OMRON HD-1500 User Manual
HD-1500 Platform
User's Manual
I645-E-02
Copyright Notice
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.
Copyright 2020 by OMRON All rights reserved.
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.
Acapela© voice technology licensed from ACAPELA GROUP (https://www.acapela-group.com) Copyright
2003, all rights reserved.
Created in the United States of America
Table of Contents
Chapter 1: Introduction 10
1.1 Definitions
1.2 Product Description
HD-1500 Autonomous Navigation 13
HD-1500 Localization 13
Custom Payload Structures 13
Body and Drive Train 14
What's Included - Basic Components 15
1.3 Software Overview
HD-1500 Software 20
SetNetGo 24
1.4 How Can I Get Help?
Related Manuals 24
Support 25
Download a Debuginfo File for Support 25
Network Setup 26
Obtain a DebugInfo File from SetNetGo 26
10
11
19
24
Chapter 2: Safety 28
2.1 General Hazards
2.2 Unprotected Areas
2.3 What to Do in an Emergency
Releasing the Brakes 33
Releasing an E-Stop 35
2.4 Dangers, Warnings, and Cautions
Alert Levels 35
Alert Icons 36
Special Information 37
2.5 User's Responsibilities
Electrical Hazards 38
Magnetic Field Hazards 39
Burn Hazard 40
Qualification of Personnel 40
Payload Movement and Transfer 40
Configurable Warning Buzzer 41
Speakers 42
Mechanical Brakes 42
Fleet Management 42
2.6 Environment
28
29
32
35
38
43
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General Environmental Conditions 43
Public Access 44
Operating Clearances 44
Obstacles 46
2.7 Intended and Non-intended Use
Intended Use 47
Non-Intended Use 47
HD-1500 Platform Modifications 48
2.8 Protective Stops Initiated by AMR Safety Lasers
2.9 Safety System Overspeed Faults
2.10 Laser Safety
2.11 Interlock Switches
2.12 Battery Safety
Battery Safety Precautions 54
Battery Maintenance 56
2.13 Charging Station
Safety Precautions 57
2.14 Additional Safety Information
Mobile Robot HDSafety Manual (Cat. No. I647) 61
2.15 Disposal
47
50
51
51
52
53
56
61
61
Chapter 3: Setup 64
3.1 Overview of HD-1500 Setup
Tasks 64
3.2 Transport and Storage
HD-1500 Shipping and Storage 64
Battery Crate 65
Power Supply Box, and Docking Target Crates 66
3.3 Before Unpacking
3.4 Unpacking Considerations
Battery Unpacking 69
HD-1500 Unpacking 77
Docking Target Unpacking 93
Power Supply Box Unpacking 100
3.5 Installing the Battery
Installation 109
3.6 Attaching the Payload Structure and Options
Attach the Payload Structure 113
Attach the No Riding Warning Label 113
Attach HD-1500 Optional Devices 113
E-Stop Jumper on the User Access Panel 114
Warning Buzzer 114
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67
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113
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Warning Light 115
3.7 Installing the Charging Station
Required Tools and Fasteners 116
Charging Station Features and Parts 117
Charging Station Environmental Requirements 120
Power Supply Box Installation 121
Docking Target Installation 125
115
Chapter 4: Configuration 128
4.1 Settings and Configuration
Maintenance Ethernet Connection 128
Setting Up Wireless Ethernet 131
4.2 Create a Workspace Map
Map Creation Overview 134
Mapping Tasks 136
4.3 Acceleration, Deceleration, and Rotation Limits
4.4 Supplemental Information
Laser Setup 137
128
134
136
137
Chapter 5: Payload Structures 140
5.1 Safety
Warning Labels 140
Warning Lights 140
Warning Buzzer 141
5.2 Considerations
Performance 141
Weight Constraints 141
Power Consumption 142
Power Limits 142
Payload Attachment Location 143
Payload Dimensions and Design 143
Mounting Locations in the Platform 145
AMR Coordinate System 146
Center of Gravity (CG) 147
5.3 Payload-Related Tradeoffs
5.4 Connections Between the HD-1500 Platform and Payload Structure
Operator Panel on the Payload 151
Optional Connections 152
140
141
150
