How it Works
Omron
Loading...
LD-130CT
User Manual
186 pgs25.67 Mb0
Table of contents
Loading...

Omron LD-105CT, LD-130CT User Manual

Download
LD Cart Transporter
User’s Guide
I612-E-03
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.
Copyright 2016, 2017 by Omron Adept Technologies, Inc. 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.
Copyright 2012 CEPSTRAL LLC http://www.cepstral.com This product may contain copyright material licensed from CEPSTRAL LLC, all right reserved.
This manual was originally written in English.
Created in the United States of America
Table of Contents
Chapter 1: Introduction 11
Definitions 11
1.1 Product Description
LD Platform Cart Transporter 13 Cart 16 Coupling 16 Optional Components 16 User-Supplied Components / System Requirements 17
1.2 Software Overview
Mobile Robot Software Suite 17 SetNetGo 19
1.3 How Can I Get Help?
Related Manuals 19 Support 19 Including a DebugInfo File 20
Chapter 2: Safety 23
11
17
19
2.1 Dangers, Warnings, Cautions, and Precautions
2.2 What to Do in an Emergency /Abnormal Situation
Releasing the Brakes 23 Releasing an E-Stop 24
2.3 User's Responsibilities
General Hazards 24 Falling Hazards 25 Electrical Hazards 25 Pinch Hazards 26 Magnetic Field Hazards 27 Qualification of Personnel 27 Payload Movement and Transfer 28 Configurable Warning Buzzer 28 Multi-AIV Avoidance 29 Traffic Control 29 Passing Lanes 29
2.4 Environment
General Environmental Conditions 29 Public Access 29 Clearance 29 Obstacles 30 Safety Scanning Laser Emergency Stop 30
2.5 Intended Use
Non-Intended Use 31
23
23
24
29
30
Table of Contents
Platform Modifications 31
2.6 Battery Safety
2.7 Additional Safety Information
Accidental Cart Separation 32 Mobile Robot LDSafety Guide 32
31
32
Chapter 3: Setup 33
Overview 33 Tasks 33
3.1 Transport and Storage
LD Platform Cart Transporter 34 Battery 34 Standalone Cart 35
3.2 Before Unpacking
3.3 Unpacking
Battery 36 LD Platform Cart Transporter 37 Repacking for Relocation 40
3.4 Setting Up an LD Platform Cart Transporter
Rolling the LD Platform Cart Transporter off of the Crate Base 40 Installing the Battery 43 Installing the Docking Station 47
3.5 Installing the Cart Brake Release
Installation 53 Adjustment 56
34
35
35
40
52
Chapter 4: Configuration 59
4.1 Settings and Configuration
Maintenance Ethernet Connection 59 Setting Up Wireless Ethernet 60
4.2 Mapping
Setting Up Cart-Parking Goals 63 Marking Cart-Parking Goals on Floor 63
4.3 Configuring a Touchscreen
Touchscreen Ethernet Setup 63 Operating Modes 64 Localization Goals 66 Screen Logo 67 Screensaver 68 Display Language 69 Contact Information 70
4.4 Acceleration, Deceleration, and Rotation Limits
4.5 Supplemental Information
Laser Setup 71
59
62
63
70
71
Table of Contents
Chapter 5: Payloads 73
5.1 Safety
Drive Warning Light 73 Turn Warning Lights 73
5.2 Considerations
Dimensions 73 Pinch Hazard 73 Weight 74 Center of Gravity 74
5.3 Payload-Related Tradeoffs
73
73
79
Chapter 6: Connectivity 81
6.1 Required Connections
6.2 LD Platform Cart Transporter Connections
Core 81 Cart-Specific PCA 82
6.3 Standard Platform Connections
LD Platform Core Front, Upper 87 LD Platform Core Rear, Upper 94 Internal LD Platform Core Connections 101 Core Internal Data Pinouts 102 LD Platform Core Internal Power Pinouts 104
81
81
86
Chapter 7: Operator Interface 107
7.1 Touchscreen
Touchscreen Initialization 107 Touchscreen Configuration 108 Screen Top Bar 108 Left Screen Pane 108 Right Screen Pane 110 Center Pane 114 Relocalization 114 Choose Dropoff Mode 114 Patrol Route Mode 117
7.2 Operator Panel
E-Stop Button 118 ON Button 119 OFF Button 119 Brake-release (BRAKE)Button 119 Keyswitch 119 LATCH Button 119 UNLATCH Button 119
7.3 Other Controls and Indicators
Light Discs and Beacon 120 LD Platform Core Indicators 124
107
118
120
Table of Contents
Battery and Docking Station 125
Chapter 8: Operation 127
8.1 Operating Environment
Intended Use 127 Clearance 127 Obstacles 127 Environment and Floor 128 Platform Getting Stuck 128 Cart Getting Stuck on Platform 129
8.2 Typical Operation
8.3 Power and Charging
Battery Indicators and Controls 130 Docking Station 131 Manually Charging the Battery 133 Balancing the Battery 133
8.4 Startup
Procedure 135 Joystick 135
8.5 Working with Carts
Goals 136 Operation 136 Cart-Locating 136 Cart Brakes 136
127
129
130
135
136
Chapter 9: Options 139
Enterprise Manager 1100 139 MobilePlanner Software (licensed) 139 Joystick 139 Spare Battery 139 Spare Carts 139 Call Buttons/Door Boxes 139 Acuity Localization 140 High-Accuracy Positioning System 140
Chapter 10: Maintenance 141
10.1 Safety Aspects While Performing Maintenance
Electrical Hazards 142 Pinch Hazard 143 Magnetic Field Hazards 143
10.2 Lifting the Platform Safely
Front Lifting Points 143 Rear Lifting Area 144
10.3 Safety Inspection
Warning Devices 145
142
143
145
Table of Contents
Warning Labels 145 Informative Labels 148
10.4 Cleaning
Work Area Maintenance 149 LD Platform Cart Transporter and Cart 149 Tires 150 Casters 150 Axles 150 Lasers 150 Docking Station Contacts 150
10.5 Accessing the Payload Bay
Removing Latching Mechanism Cover 151 Removing Top Plate 151 Installing Top Plate 151 Installing Latching Mechanism Cover 152
10.6 Removing and Installing LD Platform Cart Transporter Covers
Removing Covers 152 Installing Covers 155
10.7 Replacing Periodic Parts
10.8 Replacing Non-Periodic Parts
Docking Station Roller and Bearing 159 Safety Scanning Laser 160 Obstacle Detection and Coupling Lasers 160 Rear Sonar Units 164 Sonar Controller 164 Cart Latching Mechanism 165 Light Discs 167 Wheels and Tires 167 Drive Assemblies 168 Platform Casters 169 LD Platform Cart Transporter Casters 171 Cart Brake Release 174 LD Platform Core 175 E-Stop and Safety Laser Commissioning 177
149
150
152
157
159
Chapter 11: Technical Specifications 179
11.1 Dimension Drawings
11.2 Specifications
LD Platform Cart Transporter Physical 180 LD Platform Cart Transporter Performance 181 Battery Output 182 Cart 183 Docking Station 183
179
180
Revision History
Revision
code
01 April, 2017 Original release
02 March,
03 September,
04 November,
Date Revised Content
Added 2-second delay after E-Stop recovery; dimensions updated;
2017
2017
2017
MaxVelxxx parameters updated; removed procedure for user replace­ment of wheels and tires; changed pacemaker/magnet warning to say medical implant; changed gap and step specs; added instructions for unlatching a cart that is stuck to a transporter; clarified that max payload does NOT include the cart itself; use of joystick warning mod­ified.
Update product name, battery specifications, and image of joystick. Added instructions for updated shipping crate. Regulatory changes, specification changes, and E-stop instruction clarifications.
Clarify that the material on the Latching Mechanism is acetal. Removed sentence with example regarding safety laser com­missioning speed zones.
14766-000 Rev E LD Platform Cart Transporter User's Guide 9

