OMRON HD User Manual

Mobile Robot

Safety Manual

I647-E-01

The information contained herein is the property of OMRON, and shall not be reproduced in whole or in part without prior written approval of OMRON. The information herein is subject to change without notice and should not be construed as a commitment by OMRON. The documentation is periodically reviewed and revised.

OMRON, assumes no responsibility for any errors or omissions in the documentation.

Any trademarks from other companies used in this publication are the property of those respective companies.

MPEG Layer-3 audio coding technology licensed from Fraunhofer IIS and Thomson.

Created in the United States of America

Terms and Conditions Agreement

Warranties

a. Exclusive Warranty. Omron’s exclusive warranty is that the Products will be free from

defects in materials and workmanship for a period of twelve months from the date of sale by Omron (or such other period expressed in writing by Omron). Omron disclaims all other warranties, express or implied.

b. Limitations. OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR

IMPLIED, ABOUT NON-INFRINGEMENT, MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE OF THE PRODUCTS. BUYER ACKNOWLEDGES THAT IT ALONE HAS DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE. Omron further disclaims all warranties and responsibility of any type for claims or expenses based on infringement by the Products or otherwise of any intellectual property right.

c. Buyer Remedy. Omron’s sole obligation hereunder shall be, at Omron’s election, to (i)

replace (in the form originally shipped with Buyer responsible for labor charges for removal or replacement thereof) the non-complying Product, (ii) repair the non-complying Product, or (iii) repay or credit Buyer an amount equal to the purchase price of the non-complying Product; provided that in no event shall Omron be responsible for warranty, repair, indemnity or any other claims or expenses regarding the Products unless Omron’s analysis confirms that the Products were properly handled, stored, installed and maintained and not subject to contamination, abuse, misuse or inappropriate modification. Return of any Products by Buyer must be approved in writing by Omron before shipment. Omron Companies shall not be liable for the suitability or unsuitability or the results from the use of Products in combination with any electrical or electronic components, circuits, system assemblies or any other materials or substances or environments. Any advice, recommendations or information given orally or in writing, are not to be construed as an amendment or addition to the above warranty. See http://www.omron.com/global/ or contact your Omron representative for published information.

Limitation on Liability; Etc.

OMRON COMPANIES SHALL NOT BE LIABLE FOR SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, LOSS OF PROFITS OR PRODUCTION OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS, WHETHER SUCH CLAIM IS BASED IN CONTRACT, WARRANTY, NEGLIGENCE OR STRICT LIABILITY. Further, in no event shall liability of Omron Companies exceed the individual price of the Product on which liability is asserted.

31500-100 RevA Mobile Robot HDSafety Manual 3

Suitability of Use.

Omron Companies shall not be responsible for conformity with any standards, codes or regulations which apply to the combination of the Product in the Buyer’s application or use of the Product. At Buyer’s request, Omron will provide applicable third party certification documents identifying ratings and limitations of use which apply to the Product. This information by itself is not sufficient for a complete determination of the suitability of the Product in combination with the end product, machine, system, or other application or use. Buyer shall be solely responsible for determining appropriateness of the particular Product with respect to Buyer’s application, product or system. Buyer shall take application responsibility in all cases. NEVER USE THE PRODUCT FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO ADDRESS THE RISKS, AND THAT THE OMRON PRODUCT(S) IS PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM.

Programmable Products

Omron Companies shall not be responsible for the user’s programming of a programmable Product, or any consequence thereof.

Performance Data

Data presented in Omron Company websites, catalogs and other materials is provided as a guide for the user in determining suitability and does not constitute a warranty. It may represent the result of Omron’s test conditions, and the user must correlate it to actual application requirements. Actual performance is subject to the Omron’s Warranty and Limitations of Liability.

Change in Specifications

Product specifications and accessories may be changed at any time based on improvements and other reasons. It is our practice to change part numbers when published ratings or features are changed, or when significant construction changes are made. However, some specifications of the Product may be changed without any notice. When in doubt, special part numbers may be assigned to fix or establish key specifications for your application. Please consult with your Omron’s representative at any time to confirm actual specifications of purchased Product.

Errors and Omissions

Information presented by Omron Companies has been checked and is believed to be accurate; however, no responsibility is assumed for clerical, typographical or proofreading errors or omissions.