151
Chapter 6: Connectivity 154
6.1 Required Connections
Platform Required Connections 155
Charging Station Required Connections 158
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155
Table of Contents
6.2 User Access Panel Connections
USERPWR 163
REG PWR 163
SCPU 165
USER_PROTECTIVE_STOP input Behavior 166
LIGHTS 167
Drive Power Indicator 167
I/O 1 168
I/O 2 168
COMMS - RS-232, RS-422, CANBus 169
6.3 Electronics Bay Connections
AMR Controller 171
AMR Controller Connections 172
Ethernet Switches 176
159
170
Chapter 7: Operation 182
7.1 Operating Environment
Intended Use 182
Clearance 182
Obstacles 185
Environment and Floor 186
Getting Stuck (Immobilization Risk) 186
7.2 Typical Operation
7.3 Power and Charging
Battery Indicators and Controls 188
Charging Station 189
Safety Precautions 190
Manually Charging the AMR's Battery 195
Balancing the Battery 197
7.4 Operator Panel
Screen 199
E-Stop Buttons 201
Positioning an Optional Payload E-Stop 202
ON Button 202
OFF Button 202
Brake Release Button 203
Pendant Port 204
Maintenance Ethernet Connection 204
7.5 Other Controls and Indicators
Light Discs and Beacon 204
Front and Back Light Strips 208
7.6 Sensors
Lasers 213
Other Sensors 215
7.7 Start up
182
187
188
199
204
213
215
5 HD-1500 Platform User's Manual 31500-000 Rev B
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Procedure 215
Pendant Controls and Operation Description 215
Chapter 8: Maintenance 220
8.1 Safety Considerations when Performing Maintenance
Electrical Hazards 221
Electrical Hazard Precautions 221
Burn Hazard 222
ESD Hazards 222
8.2 Safety Measures Prior and After Maintenance
Lock-Out, Tag-Out Procedure 222
8.3 Lifting the Platform Safely
8.4 Safety Inspection
Safety and Warning Devices 229
Warning Labels 230
8.5 Maintaining and Replacing Batteries
Maintaining Batteries 230
Replacing the Battery 231
8.6 Cleaning
Work Area Maintenance 240
Platform and Charging Station Cleaning 240
8.7 Replacing Non-Periodic Parts
Light Discs 245
Light Strips 249
Operator Panel 251
Side-Mount Lasers (Side Lasers) 252
Wifi Antennas 255
AMR Charging Contacts 256
E-Stop and Safety Laser Commissioning 258
Removing and Installing Skins 259
8.8 Field-Replaceable Periodic Parts
Caster and Drive Wheel Treads 272
Caster, Drive Wheel, and Drive Assembly 272
8.9 Restoring the Configuration
221
222
226
229
230
240
244
272
273
Chapter 9: Options 274
9.1 Fleet Manager, for Multi-AMR Coordination
9.2 Tools for Use in the Field
SetNetGo - Managing Software Packages 274
9.3 Pendant
9.4 Spare Battery
9.5 Side-Mount Lasers
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274
274
275
276
276
Table of Contents
Side Lasers Installation 276
Connections 277
Installation Procedure 277
Configuration 282
9.6 High-Accuracy Positioning System (HAPS)
HAPS Installation and Software Configuration 287
Components 288
HAPS Installation 288
HAPSSoftware Configuration 291
Specifications 293
Dimensions 294
9.7 Charging Station
287
295
Chapter 10: Technical Specifications 296
10.1 Dimension Drawings
HD-1500 Platform 296
HD-1500 Charging Station 299
10.2 HD-1500 Platform Specifications
Physical 300
Performance 301
Sensors 302
10.3 HD-1500 Charging Station Specifications
Power Supply Box Specifications 303
Docking Target Specifications 303
296
300
303
Chapter 11: HD-1500 Default Safety Zones 306
11.1 Default Safety Zones
306
Chapter 12: Glossary 328
7 HD-1500 Platform User's Manual 31500-000 Rev B
Revision History
Revision
Code
01 7/16/2020 Initial release of English version - Original Instructions
02 8/27/2020 Made changes to all chapters per updated engineering work.
Date Revised Content
31500-000 Rev B HD-1500 Platform User's Manual 8
This manual is OMRON's Original instructions describing the setup, operation, and user maintenance of an HD-1500 Autonomous Mobile Robot (AMR).
