Enterprise Manager 2100
User’s Guide
I631-E-01
Copyright Notice
The information contained herein is the property of Omron Adept Technologies, Inc., and shall
not be reproduced in whole or in part without prior written approval of Omron Adept Technologies, Inc. The information herein is subject to change without notice and should not be construed as a commitment by Omron Adept Technologies, Inc. The documentation is periodically
reviewed and revised.
Omron Adept Technologies, Inc., assumes no responsibility for any errors or omissions in the
documentation. Critical evaluation of the documentation by the user is welcomed. Your comments assist us in preparation of future documentation. Please submit your comments to: tech-
pubs@adept.com.
Copyright 2018 by Omron Adept Technologies, Inc. All rights reserved.
Any trademarks from other companies used in this publication
are the property of those respective companies.
Created in the United States of America
14413-200 Rev. A Enterprise Manager 2100 User’s Guide 2
Table of Contents
Chapter 1: Introduction to the Enterprise Manager 2100
1.1 Description of the Enterprise Manager 2100
1.2 Number of AIVs Supported by an Enterprise Manager 2100
The Workspace Map
Robot Jobs
Communications Network
1.3 Hardware Supplied with the Enterprise Manager 2100
Optional Equipment
Equipment Not Provided with an Enterprise Manager 2100
1.4 Features of the Enterprise Manager 2100
1.5 Software Supplied with the Enterprise Manager 2100 Systems
SetNetGo Operating System 4.9.x
Mobile Robot Software Suite Version 4.9.x
MobilePlanner in Fully Licensed Mode
MobilePlanner in Operator Mode
ARAM
ARAMCentral
ARCL Protocol
Mobile Adept Robot Controller (MARC)
Peripheral Devices
1.6 Supported Enterprise Manager 2100 Deployments
Enterprise Manager 2100 Autosync Failure Scenarios
1.7 How to Get Help
Related Manuals
Service and Support
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Chapter 2: Safety
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2.1 Alert Levels
Alert Icons
Special Information
2.2 Safety Precautions for the Enterprise Manager 2100
General Hazards
Additional Safety Information
2.3 Disposal
Chapter 3: Installation
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3.1 Prepare Your Site for the Enterprise Manager 2100
Site Rack Requirements
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Site Electrical Power Requirements
Electrical Wiring
Site Networking Requirements
Local Area Network (LAN) Requirements
Wireless Network Requirements.
3.2 Transport and Storage of the Enterprise Manager 2100
3.3 Unpack the Shipment
Before You Unpack the Enterprise Manager 2100
Unpack the Enterprise Manager 2100 Shipping Carton
3.4 Sliding Rail Kit for Rack Mounting
Components in the Sliding Rail Kit
Tools Required to Install the Sliding Rail Kit
Determine the Sliding Rail Kit Installation Location and Method
Remove the Sliding Rail from the Track
Attach the Sliding Rail to the Chassis
Attach the Adjustable Brackets to the Track
Determine the Mounting Method for the Sliding Rail Kit
Attach the Track to the Rack Posts
Adjust the Track to Span the Rack Posts
Attach the Track to the Rack Posts
Insert the Appliance Into the Track
3.5 Connect Power to the Enterprise Manager 2100
3.6 Plan for Disaster Tolerance
3.7 Installing a Secondary Appliance
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Chapter 4: Connectors and Indicators
4.1 Overview of the Enterprise Manager 2100
4.2 Rear Panel Connectors and Features
4.3 Enterprise Manager 2100 Status Display Panel
Autosync Status
4.4 Connect the Enterprise Manager 2100 to a Network
Logical Ports and Protocols Used by the Enterprise Manager 2100
Logical Ports and Protocols Used by a Single AIV
Chapter 5: Configuration
5.1 Enterprise Manager 2100 Configuration Overview
Ethernet Connections
Configuration Tasks Overview
5.2 Set the IP Address on a Client PC's Network Adapter
5.3 Connect Your PC to SetNetGo on the Enterprise Manager 2100
Connect to SetNetGo and Configure Access and Security
Enable Fleet Account Access
Access SetNetGo from Mobile Planner
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Table of Contents
5.4 Configure Management Interface Network Settings
5.5 Configure the Fleet Interface Network Settings
5.6 Use NTP to Synchronize Enterprise Manager 2100 Time
5.7 Enabling the ARCL Server
5.8 Configure Each AIV to Connect to the Enterprise Manager
AIV Configuration Settings
Fleet-Level Settings
5.9 Add a Secondary Appliance for AutoSync
5.10 Configure a Secondary Appliance and Autosync
EM2100-Only Autosync — Ethernet Cabling
EM2100 and EM1100 Autosync — Ethernet Cabling
Tasks in Autosync Setup
Configure the Primary Appliance
Configure the Secondary Appliance
5.11 Customize Each Fleet AIV
Docking Station Assignment
Default Mode
Mixed Mode
Separate Docking Stations
Distinct Speech Synthesis Voices
5.12 Call Buttons
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Chapter 6: Operation
6.1 Turn Enterprise Manager 2100 Power ON and OFF
Safe Power On
Soft Shutdown and Power Off
Hard Shutdown and Power Off
Power On After a Hard Shutdown
Affect of Power Interruptions on an Enterprise Manager 2100
Power Interruptions on a Standalone Enterprise Manager 2100
Power Interruptions on an Autosync Enterprise Manager 2100
6.2 Generate a Workspace Map for Your Fleet
6.3 Managing Queuing
Queuing and Job Definitions
Queuing Examples
Queuing Parameters
Manually Clearing (Flushing) the Entire Queue
6.4 Update the ARAMCentral Software
Restarting ARAMCentral
6.5 Enterprise Manager 2100 Autosync Operation
6.6 Remove and Replace Enterprise Manager 2100 Appliances from Autosync
Remove a Primary Appliance from Autosync
Remove a Secondary Appliance from Autosync
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6.7 What to do if an EM2100 Primary Appliance Fails
6.8 What to do if an EM1100 Autosync Appliance Fails
Configure an EM1100 to EM2100 Configuration
6.9 Troubleshooting
Including a debugInfo File with Your Help Request
Chapter 7: Technical Specifications
7.1 Processing Specifications
7.2 Environmental Specifications
7.3 Power Requirements
7.4 Physical Characteristics
7.5 Connections
Front
Rear
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Chapter 1: Introduction to the Enterprise
Manager 2100
This chapter provides a description of the Enterprise Manager 2100. It includes the following
topics.