Even if it conforms to all instructions in this safety guide, it isn't possible to guarantee that a robot system will be free from an accident resulting in injury or death or considerable damage to property caused by the industrial robot. It is the customer's responsibility to implement appropriate security measures based on their own risk assessment.

4 Mobile Robot HDSafety Manual 31500-100 RevA

Table of Contents

Chapter 1: Alerts and Special Information 7

1.1 Alert Levels

1.2 Alert Icons

Falling Hazards 8

1.3 Special Information

Chapter 2: Operational Safety 11

2.1 Definitions

2.2 General Hazards

2.3 Unprotected Areas

2.4 What to Do in an Emergency

Releasing the Brakes 17 Releasing an E-Stop 19

2.5 User's Responsibilities

Electrical Hazards 21 Magnetic Field Hazards 21 Burn Hazard 22 Qualification of Personnel 22 Payload Movement and Transfer 23 Configurable Warning Buzzer 23 Speakers 24 Mechanical Brakes 24 Fleet Management 25 Other Hazards 26

2.6 Risk Assessment

Exposure 26 Severity of Injury 26 Obstacle Avoidance 26 Safety System Behavior 27

2.7 Environment

General Environmental Conditions 27 Public Access 28 Operating Clearances 28 Obstacles 30

2.8 Intended and Non-intended Use

Intended Use 31 Non-Intended Use 31 HD-1500 Platform Modifications 33

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Table of Contents

2.9 Safety Considerations when Performing Maintenance

Electrical Hazards 34 Electrical Hazard Precautions 34 Burn Hazard 34 ESD Hazards 35

2.10 Safety Measures Prior and After Maintenance

Lock-Out, Tag-Out Procedure 35

2.11 Safety Inspection

Safety and Warning Devices 39 Warning Labels 40

2.12 Protective Stops Initiated by AMR Safety Lasers

2.13 Safety System Overspeed Faults

2.14 Laser Safety

2.15 Interlock Switches

2.16 Battery Safety

Battery Safety Precautions 46 Battery Maintenance 48

2.17 Charging Station

Safety Precautions 49

2.18 Payload Structure

Safety 54 Considerations 55

2.19 Additional Safety Information

Mobile Robot HDSafety Manual (Cat. No. I647) 64

2.20 Additional Safety Information

Mobile Robot HDSafety Manual (Cat. No. I647) 64

2.21 Disposal

Chapter 3: Safety Function Description 65

PL and PFH 65

6 Mobile Robot HDSafety Manual 31500-100 RevA

Chapter 1: Alerts and Special Information

This chapter provides information on the alters and special safety information you need to safely operate or work around an AMR.

1.1 Alert Levels

There are three levels of alert notation used in this document. 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.

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.

CAUTION: Identifies a potentially hazardous situation which, if not avoided, might result in minor injury, moderate injury, or property damage.

1.2 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.

This identifies a hazardous electrical situation.

This warning icon warns against riding on the AMR.

31500-100 RevA Mobile Robot HDSafety Manual 7

This identifies a hazardous burn-related situation, or a Hot surface.

This identifies a hazardous ESD situation.

This identifies a fire risk.

1.2 Alert Icons

Icon Meaning Icon Meaning

This warning icon warns against hazardous magnetic field.

This warning icon warns against a pinch hazard.

This identifies a tip hazard.

Falling Hazards

WARNING: PERSONALINJURYORPROPERTYDAMAGERISK The AMR can cause serious injury to personnel or damage to itself or other equipment if it drives off of a ledge, such as a loading dock, or down stairs.

Physical Barriers

Use physical barriers together with logical barriers (map restrictions) to prevent the AMR from approaching any fall hazard that is within its operating area. Such hazards include:

The edge of a loading dock or ramp.

Entrance to downward stairs.

Any other vertical drop that exceeds the AMR's maximum step height.

Required characteristics of physical barriers are:

Strength—The barrier must be attached to a solid wall or floor and should be strong enough to stop a fully-laden AMR traveling at maximum speed.

l Continuity—The barrier must extend around the hazard completely.

Visibility—Mark all physical barriers to make sure that the AMR's safety lasers can detect them easily. Barriers must extend above and below the laser's sensing plane, particularly if the floor is not flat.

Logical Barriers

In addition to physical barriers, use MobilePlanner to create forbidden areas or lines on the workspace map to prevent AMRs from closely approaching a fall hazard. These restrictions must be continuous so that the AMR cannot plan a path around the logical barrier.