This manual does not describe all configuration steps that you perform using the software supplied with an HD-1500. The Fleet Operations Workspace Core User's Manual (Cat. No. I635)
describes configuration, and use of the HD-1500.
1.1 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 pay-
load 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.
Chapter 1: Introduction
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.
HD-1500: This is the model name of the AMR platform. 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:
o
The chassis, drive assemblies, light discs, light strips, suspension, casters, battery and
lasers.
o
An on-board AMR controller with built-in Inertial Measurement Units (IMU), navigation software, data and power connectors for a payload structure.
o
An Operator Panel.
o
The HD-1500 skins (external covers), and the chassis where you attach a payload structure.
31500-000 Rev B HD-1500 Platform User's Manual 10
1.2 Product Description
D
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D
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M
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G
Q
R
P
P
A
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B
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1.2 Product Description
The HD-1500 is a general-purpose mobile robot, designed to work in an indoor industrial
environment and around trained personnel. It is self-guided and self-charging, with an automated charging station. It has a maximum capacity of 1500 kg. Capacity includes the payload
structure and any load carried by that structure.
It’s Electrostatic Discharge (ESD) drive wheels discharge any accumulated electrical charge in
the AMR to ground which, if discharged into sensitive components of the AMR, could result
in serious damage of those components.
CAUTION: PROPERTYDAMAGE RISK
The AMR skins can accumulate electrical charge which, if discharged into ESD
sensitive devices, can cause damage to those devices.
11 HD-1500 Platform User's Manual 31500-000 Rev B
Figure 1-1. HD-1500 Platform Features
Chapter 1: Introduction
B
C
A
E
D
F
Callout Description Callout Description
A Operator Panel with E-Stop But-
ton
B User Access Panel L Back Light Indication
C Wireless antenna x2 M High-Accuracy Positioning System
D Safety Scanning Laser x2 N
E Low Laser x2 O E-stop Button x4 (two on each side)
F Side Laser x2 - option P Front Caster x2, Rear Caster x2
G Light Disc x2 - one on each side
of the HD-1500
H Speaker x2 R AMR Controller
I Battery
J Battery Door
K Front Light Indication
(HAPS) x2 - option
Charging Contact x2 - top and bottom
Q Drive Wheel x2 - one on each side of
the HD-1500
Figure 1-2. Charging Station Features
31500-000 Rev B HD-1500 Platform User's Manual 12
1.2 Product Description
Callout Description Callout Description
A Power Supply Box D Docking Target
B Cooling Duct Cover E Charging Paddle
C Electrician Access Box F Charging Pads x2 - top and bottom
HD-1500 Autonomous Navigation
The HD-1500 combines hardware and mobile-robotics software to provide an adaptive, mobileplatform to transport your payload. The HD-1500 is equipped with Natural Feature Navigation system which enables the AMR to navigate, and perform its basic functions
independently and without the need for facility modification. After it scans physical features in
its environment, the HD-1500 navigates safely and autonomously to any accessible destination. It can move continuously and without human intervention, autonomously recharging
itself as necessary.
The HD-1500 uses range data from a Safety Scanning Laser as its primary means of detecting
obstacles and of maintaining an accurate understanding of its location in the environment.
Additionally, it uses data from the following sensors:
l
Two low lasers at the opposing corners of the AMR platform to detect objects below the
plane of the Safety Scanning Lasers.
l
Gyroscopes that detect and report HD-1500 rotational velocity.
l
Two encoders on each drive motor provide information on the distance traveled by
each drive wheel.
HD-1500 Localization
The encoders provide the navigation system with information on how far each wheel has
traveled, and in which direction. In addition, the Gyroscopes track the AMR's rotational velocity. The encoder information, combined with gyroscope data, is used to deduce the odometry.
The AMR analyzes this odometry data together with the data received from the safety scanning lasers, low lasers, and the side lasers to calculate its position within the map. This process is called localization.
Custom Payload Structures
For most applications, you will want to customize the platform with a payload structure,
attached to the top of the platform, for some combination of picking up, transporting, and dropping off your payload or material. The HD-1500 provides threaded mounting holes for payload attachment. The mounting holes provide a strong and adaptable method of attaching
payload structures to the chassis. A payload structure can be as simple as a crate that contains
manufacturing parts or a more sophisticated device such as a conveyor or robot arm. For more
information on designing a payload structure, see: Payload Structures on page 140.