1.1 Description of the Enterprise Manager 2100
1.2 Number of AIVs Supported by an Enterprise Manager 2100
1.3 Hardware Supplied with the Enterprise Manager 2100
1.4 Features of the Enterprise Manager 2100
1.5 Software Supplied with the Enterprise Manager 2100 Systems
1.6 Supported Enterprise Manager 2100 Deployments
1.7 How to Get Help
1.1 Description of the Enterprise Manager 2100
The Enterprise Manager 2100 is a hardware and software solution that enables you to manage
a fleet of Automated Intelligent Vehicles (AIVs, also called robots in the software and documentation). The Enterprise Manager appliance uses a queuing manager software feature to communicate with AIVs in the fleet. It receives and processes job requests from users, call buttons,
and automation equipment. It then assigns jobs to appropriate AIVs in the fleet.
Different groups of AIVs in a fleet might require the same configuration depending on their
physical characteristics or task activities. Maintaining identical configurations on each group
of AIVs is time-consuming and error-prone. The Enterprise Manager 2100 enables you to manage both map and configuration updates for every AIV in the fleet from a single point of
access.
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The Enterprise Manager 2100 also coordinates the movement and interaction of up to 100
AIVs in a fleet, to make sure that each AIV knows the location and path of any other AIV that
might affect it. This enables AIVs to work efficiently within close range of each other without
risk of collision or of interfering with each other’s movements and operations.
14413-200 Rev. A Enterprise Manager 2100 User’s Guide 7
1.1 Description of the Enterprise Manager 2100
Figure 1-1. Main Components of an Enterprise Manager 2100Installation
A typical installation is shown in Figure 1-1. The operator’s terminal, automated factory equipment, and WMS or MES systems all communicate directly with the Enterprise Manager 2100.
Table 1-1. Description of the Main Components in an Enterprise Manager 2100 Installation
Callout Description
1 802.11a/b/g WiFi access point.
2 AIVs configured to connect to the Enterprise Manager Fleet IP address.
3 Local Area Network (LAN).
4 Automated factory equipment such as a conveyor.
5 Enterprise Manager 2100 running Mobile Robot software components.
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Chapter 1: Introduction to the Enterprise Manager 2100
Callout Description
6 Connection to the Ethernet port on the Enterprise Manager 2100
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8 Operator’s terminal, running the MobilePlanner software.
Operations management and control software such as a warehouse management
system (WMS) or manufacturing execution system (MES).
Figure 1-2. Enterprise Manager 2100 Appliance
1.2 Number of AIVs Supported by an Enterprise Manager 2100
The software license for a single Enterprise Manager 2100 supports an absolute limit of 100
AIVs. The actual number of AIVs that you can manage effectively is subject to practical operational constraints. Each robot consumes computing and communication resources. The more
complicated and dynamic the environment, the more resources an individual AIV consumes.
The following considerations apply when planning for the number of AIVs that your appliance can support.
The Workspace Map
Your Enterprise Manager 2100 can support more AIVs if the characteristics of your workspace
map are as follows:
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The map is relatively small and well-defined with adequate physical features to facilitate autonomous navigation. Taking time to refine your map enables your EM2100 to
support a larger number of AIVs.
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The area where AIVs operate is static, and workspace map features have greater permanence. If the workspace changes constantly and contains many temporary or moving
obstacles (such as fork-lift trucks and people) then your EM2100 can support fewer
AIVs.
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There is minimal interaction between AIVs at goals or choke points such as doors and
corridors.
Using path planning map features (such as preferred lines) to organize and segregate AIVs
can increase the potential number of supported AIVs.
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1.3 Hardware Supplied with the Enterprise Manager 2100
NOTE: Certain Mobile Software suite tuning parameters (such as PlanRes)
might have a negative effect on the number of supported AIVs. Before tuning
any configuration parameters discuss your objectives with an Omron representative.
Robot Jobs
Your Enterprise Manager 2100 can support more AIVs if the job characteristics are as follows:
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AIV job routes are not complicated by many sub-tasks.
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Interaction with a Warehouse Management System (WMS) or Manufacturing Execution
System (MES) is relatively simple and automated.
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There is minimal use of payload devices and interaction with automated devices such
as conveyors.
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AIVs are not competing for limited resources such as goals or docking stations.
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Jobs use FIFO queuing instead of non-FIFO queuing.