The map features mentioned in the preceding paragraph are not interlocked methods of preventing an AMR from entering a specific zone. These map features assume proper AMR localization, and therefore, if the AMR is not able to properly localize its current position it may enter the forbidden zones. You must always install physical barriers where there is a risk of property damage or safety hazard.

You can also use the configuration parameters FrontPaddingAtSlowSpeed and FrontPad- dingAtFastSpeed to increase the AMR's safety clearances. This causes the AMR to decelerate as it approaches a hazard. See: Fleet Operations Workspace Core User's Manual (Cat. No. I635).

8 Mobile Robot HDSafety Manual 31500-100 RevA

1.3 Special Information

This manual uses the following typographic styles to identify specific types of 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.

Chapter 1: Alerts and Special Information

31500-100 RevA Mobile Robot HDSafety Manual 9

2.1 Definitions

This document uses the following terms to describe the HD-1500:

AMR(Autonomous Mobile Robot):This term describes the HD-1500 with an attached payload structure, creating a complete Mobile Robot.

We use the term AMR when talking about controlling or monitoring the full mobile robot with attached payload structure.

Fleet Manager: The operational mode of the computing appliance (EM2100 appliance) that runs the FLOW Core software to control a fleet of AMRs.

Fleet Operations Workspace (FLOW): A computing system that consists of software and hardware packages, and is used to set up, integrate and manage a fleet of AMRs within a factory environment. FLOW consists of two main elements: FLOW Core and FLOW iQ.

FLOW Core: All of the software used by Fleet Operations Workspace. The software runs on the EM2100 appliance(s), the AMRs, and the user's PC.

FLOW iQ: A software package that captures, analyzes, and reports data to users in order to measure, evaluate and constantly improve their AMR fleet performance in the factory.

Fleet: Two or more AMRs operating in the same workspace.

Chapter 2: Operational Safety

HD-1500:This is the model name of the AMRplatform. This document uses the model name HD-1500 when describing the setup, configuration, and connections.

Mobile Robot: An alternative industry term for AMR.

Payload Structure: Any passive or dynamic device attached to and possibly powered by the

HD-1500. This could be as simple as a crate for carrying objects such as factory parts or as sophisticated as a robotic arm that picks up and manipulates factory parts.

Platform: The most basic part of the AMR. It includes:

The chassis, drive assemblies, light discs, light strips, suspension, casters, battery and lasers.

An on-board AMR controller with built-in Inertial Measurement Units (IMU), navigation software, data and power connectors for a payload structure.

An Operator Panel.

The HD-1500 skins (external covers), and the chassis where you attach a payload structure.

2.2 General Hazards

This section describes potentially hazardous situations and conditions.

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2.2 General Hazards

WARNING: The following situations could result in injury or damage to the equipment.

Do not ride on the AMR.

Do not exceed the maximum weight limit.

Do not drive the AMR on inclined floors or surfaces.

Do not exceed the maximum recommended speed, acceleration, deceleration, or rotation limits.

Rotational speed becomes more significant when the payload’s center of gravity is increasingly offset from the AMR's center of gravity.

Do not drop the AMR, run it off a ledge, or otherwise operate it irresponsibly.

CAUTION: PERSONALINJURYRISK The user must not stand close to the AMR while it is rotating with no forward motion.

Do not allow the AMR to drive through an opening that has an automatic gate or door unless the door and AMR are configured correctly with the Call/Door Box option.

Do not throw an object in front of the AMR or suddenly step into the path of the AMR. The AMR braking system cannot be expected to function as designed and specified in such instances.

WARNING: PERSONALINJURYORPROPERTYDAMAGERISK Abrupt appearance of objects or persons in the path of the AMR could result in personal injury or property damage. You must make sure that the operating environment of the AMR is adequately controlled.

Do not expose the AMR to rain or moisture.

Do not use unauthorized parts to repair the AMR.

Do not power on the AMR without its wireless antennas in place.

Although the lasers used are Class 1 (eye-safe), OMRON recommends that you not look into the laser light.

Reflective surfaces can interfere with the AMR's laser operation.

Do not operate the AMR in areas where it may be exposed to intense interference light, such as direct sunlight.

Do not operate the AMR in a flammable gas environment.

12 Mobile Robot HDSafety Manual 31500-100 RevA

WARNING: PERSONALINJURYORPROPERTYDAMAGERISK

Do not operate the AMR in hazardous environments where there is explosive gas, and oil mist.