The platform also provides a variety of interfaces and power connections to support your
application-specific sensors and accessories. For more information on available user connectors, see: Connectivity on page 154.
13 HD-1500 Platform User's Manual 31500-000 Rev B
Chapter 1: Introduction
22
B
B
A
A
Body and Drive Train
The HD-1500 is a differential-drive AMR. It has two drive-wheels, and passive swivel-casters
at its front and rear for balance. The drive-wheels are mounted on the rocker arms, and have
solid polyurethane tread. Refer to the following figure for more information.
This drive style makes the HD-1500 highly maneuverable and allows it to rotate in place.
Figure 1-3. HD-1500Drive Train - Top View, (A)Casters, and (B) Drive Wheels
Each front caster is mounted to the same rocker arm as one of the drive-wheels. The two rear
casters are connected by another rocker that pivots about the AMR's longitudinal center-line.
This arrangement allows the AMR to maintain contact with the floor over uneven areas or
bumps, which benefits both traction and stability. Refer to the following figure for more information.
31500-000 Rev B HD-1500 Platform User's Manual 14
1.2 Product Description
A
A
B
C
C
D
C
Figure 1-4. HD-1500Drive Train (A) Casters, (B) Drive Wheels, (C) Rocker Arms, and (D) Drive
Motor (one on each drive wheel)
What's Included - Basic Components
One fully-assembled HD-1500Platform which includes:
l
Two OMRON OS32C Safety Scanning Lasers (main lasers).
l
Two low lasers.
l
Differential drive train.
l
Skins.
l
AMR Controller which includes:
o
A computing appliance that runs the SetNetGo operating system and the
Advanced Robotics Automation Management (ARAM) software.
o
A system that runs a variant of the Mobile Autonomous Robot Controller
(MARC), called Polo.
The AMR Controller comes pre-loaded with ARAM and Polo firmware, and the
SetNetGo OS. The AMR Controller is housed inside the platform as displayed in
the following figure.
15 HD-1500 Platform User's Manual 31500-000 Rev B
Chapter 1: Introduction
Figure 1-5. AMR Controller in the Platform
o
Other sensors including inertial sensing for use with AMR controls.
l
One battery
Shipped separately from the platform to comply with dangerous goods shipping regulations.
l Five emergency stop (E-Stop) buttons:
o
One on the Operator Panel
o
Two on each side of the platform
l Operator Panel
The Operator Panel includes a screen, an E-Stop button, ON and OFF buttons, a brake
release button, pendant port, Maintenance Ethernet connection, and a main disconnect
switch (which can be locked if needed). When the main disconnect switch is in OFF position (horizontal position), the power does not run through the AMR and therefore, the
AMR can not operate. To allow the power to run back through the AMR,you must turn
the main disconnect switch to ON position (vertical position), as displayed in the following figure.
You can move the operator panel to any preferred position on your payload structure.
However, because the operator panel contains one of the five E-Stop buttons, there are
important safety considerations when relocating or removing this panel. See: Positioning an Optional Payload E-Stop on page 202.
For information on the dimensions of the Operator Panel, see: Operator Panel on the
Payload on page 151.
31500-000 Rev B HD-1500 Platform User's Manual 16
1.2 Product Description
B G
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D
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A
E
Callout Description Callout Description
A Emergency Stop (E-Stop) E Main Disconnect Switch
Figure 1-6. Operator Panel
H
F
Ethernet Connection
Display Screen
B Brake Release Button
C On Button G Pendant Connection
D Off Button
l
Automated charging station
The automated charging station enables the HD-1500 to charge itself, without user intervention. It includes wall and floor mount brackets, for a choice of installation methods.
See: Installing the Charging Station on page 115.
The charging cord that connects the Power Supply box to the Docking Target which can
also be used for charging a battery outside of the platform. See: Manually Charging the
AMR's Battery on page 195.
l
A USB flash drive containing software and documentation.
In addition to the items included with every HD-1500, you need at least one pendant per AMR
fleet. Use this pendant to manually drive the HD-1500 and to create a digitized map of the
work environment.