Communications Network
Your Enterprise Manager 2100 can support more AIVs if the network characteristics are as follows:
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Dedicated, high-speed network with adequate per-robot wireless bandwidth.
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Good access point coverage with few or no low-signal (shadow) locations.
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Network (LAN and Wireless) provides a good quality of service (QoS) to the Enterprise
Manager software.
If you have any questions when planning the number of AIVs for an enterprise, contact your
local Omron sales office for assistance.
1.3 Hardware Supplied with the Enterprise Manager 2100
The Enterprise Manager 2100 is a computing appliance with a processor capable of running the
Mobile Robot Software Suite. It has the ability to connect to, communicate with, and control the
AIV fleet and its operation.
The Enterprise Manager appliance includes:
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Intel®Xeon®CPU
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32 GB RAM
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4 TB of storage
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Enterprise Manager license (installed internally)
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All of the connectors listed in Connectors and Indicators on page 37
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Rack-mount rails for a four-post data center rack
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Power cable set, including cables for use in various locales world-wide
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Chapter 1: Introduction to the Enterprise Manager 2100
Optional Equipment
You can add a Secondary Enterprise Manager appliance, to provide redundancy for the
Primary appliance.
After you install a Secondary appliance, configure it to auto-synchronize with the Primary to
enable faster recovery of your AIVfleet operations should the Primary appliance fail for any
reason. The Secondary appliance contains a copy of the fleet data, including current jobs and
maps.
Equipment Not Provided with an Enterprise Manager 2100
You must provide the following:
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A consistent power supply. Omron Adept Technologies, Inc. recommends that you use
an uninterruptable power supply (UPS). Contact your local Omron support for more
information.
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Network infrastructure necessary for communication and optionally for redundant network communication when you use an optional Secondary appliance.
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Omron Adept Technologies, Inc. Automated Intelligent Vehicles (AIVs), also known as
mobile robots.
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Client computer - Compatible Windows PC clients to run MobilePlanner for remote
access to the appliance and AIVs. Each MobilePlanner instance requires a license key
for full operation.
1.4 Features of the Enterprise Manager 2100
Key features of the Enterprise Manager 2100 and the Mobile Robot Software Suite, running on
the Enterprise Manager appliance are:
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Provides the ability to manage the configuration settings for an entire fleet of AIVs.
Each AIV obtains configuration data from the Enterprise Manager appliance, saving
you time and making configuration updates more reliable.
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Optimizes traffic flow
The Enterprise Manager appliance shares each AIV's position and movement with
other AIVs in its vicinity. This enables each AIV to make dynamic route adjustments to
avoid potential conflicts.
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Provides Queuing Manager functionality.
The Enterprise Manager appliance receives job requests from call buttons and factory
equipment management systems (WMS or MES), makes decisions about which job an
AIV receives, and provides real-time job status updates to connected automation equipment.
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Economical use of wireless network bandwidth.
Each AIV exchanges information only with the Enterprise Manager appliance, rather
than communicating with every individual AIV.
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Serves as a proxy for AIV status data, such as location, battery, and job.
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1.5 Software Supplied with the Enterprise Manager 2100 Systems
This reduces the consumption of wireless bandwidth and enables all AIVs in a fleet to
connect to one central point. You can monitor all AIVs from a single application.
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Low maintenance
The Enterprise Manager 2100 functions as an appliance, not a server. It runs reliably
with little human intervention and minimal maintenance by IT staff. It is dedicated
only to the task of robot fleet management and is unaffected by other services. If something happens to the appliance, you can replace it, recreate the configuration on the
replacement appliance and the replacement operates identically.
You can optionally configure an additional (redundant) Secondary appliance for faster recovery if the Primary appliance fails for any reason. See Add a Secondary Appliance for AutoSync
on page 54.
1.5 Software Supplied with the Enterprise Manager 2100 Systems
Your Enterprise Manager 2100 shipment includes a USB drive containing software and documentation. Before you install the hardware, install the software on a client Windows PC so
that you have access to the product documentation and Release Notes.
SetNetGo Operating System 4.9.x
SetNetGo runs on each AIV and Enterprise Manager appliance. It is the host operating system
(OS) in which fleet AIV software applications (ARAM and ARAMCentral) run.
You can use a Web browser to connect directly to SetNetGo on any AIV or Enterprise Manager
2100. This direct connection enables you to do configuration tasks through SetNetGo without
using the MobilePlanner user interface, which requires a license.
You use SetNetGo to configure the Ethernet settings for the platform, upgrading software, and
performing systems diagnostics, such as retrieving log files. You can access SetNetGo when
connected via the maintenance and management Ethernet ports, or via wireless Ethernet if
enabled.
There are several ways to access SetNetGo:
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A direct Ethernet connection (Cat-V cable) between your PC client and the dedicated IP
address of the maintenance Ethernet port on the device (Enterprise Manager 2100 or
AIV.)
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A Web browser over the network, using the SetNetGo Web user interface. After you configure the network, you access the interface through the assigned IP address of the
device on which SetNetGo runs.
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The SetNetGo interface that is integrated into the licensed MobilePlanner software.
Mobile Robot Software Suite Version 4.9.x
The Mobile Robot Software Suite includes all of the software used for Omron Adept AIV's and
the Enterprise Manager appliance, with the exception of the SetNetGo OS, which is supplied
as a separate software package.
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Chapter 1: Introduction to the Enterprise Manager 2100
MobilePlanner in Fully Licensed Mode
MobilePlanner runs on the Windows client PC. You use its graphical user interface to operate,
manage, and monitor your fleet of AIVs. You can also access SetNetGo directly form the
MobilePlanner GUI.