Chapter 1: Introduction

This manual covers the setup, operation, and user maintenance of an LD Platform Cart Trans­porter and cart.
The basic configuration performed using the software that comes with the system is covered. Full details of that configuration are covered in the Mobile Robot Software Suite User's Guide.

Definitions

Platform: The most basic part of the robot. It includes the chassis, drive assemblies, sus­pension, wheels, battery, safety scanning laser, obstacle-avoidance lasers, sonar, an on-board LD Platform core with built-in gyroscope, software needed to navigate, connectors for inter­facing with and powering the Operator panel and cart coupling system, Operator panel, and the platform covers.
LD Platform Cart Transporter:A platform with the LDPlatform OEM (including extended arms)and the coupling plate attached, set up to transport a cart. This is also referred to as just a transporter.
Cart:A cart, on four casters, that can be attached to an LD Platform Cart Transporter, for increasing the payload capacity. The cart has brakes on two casters, which can be released either by coupling with a transporter, or by using a manual brake-release lever on the cart.
AIV (Autonomous Intelligent Vehicle):The LD Platform Cart Transporter with a cart attached to it. This is the complete mobile robot, which will transport your payload on the cart.
For the initial setup, configuration, and connections, we will refer to the platform.
For controlling or monitoring the full mobile robot, with a cart attached, we will refer to the AIV.