For a fleet of AMRs, the Fleet Operations Workspace Core (FLOW Core) software (running on
an EM2100 appliance) shares the map between all AMRs in the fleet. This provides a common
frame of reference for navigation and localization, preventing contention between AMRs.
Figure 1-8. and Figure 1-9. display the location of the pendant, and the Ethernet ports on the
Operator Panel, installed on the rear of the HD-1500.
17 HD-1500 Platform User's Manual 31500-000 Rev B
Chapter 1: Introduction
E
N
ABLED
P
OWER
A
B
C
D
E
Figure 1-7. Pendant Controls
This is used for manually controlling the platform, mostly when making a scan to be used for
generating a map.
Callout Control Function Callout Control Function
A Speed control D Power indicator LED
B Goal button E Trigger switch Three-position enabling device
C Directional control stick
31500-000 Rev B HD-1500 Platform User's Manual 18
1.3 Software Overview
A
C
B
A
C
B
Figure 1-8. (A) Pendant, (B) Pendant port on the Operator Panel, and (C) Operator Panel on the HD-
1500
Figure 1-9. (A) PC, (B) Maintenance Ethernet Port on the Operator Panel, and (C) Operator Panel on
1.3 Software Overview
Your HD-1500 requires the licensed software described in this section. Software is factoryinstalled on its AMR Controller.
19 HD-1500 Platform User's Manual 31500-000 Rev B
the HD-1500
Chapter 1: Introduction
Fleet Manager Appliance
ARAMCentral
AMR Controller
SetNetGo OS
ARAM
ARCL Protocol
Polo
Operator Panel
Tablet
MobilePlanner
Operator PC
MobilePlanner
HTTP
SetNetGo UI
Manufacturing
Execution System/
Enterprise Resource
Planning System
Onboard Control Panel
Access to software features is permitted by use of a USB license dongle that contains secure,
encrypted electronic copies of the operating licenses. Some licenses might have a restricted
term and expire after a specific date. You will receive several warning alerts before the license
expires.
HD-1500 Software
The minimal operating configuration for an HD-1500 consists of the AMR managed by a
human operator using a Microsoft Windows® PC or optionally from an Android or iOS tablet.
If you have more than one AMR, you must install and configure an EM2100 appliance (running the Fleet Operations Workspace software) to manage multiple AMRs as a fleet. Fleet management prevents job contention or collisions between AMRs and provides efficient processing
of all tasks that you assign to the AMR fleet.
See the following documents for detailed information:
l
Enterprise Manager 2100 User's Guide (Cat. No. I631)
l
Fleet Operations Workspace Core User's Manual (Cat. No. I635)
Figure 1-10. shows the devices that you might use to manage one or more AMRs and the software components required for each device, if applicable.
Figure 1-10. Devices and Software in the AMR's Operating Configuration
31500-000 Rev B HD-1500 Platform User's Manual 20
1.3 Software Overview
AMR administration includes both configuring and operating an AMR and also using the
AMR (or a fleet of AMRs) to perform useful work. The software that enables you to do this
management consists of:
l
The FLOW Core software, an integrated set of programs that run on different devices in
the environment (FLOW Core). You use the MobilePlanner or MobilePlanner Tablet
graphical interfaces to manage individual AMRs or fleets of AMRs. You can also access
lower-level functions through a command-line interface, ARCL. The Integration Toolkit
(ITK) can also be used to interface your MES or WMS system with the Fleet Manager.
l
The SetNetGo OS, a host operating system (OS) that provides a Web interface you use to
assign network addresses, perform configuration, upgrade software, and obtain debugging files.
User-Supplied Components and System Requirements
To configure and manage an HD-1500 you require a personal computer (PC) running a supported version of Microsoft Windows
l
200 megabytes of available hard-disk storage.
l
Ethernet connection. OMRON recommends that you use a stable and high-speed wire-
®. The PC requires:
less connection.
Additional Information: Wireless is a requirement for managing multiple AMRs
as a fleet. See: Fleet Operations Workspace Core User's Manual (Cat. No. I635).
Also, you may optionally use an Android or iOStablet to run the MobilePlanner Tablet software.