For your AIVs to perform autonomous mobile activities, you must make a map of its operating
space, and configure its operating parameters. After you generate a map for a workspace
where AIVs operate, you can share it between multiple AIVs in one fleet.
Use MobilePlanner to make the map and to perform this configuration. MobilePlanner software requires at least one license for each fleet of AIVs.
MobilePlanner in Operator Mode
Use MobilePlanner in Operator Mode to monitor one or more AIV's activities and have them
perform mobile tasks in the mapped space. When you start MobilePlanner without its license
dongle, it defaults to this mode. Refer to the separate Mobile Robot Software Suite User's Guide
for details.
ARAM
The Advanced Robotics Automation Management software (ARAM) runs on the AIV. It operates ranging sensors such as the safety scanning laser and sonar, and performs all the highlevel, autonomous robotics functions, including obstacle avoidance, path planning, localization and navigation, then sends motion commands to the MARC firmware. ARAM also
controls the battery and indicators, and manages digital and analog I/O, which, along with the
AIV battery power, provide for integration of application-specific sensors and effectors (usersupplied).
ARAM manages wired and wireless Ethernet communications with offboard software, for
external monitoring, development, and systems coordination, including coordination of a fleet
of AIVs through the Enterprise Manager 2100 system. It also manages integration with other
systems, as well as external monitoring, setup, and control with the MobilePlanner application.
ARAMCentral
ARAMCentral is the software manages the AIVfleet and runs on the Enterprise Manager
appliance. This software and the appliance combined are referred to as the Enterprise Manager
2100.
The ARAMCentral software distributes and manages the following resources and data for all
Fleet AIVs:
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The shared workspace map.
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The shared configuration.
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Traffic control. This includes multi-AIV avoidance, destination, standby, and dock control.
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Queuing of jobs.
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Remote I/O, if you are using it this feature.
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1.6 Supported Enterprise Manager 2100 Deployments
ARCL Protocol
The Advanced Robotics Command Language (ARCL) is a simple, text-based command and
response server for integrating an AIV (or fleet of AIVs) with an external automation system.
ARCL is similar to a command-line interface (CLI)or a scripting function.
ARCL enables you to operate and monitor the AIV, its accessories, and its payload devices
over the network, whether or not you use MobilePlanner.
Mobile Adept Robot Controller (MARC)
At the lowest level, a microcontroller running MARC firmware handles the details of platform
mobility, including maintaining the platform’s drive speed and heading, as well as acquiring
sensor readings, such as from the encoders and gyroscope, and managing the platform’s emergency stop systems, bumper, and joystick. The MARC firmware computes and reports the platform’s odometry (X, Y, and heading) and a variety of other low-level operating conditions to
ARAM.
Peripheral Devices
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Touchscreen Support—The Mobile Software suite includes support software for the
optional AIVtouchscreen user interface device.
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Call/Door Box Support—Call/Door Boxes are devices that you can use to summon an
AIV remotely. These devices contain one software component on the boxes and while
the other persists on either the Enterprise Manager 2100 or on single AIV, (when there
is no Enterprise Manager 2100).
1.6 Supported Enterprise Manager 2100 Deployments
This section provides an overview of potential deployment scenarios so that you can plan
your EM2100 deployment. Later sections describe the detailed configuration steps.
The Enterprise Manager 2100 (EM2100) is a replacement upgrade for the Enterprise Manager
1100, (EM1100) which is end-of-life. The EM2100 remains backward compatible with the
EM1100 for mixed-model Autosync configurations. However, to support mixed model Autosync, you must:
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Modify the Ethernet cabling.
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Install SetNetGo 4.9.X and Mobile Robot Software Suite 4.x on both the EM1100 Secondary appliance and the EM2100 Primary appliance.
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Always configure the EM1100 as the Secondary appliance. The default (shipped) configuration for an EM2100 is as a Primary appliance.
This release supports the following deployment scenarios:
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New Standalone EM2100—Install and configure a new EM2100 standalone appliance.
l New EM2100 Autosync Pair—Install and configure two new EM2100 appliances, one
as the Primary appliance and the other as the Secondary (back up) appliance.
l Convert a Standalone EM1100 to Autosync—Add a new EM2100 as a Primary appli-
ance and convert the existing standalone EM1100 to a Secondary appliance.
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Replace a Failed Primary Autosync EM1100—Remove the failed EM1100 Primary
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Chapter 1: Introduction to the Enterprise Manager 2100
appliance and add a new EM2100 as a Primary appliance.
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Replace a Failed Secondary Autosync EM1100—Remove the failed EM1100 Secondary
appliance and add a new EM2100 as the Primary appliance. Convert the EM1100 to a
Secondary appliance.
Enterprise Manager 2100 Autosync Failure Scenarios
You can replace a failed EM2100 standalone appliance only with the same model.
If an appliance fails after you configure an EM2100 autosync pair, you replace the failed
EM2100 with a new EM2100 as follows:
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Replace a Failed Primary Autosync EM2100—Remove the failed EM2100 Primary
appliance and add a new EM2100 as a Primary appliance. (The default shipped operating mode). Generate an SSL key to upload to the Secondary.
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Replace a Failed Secondary Autosync EM2100—Remove the failed EM1100 Secondary
appliance and add a new EM2100 as the Primary. Configure the replacement EM2100
as a Secondary appliance and upload the SSL key from the Primary.