Do not operate the AMR with the safety interlock switches disabled.

WARNING: ELECTRICAL SHOCKRISK, FIRERISK, BURNRISK The safety interlock switches shall not be defeated or bypassed as this could potentially result in short circuit.

The HD-1500 shall only be powered by an HD-1500 battery. Do not use any other batteries.

The HD-1500 battery shall only be charged by an HD-1500 charger. Do not use any other chargers.

2.3 Unprotected Areas

The HD-1500 charges its battery autonomously by driving itself to the docking target where it mates with the docking target's charging paddle, as displayed in the following figure.

Chapter 2: Operational Safety

Figure 2-1. HD-1500 Mating with the Charging Paddle, (A) HD-1500, and (B) Charging Paddle

31500-100 RevA Mobile Robot HDSafety Manual 13

2.3 Unprotected Areas

The HD-1500 travels at a low speed when docking:

When traveling between 0 to 20 mm/s (or angular speed of less than 3 deg/s), there are no hardware-based safety laser protection zones. The HD-1500 beeps any time it moves at a linear speed below 20 mm/s, or an angular speed of less than 3 deg/sec for longer than 2 seconds. The AMR respects its software-based obstacle-avoidance clearances at all speeds, but it will not use a hardware-based safety laser protection zone at speeds below 20 mm/s or 3 deg/sec. This is done intentionally to allow operators to manually drive the AMR away from any obstacles that are too close to the AMR. It also allows the operators to back the AMR when needed.

At speeds between 20 to 115 mm/s (or angular speed of less than 12 deg/s), the AMR's hardware-based laser protection zones exclude the area where the charging paddle enters the laser channel. The safety zones of the two safety scanning lasers are identical, and therefore, the unprotected areas are present at both front and rear ends of the AMR.

The operator must take necessary precautions to ensure that the operator's hands or other body parts do not get stuck in between the charging pad and the platform when docking.

At speeds above 115 mm/s, the hardware-based laser protective zones are fully active and there are no unprotected areas.

The following table lists the hardware-based safety laser protection zones for the speeds mentioned in the preceding paragraph:

Table 2-1. Hardware-Based Safety Laser Protective Zones

Linear speed

(mm/s)

0≥ and < 20 0≥ and <3 No protective zones.

20≥ and <115 3≥ and <12 Two unprotected areas. Area

≥115 ≥12 No unprotected areas.

CAUTION: PERSONALINJURYORPROPERTYDAMAGERISK Although the AMR respects its software-based obstacle-avoidance clearances at all speeds, the user must be aware of the location of the E-Stop buttons at all times, and keep out of the unprotected areas.

CAUTION: PERSONALINJURYORPROPERTYDAMAGERISK It is the end user's responsibility to ensure that the area within the radius of 2 m from the center of the HD-1500 is kept clear, when the AMR is traveling at less than 115 mm/s.

Angular speed

(deg/s)

Hardware-based safety laser

protective Zones

where the charging paddle enters the laser channel (both at front and rear of the AMR).

14 Mobile Robot HDSafety Manual 31500-100 RevA

Chapter 2: Operational Safety

Figure 2-2. HD-1500 Protective Zones with Openings for the Charging Paddle - Movement at Less

Than 115 mm/s (Dimensions are in mm)

ID Description ID Description

A AMR Y-axis D Front laser zone

AMR X-axis

C Rear laser zone F Safety scanning laser

The following figure provides dimensions of the HD-1500 unprotected area. The same dimensions are true for the rear laser unprotected area.

E HD-1500

Figure 2-3. HD-1500's Unprotected Zone Dimensions - Movement at Less Than 115 mm/s, (A) AMR

Y-Axis, and (B) AMR X-Axis

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2.4 What to Do in an Emergency

2.4 What to Do in an Emergency

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 power using the main disconnect switch. You must also turn off the power supply box in case a docked AMRis E-Stopped.

CAUTION: Combustible LithiumBattery. For AMR fire suppression use either foam, dry chemical extinguisher, ABC, AB, powdered graphite, copper powder, or a CO2extinguisher.

The HD-1500 has four E-Stop buttons, two on either side of the platform (a red push-lock button). The Operator Panel provides an additional E-Stop button (a red push-lock button on a yellow background). See the following figures.

Figure 2-4. E-Stop Button on the Platform

Figure 2-5. E-Stop Button on the Operator Panel

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Chapter 2: Operational Safety

Use the User Safety Interface connection, located on the user access panel, to add E-Stop buttons to your payload structure, if required.