ARAM
The Advanced Robotics Automation Management software (ARAM) runs on the AMR Controller. ARAM is responsible for the following AMR functions and features:
l
Interaction with on-board sensors such as the safety scanning lasers, low lasers, and
optional side lasers.
l High-level, autonomous robotics functions such as:
o
Obstacle avoidance
o
Path planning
o
Localization
o
Navigation
l
Motion commands to the Polo firmware.
l
Battery management.
ARAM provides the AMR with an interface to external entities by managing the following:
l
Wired and wireless Ethernet communications with external software for external monitoring, development, and systems coordination.
l
Fleet coordination of AMRs through the optional Fleet Manager.
21 HD-1500 Platform User's Manual 31500-000 Rev B
Chapter 1: Introduction
l
Integration with other systems.
l External monitoring, setup, and control via the MobilePlanner graphical interface.
l
Digital and analog I/O ports accessible from the user access panel that enable you to
integrate application-specific sensors and effectors into your payload structure. Refer to
Fleet Operations Workspace Core User's Manual (Cat. No. I635) for instructions on how
to configure I/O connections.
ARAMCentral
ARAMCentral runs on the Fleet Manager as part of the Fleet Operations Workspace software.
When managing a fleet, the ARAMCentral software does the following:
l
Stores and distributes:
o
The shared workspace map used by all AMRs in a fleet.
o
The common AMR configuration.
l
Controls AMR traffic, including:
o
Multi-AMR avoidance
o
AMR Destinations
o
AMR Standby
o
Charging dock access
l
Queuing of jobs
l
Remote I/O (if used)
MobilePlanner Administrator Mode
MobilePlanner is part of the Fleet Operations Workspace software and runs on the user's PC,
or as a portable tablet version (on Android and iOS tablets). It provides a tabbed graphical
user interface on the PC and a touchscreen interface on tablets. Depending on your level of
access (controlled by your account) the graphical interface provides many options, including:
l
Managing AMR fleet jobs.
l
Creating and editing workspace maps.
l
Accessing the AMR through the SetNetGo Web interface.
l
Commissioning and configuring an AMR and modifying its configuration by changing
ARAM parameters.
l
Issuing custom ARCL commands.
Operator access or View access restricts the tasks that you can perform when using
MobilePlanner.
Before you assign tasks to an AMR, you use MobilePlanner to create and edit a digitized map
of its work space. During this procedure, you use the pendant to drive the AMR around the
workspace. In mapping mode, the safety scanning laser scans features of the workspace, such
as walls, columns, doorways and corners. After you create the map, you open it in
31500-000 Rev B HD-1500 Platform User's Manual 22
1.3 Software Overview
MobilePlanner and edit it to add or remove features. For example, if there is an area of the
map where you want the AMR to follow a specific path, you can draw a PreferredLine feature
on the map. Be aware that the AMR will deviate from the PreferredLine if an obstacle enters its
path.
You then use MobilePlanner to configure ARAM operating parameters that control the AMR's
operation in the mapped workspace. For example, you might assign a preferred charging Station (docking target) to the AMR or the Fleet Manager by specifying the unique map identifier
for that docking target. This configuration can be shared with identically-equipped AMRs in
your fleet. The map generated by one AMR can be shared across a fleet, with both identical
and non-identical OMRON AMRs.
Refer to the separate Fleet Operations Workspace Core User's Manual (Cat. No. I635) for instructions about mapping a workspace and preparing the virtual elements, goals, routes, and tasks
for your application. In particular, refer to the descriptions of the following software options:
l
Working With Map Files - Editing a Map File
l
Using the Drawing Tools - Adding Goals and Docks
MobilePlanner, Operator Mode
MobilePlanner can operate in a restricted Operator mode that permits only limited access to
user interface features and functions.
MobilePlanner’s Operator Mode allows you to monitor one or more AMR's activities and
assign tasks in the mapped space. For more information, see: Fleet Operations Workspace Core
User's Manual (Cat. No. I635).
Polo
The AMR Controller contains a powerful multi-processor that runs the Polo firmware.
This firmware controls low-level AMR functions, including:
l
Maintaining the AMR’s driving speed and heading (direction of travel).
l
Acquiring sensor data from the encoders, and internal orientation sensors.
l
Reading emergency stop (E-Stop) status to enable and disable the drive motors.
l
Reading pendant input.
l
Computing and reporting the AMR's odometry (the change in X, Y coordinates and the
heading) and other low-level operating conditions to the ARAM software.
