Additional Safety Information
43
Mobile Robot LD Safety Guide
43
Disposal
43
Chapter 3: Setup
45
Overview of LD-250 Setup
45
Tasks
45
Transport and Storage
46
Shipping and Storage
46
Battery Shipment
47
Before Unpacking
47
Unpacking Considerations
48
Packaging
48
Battery Carton
53
Installing the Battery
53
Access the Battery Compartment
53
Battery Installation Procedure
55
Attaching the Payload Structure and Options
57
Attach the Payload Structure
57
Attach LD-250 Options
57
E-Stop Jumper on the LD-250 Core
57
Installing the Docking Station
58
Docking Station Features and Parts
59
Docking Station Requirements
60
Required Tools and Fasteners
60
Wall Bracket Mount
61
Installing Software on Your Windows PC
65
Chapter 4: Configuration
67
Settings and Configuration
67
Maintenance Ethernet Connection
67
Setting up Wireless Ethernet
70
Create a Workspace Map
72
Map Creation Overview
72
Mapping Tasks
73
Acceleration, Deceleration, and Rotation Limits
74
Supplemental Information
75
Laser Setup
75
Chapter 5: Payload Structures
77
Safety
77
Warning Label
77
Warning Lights
77
Warning Buzzer
78
Considerations
78
Performance
78
Weight Constraints
78
Power Consumption
79
Power Limits
79
Payload Bay Access
79
Payload Dimensions and Design
80
Mounting Locations in the Payload Bay
81
AMR Coordinate System
86
Center of Gravity (CG)
86
Payload-Related Tradeoffs
90
Connections between the LD-250 and a Payload Structure
90
Operator Panel (HMI) on the Payload
90
E-Stop Considerations When Removing the Operator Panel
91
Optional Connections
91
Chapter 6: Connectivity
93
Connections Required for Set up
93
Payload Bay Connections - LD-250 Core
93
Core Front, Upper
94
Core Rear Upper Connectors
100
Internal LD-250 Core Connections
107
Internal Data Pinouts
109
Internal Power Pinouts
110
Chapter 7: Operation
113
Operating Environment
113
Intended Use
113
Side Clearance
114
Obstacles
115
Environment and Floor
115
Avoiding Potential Immobilization Risks
116
Typical Operation
117
Power and Charging
118
Battery Indicators and Controls
118
Docking Station
119
Manually Charging the Battery
121
Balancing the Battery
122
Operator Panel
123
Status Screen
124
LD-250 Status Screen
124
E-Stop Buttons
125
Positioning an Optional Payload E-Stop
126
ON Button
126
OFF Button
126
Brake Release Button
127
Other Controls and Indicators
127
Indications Provided by Light Discs Light Outputs
127
Core Status Indicators
132
Sensors
133
Lasers
133
Rear Sensor
134
Other Sensors
137
Start up the
137
Start up Procedure
137
Joystick Controls and Description
138
Chapter 8: Maintenance
141
Considerations During Maintenance
142
After Completing Maintenance
142
Safety Considerations When Performing Maintenance
144
Understanding Electrical Hazards
145
Understanding Burn Hazards
145
Understanding Magnetic Field Hazards
145
Lifting the LD-250 Safely
145
Wheel Lift Tool
146
Engage and Disengage the Drive Wheel Motors
148
Safety Inspection
150
Warning Devices
150
Warning Labels
150
Cleaning
152
Work Area Maintenance
152
Platform Cleaning
152
Lubricating ESD Casters
154
Cleaning ESD Casters
156
Cleaning the Rear Sensor
157
Maintaining and Replacing Batteries
158
Maintaining Batteries
158
Replacing the Battery
158
Replacing Non-Periodic Parts
161
Distance Traveled by the AMR
162
Docking Station Roller and Bearing
162
Docking Station AC Power Fuse
164
Docking Station Internal Fuse
165
Light Discs
167
Operator Panel
168
Replace the Motor Brushes
168
Replace the Drive Wheels
169
Replacing Drive Wheels
169
Replace Front or Rear Casters