1.7 How to Get Help
To obtain support assistance with your software or hardware, see the Omron Adept Technologies, Inc. information on the website at: http://www.ia.omron.com.
Related Manuals
This manual describes the installation and startup of an Enterprise Manager appliance running the Mobile Robot Software Suite. There are additional manuals that describe how to program your fleet, reconfigure installed components, and to add other optional or related
components.
The following manuals provide information about safety, related products, advanced configurations and system specifications.
Table 1-2. Related Manuals
Manual Title Description
Mobile Robot LDSafety Guide Describes AIV safety aspects.
Advanced Robotics Command Language Reference
Guide
Mobile Robot Software Suite
User's Guide
LD Platform OEMUser's
Guide
Describes the Advanced Robotics Command Language (ARCL),
which is a simple, text-based server from which you can control Omron Adept Technologies, Inc. AIVs.
Describes the software for AIVs and the Enterprise Manager
2100.
Describes the operation and maintenance of the AIV.
LD Platform Cart
TransporterUser's Guide
LDPlatform Peripherals
Guide
Describes the operation and maintenance of the Car Transporter AIV.
Describes various peripherals available for use with AIVs.
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1.7 How to Get Help
Service and Support
If, after reading this manual, you are having problems with your Enterprise Manager appliance, contact your local Omron support.
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Chapter 2: Safety
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This chapter provides information about product safety. It includes the following topics.
2.1 Alert Levels
2.2 Safety Precautions for the Enterprise Manager 2100
2.3 Disposal
2.1 Alert Levels
There are three levels of alert notation used in Omron Adept Technologies, Inc. manuals. In
descending order of importance, they are:
DANGER: Identifies an imminently hazardous situation which, if not
avoided, is likely to result in serious injury, and might result in fatality or
severe property damage.
DANGER: Identifie une situation dangereuse imminente qui, si elle n’est pas
évitée, est susceptible d’avoir comme résultat une blessure grave et pourrait
provoquer le décès ou des dommages matériels importants.
WARNING: Identifies a potentially hazardous situation which, if not avoided,
will result in minor or moderate injury, and might result in serious injury, fatality, or significant property damage.
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AVERTISSMANT: Identifie une situation dangereuse potentielle qui, si elle
n’est pas évitée, aura comme résultat une blessure mineure ou modérée et pourrait provoquer une blessure grave, le décès, ou des dommages matériels significatifs.
CAUTION: Identifies a potentially hazardous situation which, if not avoided,
might result in minor injury, moderate injury, or property damage.
ATTENTION: Identifie une situation dangereuse potentielle qui, si elle n’est
pas évitée, pourrait avoir comme résultat une blessure mineure ou des dommages matériels.
14413-200 Rev. A Enterprise Manager 2100 User’s Guide 17
2.1 Alert Levels
!
Alert Icons
The icon that starts each alert can be used to indicate the type of hazard. These will be used
with the appropriate signal word - Danger, Warning, or Caution - to indicate the severity of the
hazard. The text following the signal word will specify what the risk is, and how to avoid it.
Icon Meaning Icon Meaning
This is a generic alert icon. Any
specifics on the risk will be in the
text following the signal word.
Ceci est un symbole générique
d’alerte. Toute spécificité concernant le risque sera décrite
dans le texte après le mot de signalement.
This identifies a hazardous electrical situation.
Ceci identifie une situation
dangereuse électrique.
This identifies a hazardous burnrelated situation.
Ceci identifie une situation
dangereuse de brûlure.
This identifies a hazardous ESD
situation.
This identifies a hazardous entanglement situation.
Ceci identifie une situation
dangereuse d’enchevêtrement.
This identifies a fire risk.
Ceci identifie un risque
d’incendie.
This identifies a laser emitter eye
damage situation.
Ceci identifie une situation
dangereuse liée aux lésions oculaires provoquées par un
émetteur laser.
Ceci identifie une situation
dangereuse ESD (décharges
électrostatiques).
Special Information
There are several types of notation used to call out special information.
IMPORTANT: Information to ensure safe use of the product.
NOTE: Information for more effective use of the product.
Additional Information: Offers helpful tips, recommendations, and best prac-
tices.
Version Information: Information on differences in specifications for different
versions of hardware or software.
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Chapter 2: Safety
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2.2 Safety Precautions for the Enterprise Manager 2100
Read the installation and operation instructions before using the appliance.
If you use the supplied rail kit to install the appliance into a 4-post datacenter rack, make sure
you read and follow the safety instructions provided with the rack.
General Hazards
CAUTION: PERSONAL INJURYRISK.Do not begin any tasks in this
manual that result in activating an AIV (mobile robot) until you have read the
important safety information in the Mobile Robot LDSafety Guide and in the
AIV's user manuals.
ATTENTION: RISQUE DE BLESSURES PERSONNELLES. Ne pas initialiser
une tâche dans ce manuel qui ait comme résultat l’activation d’un AIV (robot
mobile) avant de lire les renseignements importants de sécurité dans le Guide
de Sécurité LD pour Robots Mobiles et dans les manuels d’utilisation AIV.
CAUTION: PERSONAL INJURYRISK. Observe all safety precautions when
installing the appliance in a computer rack. Two persons might be required to
safely lift and install the appliance into a tall rack.