ARCL Protocol
The Advanced Robotics Command Language (ARCL) is a programming language integrated
into ARAM and ARAMCentral. Its operating format is a text-based command and response
server. Use ARCL to integrate an AMR (or fleet of AMRs) into an external automation system.
You do not need access to MobilePlanner to use ARCL.
Typical uses of ARCL are:
l
Operating and monitoring the AMR.
l
Operating accessories and peripherals.
23 HD-1500 Platform User's Manual 31500-000 Rev B
Chapter 1: Introduction
l
Sending commands to your payload structure.
For more information, See: Advanced Robotics Command Language Reference Guide.
Integration Toolkit (ITK)
The Integration Toolkit (ITK) is OMRON's newest interface application enabling the integration
of Fleet Manager with the end user's client application. ITK facilitates the full management
and monitoring of all AMR job types, and allows tracking of the AMR data directly. ITK has a
flexible architecture which provides multiple, and simultaneous communication channel
options allowing the user to command, and monitor fleet operations using Rest, SQL, and/or
RabbitMQ. These communication channels provide flexibility, and choice in how a system
interacts with an AMR fleet, and the Fleet Manager.
ITK runs only on the Fleet Manager.
For more information, refer to: Fleet Operation Workspace Core Integration Toolkit User’s Guide
(Cat. No. I637).
SetNetGo
The SetNetGo OS runs on the AMR Controller and EM2100 appliance. It is the host OS in
which the FLOW components ARAM and ARAMCentral run. SetNetGo has a Web interface
that you access either from a Web browser or from within MobilePlanner as a tab. After you
use a wired Ethernet connection to configure the AMR's wireless settings you may choose to
enable wireless access to SetNetGo from the web interface's Security tab.
To access the SetNetGo web interface, at a minimum, you need:
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A hardwired connection to the HD-1500 Maintenance Ethernet port, located on the Operator panel.
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A LANconnection or direct Ethernet port connection to the EM2100 maintenance port.
Your ITdepartment can use SetNetGo to configure network settings without using MobilePlanner.
Use SetNetGo to configure Ethernet settings, upgrade software, or perform diagnostics such as
retrieving log files.
1.4 How Can I Get Help?
Refer to the OMRON corporate website: http://www.ia.omron.com.
Related Manuals
This manual covers the installation, setup, operation, and maintenance of an HD-1500. There
are additional manuals that cover configuring the platform. See the following table. These
manuals are available on the USB flash drive delivered with your HD-1500.
Manual Title Description
Table 1-1. Related Manuals
Mobile Robot HDSafety Manual (Cat.
No. I647)
Contains general safety information for all OMRON
HD-1500-based AMRs.
31500-000 Rev B HD-1500 Platform User's Manual 24
1.4 How Can I Get Help?
Manual Title Description
HDPlatform Peripherals User's Manual
(Cat. No. I646)
Safety Laser Scanner OS32C Series
User's Manual (Cat. No. Z296-E1)
Fleet Operations Workspace Core User's
Manual (Cat. No. I635)
Enterprise Manager 2100 User's Guide
(Cat. No. I631)
Fleet Simulator User's Manual (Cat. No.
I649)
Fleet Operation Workspace Core Integration Toolkit User’s Guide (Cat. No.
I637)
Advanced Robotics Command Language Enterprise Manager Integration
Guide (Cat. No. I618)
Covers peripherals, such as the , Side Lasers, HAPS,
and Acuity Localization options.
Describes the use of the OS32C laser.
Describes Fleet management, MobilePlanner software, the SetNetGo OS, and most of the configuration procedures for an HD-1500.
Describes the installation of an EM2100 appliance,
which runs the Fleet Operations Workspace software
to manage a fleet of AMRs.
Describes the configuration and use of the Fleet Simulator software on an EM2100 appliance.
Contains information that is necessary to use the
Integration Toolkit facilitating integration between
the Fleet Manager and the end user's client application.
Describes how to use the Advanced Robotics Command Language (ARCL) a text-based, command line
operating language Use ARCL to integrate a fleet of
AMRs with an external automation system.