171
Core
174
LD-250 Core
174
E-Stop and Safety Laser Commissioning
176
Accessing the Payload Bay
178
Removing and Installing Skins
178
Restoring the Configuration
186
Chapter 9: Options
187
Fleet Manager for Multi-AMR Coordination
187
Hybrid LD-60, LD-90, and LD-250 AMR Fleets
187
Spare Battery
187
Payload Structure Bumpers
188
Call Buttons and Door Boxes
188
Acuity Localization
188
Touchscreen
188
Rear-Facing Laser
188
Side Lasers (Supplemental) Lasers
189
Install Side Lasers
189
Configure Side Lasers
190
High-Accuracy Positioning System (HAPS)
190
Chapter 10: Technical Specifications
191
Dimension Drawings
191
Width Measurements
192
Component Weight
192
Capabilities
193
Specifications
193
Physical Dimensions
193
Performance
193
Overhanging Payloads and the AMR Swing Radius
194
Sensors
195
ESD Compliance
195
Docking Station Specifications
196
Chapter 11: Modify the Safety Zones
197
Default Safety Zones
197
Relevant AMR Operating Parameters
198
Equipment Required to Modify OS32C Safety Zones
199
Chapter 12: Glossary
201
Omron LD-250 Assembly Instructions Manual (77 pages)
Mobile Robot
Brand:
Omron
| Category:
Robotics
| Size: 2 MB
Table of Contents
Table of Contents
2
Copyright Notice
4
Terms and Conditions Agreement
4
Introduction
9
Assembly Instructions
9
Definitions
9
Product Description
10
Related Manuals
14
Safety
15
Intended Use
15
Non-Intended Use
16
User's Responsibilities
17
General Hazards
17
Environment
22
Battery Safety
24
LD-250 Modifications
25
Additional Safety Information
25
Disposal
26
Risk Assessment
26
Ehsrs Fulfilled
27
And PFH
28
E-Stop Operational Considerations
29
Sensors
32
Lasers
32
Rear Sensor
33
Other Sensors
36
Payload Structures
38
Safety
38
Considerations
39
Payload-Related Trade-Offs
52
Connections between LD-250 and Payload Structure
52
Connectivity
55
Connections Required for Set up
55
Payload Bay Connections - LD-250 Core
56
Technical Specifications
70
Dimension Drawings
70
LD-250 Specifications
72
Docking Station Specification
76
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Omron LD-250 User Manual (40 pages)
AMR Battery Power Sharing
Brand:
Omron
| Category:
Robotics
| Size: 1 MB
Table of Contents
Intended Audience
3
Applicable Battery Models
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
10
Warranty and Limitations of Liability
10
Application Considerations
10
Disclaimers
11
Safety Precautions
12
Definition of Precautionary Information
12
Symbols
12
Warnings
12
Precautions for Safe Use
14
Related Manuals
15
Introduction
17
Overview
18
LD Battery Compatibility
19
Electrical Considerations
21
Battery Characteristics
22
AMR Current Consumption
22
Battery Voltage Fluctuations
22
Battery Overvoltage
24
Regenerative Loads
24
Inductive Loads
24
Battery Current Limits
25
Power-Up and Inrush
26
Sequenced Power-Up
26
Inrush Current Limiter
26
Accessing the Battery Power
29
Battery Power Sharing Cable Creation and Installation Procedure
29
Omron Techman Robot Connection
33
Techman Robot Power Connection Details
34
Omron LD-250 Technical Manual (28 pages)
Wireless Charging
Brand:
Omron
| Category:
Robotics
| Size: 3 MB
Table of Contents
Purpose of this Document
2
Content of this Document
4
Compatibility Information
7
Wiring Details
12
Firmware Changes
20
Usage Details
25
Omron LD-250 Manual (12 pages)
Mobile Robots
Brand:
Omron
| Category:
Robotics
| Size: 8 MB
Table of Contents
Components and Functions
2
Specifications
6
Acuity Localization
8
Related Manuals
12
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