In the event of an emergency stop:

The AMR uses motor power to come to a controlled stop then engages its motor brakes and removes power to its drive motors.

Indicator lights on the AMR, and the pendant (if attached) show the E-Stop state.

A user-initiated E-Stop differs from a laser-initiated protective stop (they both are category 1 stop). The latter occurs when one or both of the AMR's safety scanning laser detects an object within its protected zone. In such cases, the AMR safely stops, and then resumes operation after a delay of at least two seconds, and after confirming that its protected zone is clear of obstacles.

An emegency stop initiated by pressing one of the E-Stop buttons, is a controlled stop function. In this case, the power to the AMR motors remains on in order to achieve a controlled stop. Once the controlled stop is achieved, the power to the motors is disconnected. If for any reason the controlled stop function fails or does not function as expected, the power will still be disconnected to the motors. Activating an emergency stopby pressing one of the E-Stop buttons requires manual deactivation of the E-Stop button, and manual reset of the AMR through the ON button for the AMR to restart its operation. The AMR will not automatically recover from an emergency stop initiated by pressing one of the E-Stop buttons on the AMR.

To use an E-Stop button:

1. Push firmly on the red button so that it latches.

Follow your site-specific emergency and safety procedures.

If you need to move the AMR manually after correcting the emergency condition, press and hold the brake release button and move the AMR. You can also use the pendant to drive the AMR manually, if it is safe to do so. In order to use the pendant, you must first release the E-Stop.

To enable the AMR's drive motors and put it back into service, follow the procedure described in: Releasing an E-Stop on page 19.

Releasing the Brakes

In case of an emergency or abnormal situation, the AMR can be manually moved. However, only qualified personnel who have read and understood this manual and the HD-1500 Plat- form User's Manual (Cat. No. I645) should manually move the platform. The brakes on the drive wheels can be released with the brake release button. This requires battery power, and an EStop must be pressed on the AMR.

NOTE: You should move the HD-1500 manually only when absolutely necessary during an emergency, for safety, or if it is lost or stuck. If you find that you must frequently move the HD-1500, use MobilePlanner to reconfigure its route to

avoid problem areas.

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2.4 What to Do in an Emergency

WARNING: PERSONALINJURYORPROPERTYDAMAGERISK Using the brake release button while the HD-1500 is positioned on a slope of greater than 3% will cause the HD-1500 to roll down. You must not use the brake release button to move the HD-1500 manually, when positioned on a slope of greater than 3%, unless necessary precautions have been taken to prevent uncontrolled rolling of the HD-1500. The HD-1500 is not intended to be operated on ramps or sloped surfaces.

CAUTION: PERSONALINJURYORPROPERTYDAMAGERISK Pushing an HD-1500 requires significant effort and might cause personal injury or property damage. Take appropriate care and follow all safety instructions.

WARNING: PINCHRISK Take necessary precautions when moving an AMRwithout its skins attached. The motor and motor assemblies will be exposed when the side skins are removed, exposing the potential pinch points. Refer to the following figure. The rear and top of the AMR also pose pinch hazard when the rear skin and the top plate are removed.

Figure 2-6. Side Skin Removed - Exposing Motor and Motor Assemblies

Application-specific attachments can affect an AMR's stability. All operators should know the locations on the AMR (or its payload) where they can push safely without tipping the AMR over or damaging its components. This should be as low as possible and near the center of gravity.

18 Mobile Robot HDSafety Manual 31500-100 RevA

Chapter 2: Operational Safety

OMRON recommends that you train personnel on the safe use of the brake release button, and procedures for safely pushing an HD-1500.

CAUTION: PERSONALINJURYRISK The pushing locations of the AMR are low. You must use safe pushing/ pulling practices when manually moving the AMR.

Releasing an E-Stop

This section describes how to release an E-Stop and bring the AMR back into service.

CAUTION: PERSONALINJURYORPROPERTYDAMAGERISK If an AMR’s E-Stop is triggered, ensure that the cause of the E-Stop is resolved, and all surrounding areas are clear before releasing the E-Stop.

To release an E-Stop:

Make sure that all surrounding areas are clear before you release the E-Stop button so that the AMR has room to maneuver.

Rotate the E-Stop button in the direction of the arrows on the button and allow it to pop up.