Support
Contact your OMRON representative if you have further inquiries with your HD-1500 that are
not described in this manual.
When you contact support, it is useful to provide a DebugInfo file. This is a collection of configuration, log, and system status files that support personnel can use for debugging and
troubleshooting.
Visit the OMRON Web site for your locale to obtain local support telephone numbers and
information.
Download a Debuginfo File for Support
You can download a debuginfo file for troubleshooting problems or if you need to contact your
OMRON representative.
If your HD-1500 is already configured to use a wireless network:
1.
Open MobilePlanner and connect to the AMR's IP address.
2.
Click the SetNetGo tab to open its Web Interface.
3.
Click Status and select Debug Info from the left pane.
4.
Click Download Debug Info and then specify a location to save the file.
Otherwise, you must first create a TCP/IP connection to the AMR's Maintenance Ethernet port
as described in: Network Setup on page 26.
25 HD-1500 Platform User's Manual 31500-000 Rev B
Chapter 1: Introduction
Network Setup
If you have not configured your HD-1500 for access over a wireless network, you must follow
the instructions provided in Maintenance Ethernet Connection on page 128. This is when you
use a hardwired connection to the HD-1500 Maintenance Ethernet port.
Obtain a DebugInfo File from SetNetGo
After you access SetNetGo as described in the preceding sections, you will see the following
screen:
1.
In the SetNetGo screen, click the Status tab and then select Debug Info to activate the
Download debug info button.
2.
Click Download debug info.
3.
When prompted, save the downloaded file, and attach it to your support request email.
See: Support on page 25.
Figure 1-11. SetNetGo Status Tab
31500-000 Rev B HD-1500 Platform User's Manual 26
This chapter provides an overview of important safety considerations for your HD-1500. All
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persons operating or working in the vicinity of an HD-1500 must thoroughly read and understand this information. For more information on safety, refer to the Mobile Robot HDSafety
Manual (Cat. No. I647).
2.1 General Hazards
This section describes potentially hazardous situations and conditions.
WARNING: The following situations could result in injury or damage to the
equipment.
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Do not ride on the AMR.
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Do not exceed the maximum weight limit.
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Do not drive the AMR on inclined floors or surfaces.
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Do not exceed the maximum recommended speed, acceleration, deceleration, or rotation
limits. See Center of Gravity (CG) on page 147 and Acceleration, Deceleration, and Rotation Limits on page 136.
Chapter 2: Safety
Rotational speed becomes more significant when the payload’s center of gravity is
increasingly offset from the AMR's center of gravity.
l
Do not drop the AMR, run it off a ledge, or otherwise operate it irresponsibly.
CAUTION: PERSONALINJURYRISK
The user must not stand close to the AMR while it is rotating with no
forward motion.
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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.
l
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: PERSONALINJURYORPROPERTYDAMAGERISK
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.
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Do not expose the AMR to rain or moisture.
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Do not use unauthorized parts to repair the AMR.
31500-000 Rev B HD-1500 Platform User's Manual 28
2.2 Unprotected Areas
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!
A
B
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Do not power on the AMR without its wireless antennas in place.
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Although the lasers used are Class 1 (eye-safe), OMRON recommends that you not look
into the laser light.
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Reflective surfaces can interfere with the AMR's laser operation.
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Do not operate the AMR in areas where it may be exposed to intense interference light,
such as direct sunlight.
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Do not operate the AMR in a flammable gas environment.
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Do not operate the AMR with the safety interlock switches disabled.
WARNING: PERSONALINJURYORPROPERTYDAMAGERISK
Do not operate the AMR in hazardous environments where there is
explosive gas, and oil mist.
WARNING: ELECTRICAL SHOCKRISK, FIRERISK, BURNRISK
The safety interlock switches shall not be defeated or bypassed as this
could potentially result in short circuit.
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The HD-1500 shall only be powered by an HD-1500 battery. Do not use any other batteries.
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The HD-1500 battery shall only be charged by an HD-1500 charger. Do not use any
other chargers.
2.2 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.
Figure 2-1. HD-1500 Mating with the Charging Paddle, (A) HD-1500, and (B) Charging Paddle
29 HD-1500 Platform User's Manual 31500-000 Rev B
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