1.1 Product Description

The LD Platform Cart Transporter is a general-purpose mobile platform designed for moving a detachable cart indoors and around people. It is self-guided and self-charging, with an auto­mated docking station.
The platform, which moves the cart, comes complete with the ability to know where it is within your workspace, and to navigate safely and autonomously to any accessible destination within that workspace, continuously and without human intervention.
The LD Platform Cart Transporter is intended to expand the range of payloads that can be moved by a platform, both in weight and size.
The LD Platform Cart Transporter is available in two models, designed to transport carts with a payload up to 105 kg (231 lb)for the LD-105CT and 130 kg (287 lb) for the LD-130CT plat­form. Where appropriate, differences between the models are called out. Otherwise, this manual applies to both LD Platform Cart Transporters.
14766-000 Rev E LD Platform Cart Transporter User's Guide 11
1.1 Product Description
Figure 1-1. Cart and LD Platform Cart Transporter, Separate
Figure 1-2. Cart and LD Platform Cart Transporter, Coupled
12 LD Platform Cart Transporter User's Guide 14766-000 Rev E
Chapter 1: Introduction
LD-130CT
LD-105CT
Figure 1-3. LD Platform Cart Transporter Model Labels

LD Platform Cart Transporter

The LD Platform Cart Transporter is a mobile platform, designed for working around people while moving a cart. It is self-guided and self-charging, with an automated docking station. The transporter combines hardware and mobile-robotics software to provide an intelligent, mobile platform to transport your payload on the cart. Its primary guidance uses a safety scan­ning laser to navigate, comparing the laser readings to a digital map stored on the platform. The laser is backed up by a gyroscope mounted on the internal core, and encoders and Hall sensors on each drive wheel.
In addition to the front safety scanning laser, each LD Platform Cart Transporter has two side lasers, for detecting potential obstacles in its path, a low front laser in the bumper to detect obstacles lower than the safety scanning laser, and a rear-facing obstacle-detection laser, to ensure that it is safe for the transporter to back up or turn in place.
For situations that are so dynamic that laser localization becomes difficult, we offer the Acuity Localization option, which localizes the AIV using an upward-facing camera to recognize over­head lighting patterns. This would apply to areas where objects, such as pallets or carts, are moved so frequently that they can’t be mapped, or where they block the laser’s view of fea­tures that are mapped. This is covered in the LDPlatform Peripherals Guide.
Body and Drive
The LD Platform Cart Transporter is relatively small, lightweight, and highly maneuverable. It has a strong aluminum chassis and solid construction that makes it very durable.
The platform is a two-wheel, differential-drive vehicle, with spring-loaded passive casters front and rear for balance. The drive-wheels have independent spring-suspension, with solid, foam­filled tires. The wheels are at the mid-line of the platform, so that the platform can turn in place.
Safety Scanning Laser
The onboard safety scanning laser is a very precise scanning sensor. The laser provides 500 readings in a 240 degree field of view, with a typical maximum range of 15 m (49.2 ft). The
14766-000 Rev E LD Platform Cart Transporter User's Guide 13
1.1 Product Description
laser operates in a single plane, positioned at 201 mm (7.9 inches) above the floor. In most environments, the sensor will provide highly-accurate data.
Glass, mirrors, and other highly-reflective objects cannot be reliably detected by the laser. Cau­tion must be exercised when operating the AIV in areas that have these types of objects. If the AIV will need to drive in close proximity of these objects, we recommend that you use a com­bination of markings on the objects, such as tape or painted strips, and also use forbidden sec­tors in the map, so that the AIV knows to plan paths safely around these objects.
Side Lasers
These two lasers are used to detect obstacles that protrude into the AIV's path, but may not be detected by the safety scanning laser.
This is needed when obstacles higher than the safety scanning laser (but low enough to be obstacles)protrude into the AIV‘s path.
Low Front Laser
This laser is mounted to the front bumper. It detects obstacles that are low and in front of the transporter, such as an empty pallet, which might be too low for the safety scanning laser to see.
Rear-Facing Laser
This laser gives better coverage of what’s behind the transporter than sonar alone. It is used during both turning in place and backing up when the transporter and cart are coupled.
Coupling Laser
A laser mounted in the transporter coupling plate is used to locate a triangle on the underside of the cart’s coupling plate. This is used by the transporter to accurately align with the cart, so it can couple with it.
Sonar
The LD Platform Cart Transporter’s two rear-facing sonar pairs are for obstacle-sensing while backing up. The range is up to 5 m (16 ft), though the typical accurate range is only up to 2 m (10 ft). Each pair consists of one emitter and one receiver. The sonar emitters and receivers are identical physically, but the transporter uses them differently.
Encoders and Gyroscope
Each wheel has an encoder that tells the navigation system how far the wheel has turned, and in which direction. Each wheel also has a Hall sensor.
The LD Platform core has a gyroscope mounted on it, to track the AIV's rotation.
The combination of rotation and distance traveled are used by the platform to back up the safety scanning laser during localization. These limit the area on the platform's map that the AIV needs to search when localizing.
14 LD Platform Cart Transporter User's Guide 14766-000 Rev E
What’s Included with an LD Platform Cart Transporter
l
One fully-assembled platform
The platform includes a safety scanning laser, a low front laser, two side lasers, a rear­facing laser, and two rear-facing sonar pairs. Each pair is one transmitter and one receiver.
l
One battery
This is shipped separately from the platform, due to air shipping regulations.
If the battery was shipped by air, it will be at less than 30% charge per IATA reg­ulations.
l
Top plate and coupling plate
The platform top plate covers the payload bay of the platform, and supports the lower (platform)coupling plate, which engages the cart coupling plate, attached to the cart, and the coupling laser.
l
LD Platform core, which includes an integrated computer, running Advanced Robotics Automation Management (ARAM) and a microcontroller with MARC firmware. The core is housed inside the platform. It also runs the SetNetGo OS.
Chapter 1: Introduction
ARAM and MARC firmware and the SetNetGo OS are pre-loaded on the LD Platform Core.
l
An HMIPost
This supports the two side lasers and the rear-facing laser, both for obstacle avoidance. It also supports the Operator Panel.
l
Operator Panel
This includes a touchscreen, an E-Stop button, ON and OFF buttons, a brake-release but­ton, and a keyswitch, which can be locked, and key removed, in either position. The panel’s frame supports two WiFi antennas and a beacon.
There are LATCH and UNLATCH buttons below the E-Stop.
The optional Acuity Localization camera mounts on top of the Operator panel frame, on the same plane as the antennas and beacon.
l
Automated docking station
This allows the LD Platform to charge itself, without user intervention. It includes a wall-mount bracket and a floor plate, for a choice of installation methods. See Installing the Docking Station on page 47.
A manual charging cord is included, so you can charge a spare battery outside of the platform.
l
Joystick (option)
This is used for manually controlling the AIV, mostly when making a scan to be used for generating a map.
At least one joystick is needed for each fleet of AIVs. Once a map is generated, the map can be shared with multiple AIVs working in the same space.
14766-000 Rev E LD Platform Cart Transporter User's Guide 15
1.1 Product Description