After you release the E-Stop button, you must enable the motors manually by pressing the green ON button on the operator panel.

After you enable the motors there is a delay of several seconds before the AMR can resume operation.

NOTE: If you manually move the AMR while it is powered off, it may not be able to determine its current location. Use the localization feature in MobilePlanner to localize the AMR.

Enabling motor power, either at the start-up or after an E-Stop release, must be done through a manual action at the system, and only after the operator has confirmed that it is safe to return the AMR to operation. Enabling the motor power must be an additional act after releasing an E-Stop, and it is done by pressing the Operator Panel's On button.

31500-100 RevA Mobile Robot HDSafety Manual 19

2.5 User's Responsibilities

2.5 User's Responsibilities

You are responsible for continuous safe use of the AMR.

WARNING: PERSONALINJURYORPROPERTYDAMAGERISK Any modifications made to the AMR can lead to loss of safety or functionality of the AMR. It is the end-user's responsibility to perform complete risk assessment after making any modifications to the AMR, and to confirm that all safety features of the AMR are fully functional.

WARNING: PERSONALINJURYRISK 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 accordance with local regulations.

WARNING: PERSONALINJURYORPROPERTYDAMAGERISK It is the end-user's responsibility to make sure that the AMR design and implementation complies with all local standards and legal requirements.

WARNING: PERSONALINJURYORPROPERTYDAMAGERISK It is the end-user's responsibility to make sure that the AMR is operated within its specifications, intended use, and intended environments.

Safe use of the AMR requires that you:

Read the installation and operation instructions, in addition to the HD-1500 Platform User's Manual (Cat. No. I645), before using the AMR.

l Review, and understand the safety protections (E-Stops, safety laser stopping distances,

overhanging load, etc.) associated with your specific application and environment.

Make sure that the environment is suitable for safe operation of the AMR.

Make use of the Fleet Manager when two or more AMRs are used in the same environment, and are not confined to separate workspaces. See: Fleet Operations Workspace Core User's Manual (Cat. No. I635).

Make sure that any person working with or near an AMR is trained, and has read the HD-1500 Platform User's Manual (Cat. No. I645) for safe AMR operation.

Mechanically maintain and service AMRs for proper operation of all control and safety functions.

20 Mobile Robot HDSafety Manual 31500-100 RevA

Electrical Hazards

WARNING: ELECTROCUTIONRISK The charging station has ACpower inside. Its covers are not interlocked. You must disconnect the power prior to maintenance work.

WARNING: FIRE RISK, ELECTRICAL BURNRISK The HD-1500 battery, and the charger outputs have high current. You must take appropriate precautions to avoid potential short circuit.

Never access the interior of the platform with the charger attached.

Avoid shorting the battery terminals or connectors.

Do not use any charger or battery not supplied by OMRON. The charger shall only be used to charge an HD-1500 battery.

The HD-1500 battery shall only be charged by an HD-1500 Charger.

Chapter 2: Operational Safety

If any liquid is spilled on the AMR, power off the AMR, clean up all possible liquid, and allow the AMR to air dry thoroughly before restoring power. Contact your OMRON representative if you suspect that liquid has penetrated the skins or contaminated the AMR's interior.

Avoid liquid near the charging station, and the AMR.

Do not open the power supply box, electrician access box, or even the docking target until you have read the appropriate sections of this user's guide, and performed appropriate Lock-Out, Tag-Out (LOTO) procedure. See: Lock-Out, Tag-Out Procedure on page

35.

Magnetic Field Hazards

The rare-earth magnet embedded in the HD-1500 charging contacts create a strong magnetic field. Persons with medical implants must not approach the HD-1500. See the following figure for location of the charging contacts.

WARNING: MAGNETIC FIELD MEDICAL IMPLANT RISK Magnetic fields can be hazardous if you have a medical implant. Keep a minimum of 30 cm away from the HD-1500.

31500-100 RevA Mobile Robot HDSafety Manual 21

+ 49 hidden pages

OMRON HD User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Chapter 1: Alerts and Special Information

1.1 Alert Levels

1.2 Alert Icons

Falling Hazards

1.3 Special Information

2.1 Definitions

Chapter 2: Operational Safety

2.2 General Hazards

2.3 Unprotected Areas

2.4 What to Do in an Emergency

Releasing the Brakes

Releasing an E-Stop

2.5 User's Responsibilities

Electrical Hazards

Magnetic Field Hazards