ATTENTION: RISQUE DE BLESSURES PERSONNELLES. Respecter toutes
les précautions de sécurité lors de l’installation de l’appareil dans un support
d’ordinateur. Deux personnes pourraient être nécessaires pour élever et
installer l’appareil dans un support haut en toute sécurité.
WARNING: ELECTROCUTION RISK. This appliance uses AC power and
presents an electrical shock hazard if used improperly. Do not open the enclosure. No user-serviceable parts are included inside.
AVERTISSMANT: RISQUE D'ÉLECTROCUTION. Cet appareil utilise du
courant CA et présente un risque de choc électrique s’il n’est pas utilisé de manière adéquate. Ne pas ouvrir le boîtier. Aucune pièce interne réparable par
l’utilisateur.
WARNING: ELECTROCUTION RISK. Failing to properly ground equipment
that uses hazardous voltages could lead to injury or death of a person touching
the equipment during an electrical fault.
14413-200 Rev. A Enterprise Manager 2100 User’s Guide 19
2.3 Disposal
AVERTISSMANT: RISQUE D'ÉLECTROCUTION. Ne pas mettre correctement à la terre un équipement utilisant des tensions dangereuses pourrait
avoir comme résultat la blessure grave, même le décès d’une personne qui le
toucherait pendant une panne électrique.
WARNING: ELECTROCUTION RISK. AC power installation must be performed by a skilled and instructed person. Ensure compliance with all local
and national safety and electrical codes for the installation and operation of the
equipment.
AVERTISSMANT: L'installation CA sera effectuée par une personne qualifiée
et instruite. Assurer la conformité avec tous les codes de sécurité et électriques
locaux et nationaux lors de l'installation et du fonctionnement de l'équipement.
Additional Safety Information
Contact your local Omron support for other sources of safety information:
2.3 Disposal
Customers can contribute to resource conservation and protecting the environment by the
proper disposal of WEEE (Waste Electronics and Electrical Equipment). All electrical and electronic products should be disposed of separately from the municipal waste system via designated collection facilities. For information about disposal of your old equipment, contact your
local Omron support.
Dispose of in accordance with applicable regulations.
20 Enterprise Manager 2100 User’s Guide 14413-200 Rev. A
Chapter 3: Installation
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This chapter describes how to physically install the Enterprise Manager appliance hardware. It
includes the following topics.
3.1 Prepare Your Site for the Enterprise Manager 2100
3.2 Transport and Storage of the Enterprise Manager 2100
3.3 Unpack the Shipment
3.4 Sliding Rail Kit for Rack Mounting
3.5 Connect Power to the Enterprise Manager 2100
3.6 Plan for Disaster Tolerance
3.7 Installing a Secondary Appliance
3.1 Prepare Your Site for the Enterprise Manager 2100
Use this information to prepare a site for an Enterprise Manager 2100 installation.
WARNING: HAZARDOUS ENVIRONMENTS. Omron Adept Technologies,
Inc. does not intend that you use the Enterprise Manager appliance in hazardous environments (explosive gas, water, dust, oil mist). The appliance has
an IP rating of IP20 (NEMA Type 1).
AVERTISSMANT: Omron Adept Technologies, Inc. n’a pas conçu l’appareil
Enterprise Manager pour être utilisé dans des environnements à risque (gaz
explosif, eau, poussière, brouillard huileux). L’appareil a un indice IP20
(NEMA Type 1).
21
23
24
25
33
34
34
For other technical specifications and requirements, see: Technical Specifications on page 79.
Site Rack Requirements
Each Enterprise Manager 2100 requires 1U (44.50 mm, 1.75 inches) of space in a standard 19inch (48.3 cm) 4-post rack datacenter rack, installed as follows:
l
The appliance requires a minimum of four support points at the sides, or a rack shelf
that provides full support for the chassis enclosure.
l
You must secure the appliance to the rack with screws. This prevents anyone from
attempting to slide the appliance out of the rack.
IMPORTANT: Do not install this appliance in a 2-post rack, or mount it by the
chassis bezel brackets (ears) alone. If you do not use the supplied rail kit, you use
a support shelf or support brackets that takes the full weight of the appliance.
14413-200 Rev. A Enterprise Manager 2100 User’s Guide 21
3.1 Prepare Your Site for the Enterprise Manager 2100
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If you use a Secondary appliance, consider installing it in a rack that is remote from the
Primary appliance to improve disaster tolerance. See also: Plan for Disaster Tolerance on page
34.
DANGER: PERSONAL INJURY RISK. When installing equipment into a
rack, read and follow all safety instructions in the rack documentation. Follow
the instructions for stabilizing the rack before you begin the installation.
DANGER: RISQUE DE BLESSURES PERSONNELLES. Lors de l'installation
de l'équipement dans un support, lire et suivre toutes les instructions de sécurité de la documentation du support. Suivre les instructions pour stabiliser le
support avant de commencer l’installation.
WARNING: PERSONAL INJURY RISK. Installation might require two
people to safely lift and install this equipment in a tall rack.
AVERTISSMANT: RISQUE DE BLESSURES PERSONNELLES. Deux personnes pourraient être nécessaires pour élever et installer l’appareil dans un
support haut en toute sécurité.
Site Electrical Power Requirements
The appliance requires the power specified in: Power Requirements on page 79. Adhere to the
electrical safety information in: Safety on page 17, and make sure that you:
l Ground and bond the rack according to local electrical specifications.
l Complete any necessary electrical work in accordance with local regulations. Electrical
installers must be suitably trained and qualified to perform the work.
Omron Adept Technologies, Inc. recommends that you use an uninterruptible power supply
(UPS) for the Primary appliance and a separate UPS for an optional Secondary appliance. If
you do not use an UPS, and you install two appliances in the same rack, connect each appliance to different power distribution units (PDUs)on separate circuits for power redundancy.
Electrical Wiring
DANGER: ELECTROCUTION RISK. Follow all local safety regulations that
determine who can install such equipment, and how to install it. Adhere to all
local safety and mechanical regulations governing the installation of rackmounted computer equipment, including power supply, connectors, grounding
and wiring.
22 Enterprise Manager 2100 User’s Guide 14413-200 Rev. A
Chapter 3: Installation
DANGER: RISQUE D'ÉLECTROCUTION. Respecter toutes les réglementations de sécurité locales qui établissent qui peut installer un tel équipement et la méthode d’installation. Respecter toutes les réglementations locales
en matière de sécurité et de mécanique régissant l'installation des équipements
informatiques montés sur support, notamment l'alimentation, les connecteurs,
la mise à la terre et le câblage.
Your Enterprise Manager 2100 shipment includes approved power cables for several global
locales. If it is necessary to manufacture custom power cables to comply with site-specific or
equipment-specific wiring, make sure that the cable rating and capacities comply with the specifications in: Power Requirements on page 79.
Chassis grounding occurs at the screws mounting the appliance to the rack through its rail kit.
If wired grounding (or bonding) is a requirement for your site, use an appropriate custom cable
according to local electrical regulations.
Site Networking Requirements
Local Area Network (LAN) Requirements
An Enterprise Manager 2100 running the Mobile Robot Software Suite requires network connections to:
l
AIV wireless network
l
Operator Terminal(s)
l
Factory equipment management systems (WMS or MES)
You require two static IP addresses for the Enterprise Manager appliance and one for each AIV
in the fleet. The Management and Fleet networks use these static addresses. Depending on the
network infrastructure, you can use a different subnet for each network. This is not an operating requirement, but it will enable you to isolate fleet data traffic from management traffic for
enhanced security.
Wireless Network Requirements.
The Mobile Robot Software Suite User's Guide and the AIV user's guide provides additional
information about wireless network requirements and requirements for network access points.
Be aware of the specific requirements for wireless network coverage and bandwidth.
Network resource availability can affect Enterprise Manager 2100 performance and the number of AIVs supported. See also: Number of AIVs Supported by an Enterprise Manager 2100 on
page 9.
3.2 Transport and Storage of the Enterprise Manager 2100
Ship or store the Enterprise Manager 2100 appliance only in its original factory packaging. The
packaging prevents damage from typical shipping handling. Protect the package from excessive shock and vibration during shipping or in-house relocation.
For information about the physical characteristics of the appliance, see: Technical Specifications on page 79.
14413-200 Rev. A Enterprise Manager 2100 User’s Guide 23
3.3 Unpack the Shipment
You must ship or store the appliance:
l
Within the environmental limits specified in Technical Specifications on page 79 in an
area (or vehicle) that is clean, dry, temperature-controlled, with low humidity.
l
In accordance with the original package labeling, which describes package orientation
and handling requirements.
3.3 Unpack the Shipment
Unpack the shipment on a clean, level, electrostatic discharge-safe (ESD-safe) surface that is
adjacent to the installation location. Make sure that the workspace is large enough to accommodate both the shipping carton and the unpacked appliance.
CAUTION: ESD DAMAGERISK. Protect the appliance from damage caused
by electrostatic discharge (ESD). wear a grounded wrist-strap or shoe strap
before you remove the antistatic cover.
ATTENTION: RISQUE DE DÉCHARGE ÉLECTROSTATIQUE. Protéger
l’appareil contre les dommages provoqués par les décharges électrostatiques
(ESD). Portez un bracelet antistatique à la poignée ou à la cheville avant de
retirer le couvercle antistatique.
Before You Unpack the Enterprise Manager 2100
Before you unpack the appliance:
l
Orient the carton only as indicated by its labeling (This Way Up).
l
Carefully inspect the packaging for evidence of damage during transit. If you find packaging damage, request that the carrier’s agent is present when you open the packaging.
As you do the unpacking:
1.
Compare the actual items received (not just the packing slip) with your equipment purchase order.
2. Verify that all items are present and that the shipment is correct. Hardware Supplied
with the Enterprise Manager 2100 on page 10.
3.
Inspect each component for external damage as you unpack it. Contact your local
Omron support immediately if you see any damage. See: How to Get Help on page 15.
Unpack the Enterprise Manager 2100 Shipping Carton
1.
Place the shipping carton on a stable, flat surface.
2.
Use only a safety box cutter to cut the packing tape. Do not use any other type of knife
because you might damage the contents. Open the carton as shown in Figure 3-1.
24 Enterprise Manager 2100 User’s Guide 14413-200 Rev. A
Figure 3-1. EM2100 Shipping Carton Content
Chapter 3: Installation
3.
Verify that the shipping carton contains the items listed in Table 3-1.
Table 3-1. Description of the Shipping Carton Content
Callout Description
1 Appliance in an anti-static bag.
2 Shock-absorbing corners.
3 Accessories and documentation bag.
4 Mounting rail kit.
N/A Power cables (not shown).
4.
Remove the accessories bag [3], the rail kit box [4] and the power cables.
5.
Carefully lift out the appliance [1] and remove the four shock absorbing [2] corners and
then remove the antistatic bag.
6. Put the packaging items back in the shipping carton and retain it for future use. Omron
Adept recommends that you ship or move the appliance only in its original packaging.
3.4 Sliding Rail Kit for Rack Mounting
Your Enterprise Manager 2100 shipment includes a universal sliding rail kit compatible with
generic data center 4-post rack systems. You can adapt the rail kit to:
l Both round hole and square hole rack posts. It does not require cage nuts for square
holes.
l Several different rack post profiles.
14413-200 Rev. A Enterprise Manager 2100 User’s Guide 25
3.4 Sliding Rail Kit for Rack Mounting
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You cannot install the Enterprise Manager 2100 in a 2-post (Telco style) rack. The bezel brackets (ears) are not designed to support the chassis weight. However, you might be able to use 2-
post racks for your appliance:
l
In a non-sliding configuration that supports the chassis sides with fasteners at least 4
points.
l
On a rack shelf that fully supports the appliance.
Figure 3-2. Enterprise Manager 2100 Appliance Dimensions
Table 3-2. Callouts in Figure 1-2
Callout Description
1 Chassis enclosure width.
2 Distance between front lock-screw holes.
WARNING: PERSONALINJURYRISK. When operating the telescoping rail
during assembly or normal use, take care that you do not insert your fingers
between moving parts.
AVERTISSMANT: RISQUE DE BLESSURES PERSONNELLE. Lors de
l'utilisation du rail télescopique pendant le montage ou l'utilisation normale,
veiller à ne pas insérer les doigts entre les pièces mobiles.
WARNING: HEAVY COMPONENT. Although one person can lift the appliance, you might require a minimum two person lift if you install the appliance
into the upper locations of a tall (183 cm, 72 inch) rack. Take particular care if
you use step ladders or step stools.
AVERTISSMANT: COMPOSANT LOURD. Bien qu’une seule personne
puisse soulever l’appareil, un nombre minimum de deux personnes pourrait
être nécessaire pour installer l’appareil dans un support haut (183 cm, 72
pouces). Prendre un soin particulier lors de l’utilisation d’une échelle ou d’un
tabouret-escabeau.
26 Enterprise Manager 2100 User’s Guide 14413-200 Rev. A
Chapter 3: Installation
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DANGER: TIPPING RISK. If a computer equipment rack is not ganged to
other racks, bolted to the floor, or fitted with an extending stabilizer foot, it
might tip when equipment is fully extended from the rack. Do not install equipment in a rack unless you are sure that it is stable and safe.
DANGER: RISQUE D'INSTABILITÉ. Si un support d’équipement informatique n’est pas connecté à d’autres supports, boulonné au sol ou équipé d’un
pied stabilisateur extensible, il risque de basculer lorsque l’équipement est complètement sorti du support. Ne pas installer d'équipement dans un support à
moins d’être certain qu'il est stable et sûr.
Components in the Sliding Rail Kit
The sliding rail kit provided with your Enterprise Manager 2100 appliance includes:
l
Inner sliding rail - Attach the rail to the appliance chassis.
l
Adjustable telescoping track - Use adjustable brackets to attach the track to the rack
posts.
l
Four fixed L-clamps.
l
Four adjustable L-brackets.
l
The fasteners described in Table 3-3.
Table 3-3. Rail Kit Fasteners
Type and Quantity Threaded Length Recommended Torque
M5 (4) 15 mm (0.59 inches) 4.5 ft-lb (6 N∙m)
M5 (8) 8 mm (0.314 inches) 4.5 ft-lb (6 N∙m)
M4 (8) 6 mm (0.236 inches) 2 ft-lb (3 N∙m)
M4, Black (8) 4 mm (0.157 inches) 2 ft-lb (3 N∙m)
Washer (8) N/A N/A
NOTE: To prevent fasteners from loosening because of vibration, use Loctite
Blue 242 Adhesive, except where electrical grounding is a requirement.
Tools Required to Install the Sliding Rail Kit
You require the following tools to install the Sliding Rail Kit:
l Phillips torque screwdriver with #2 bit.
l Masking tape and pen to mark the rack post positions.
l Spring or screw clamp to temporarily hold the rail in position while fastening.
l Thread locking liquid.
14413-200 Rev. A Enterprise Manager 2100 User’s Guide 27
3.4 Sliding Rail Kit for Rack Mounting
In addition, if you do not have the help of another person when mounting the track to the rack
posts, a small spring clamp is useful to hold one end of the track in position as you work on
the other end.
28 Enterprise Manager 2100 User’s Guide 14413-200 Rev. A
Chapter 3: Installation
Determine the Sliding Rail Kit Installation Location and Method
Determine the installation location as follows:
1.
Decide the height position (U location) where you want to install the appliance.
2.
Use masking tape (or similar) to mark the installation location on all four rack posts.
Remove the Sliding Rail from the Track
Remove the sliding rail from the telescoping track as follows:
Figure 3-3. Remove the Rail From the Track (Right Assembly Shown).
1.
Pull the end of the sliding rail [1] until it is fully extended from the track [2] engaging
the locking button [3].
2.
Press the locking button [3] and continue to pull the sliding rail [1] removing it completely from the track.
3.
Repeat Step 1 and Step 2 for the second rail assembly.
Attach the Sliding Rail to the Chassis
Attach the sliding rail to the appliance chassis as follows:
14413-200 Rev. A Enterprise Manager 2100 User’s Guide 29
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