Cart

The cart is a frame mounted on four casters, designed so that it can couple with an LD Plat­form Cart Transporter. Once coupled, the cart moves with the transporter. When the trans­porter arrives at the intended goal, it uncouples from the cart and leaves, while the cart remains at the goal. Brakes automatically engage on the cart casters, preventing it from rolling in case the floor isn’t completely level.
The cart has a manual brake-release lever, so it can be moved manually.

Coupling

The LD Platform Cart Transporter can attach to a cart at a pickup goal, move the cart to a dropoff goal, and leave it at that goal, with no human intervention.
When the cart and transporter are coupled, the transporter automatically presses a lever that releases the cart’s brakes, so it is free to move with the transporter.
The coupling system has:
l
a motorized Latching Mechanism
l
a coupling laser
This is mounted in the coupling plate, and is used to align the transporter with the cart when coupling.
l
LATCH and UNLATCH override buttons, on the Operator Panel
Coupling Plates
Each cart has one coupling plate, and each platform has one coupling plate. The plates are mounted so that, when the platform moves under the cart, the plates can attach to each other, allowing the platform to move the cart. The software is aware of whether or not a cart is attached.
l
The cart coupling plate includes a slot that can be latched with the platform coupling plate. The cart coupling plate is passive.
l
The platform coupling plate includes a laser, for aligning the platform before coupling, and a motorized Latching Mechanism, for latching the cart coupling plate.

Optional Components

Refer to Options on page 139 for details.
l
Acuity Navigation
For environments that are very dynamic, such that a map can’t be kept current, or where the area is too large for the navigation laser to see, Acuity can be used to nav­igate using overhead light patterns seen with an upward-facing camera.
l
Enterprise Manager 1100
This system manages a fleet of AIVs, for multi-AIV traffic coordination and job man­agement. It includes the Enterprise Manager appliance running the Mobile Software suite.
16 LD Platform Cart Transporter User's Guide 14766-000 Rev E
l
Spare battery
A spare battery can be used to minimize down-time. Swapping the battery for a fully­charged battery avoids taking the AIV out of service for more than a few minutes.
l
Call/Door Boxes
These allow an AIV to be requested from a remote location, or allow the AIV system to control an automated door, so the AIV can pass through it.

User-Supplied Components / System Requirements

Chapter 1: Introduction
PC with Microsoft Windows
l
Ethernet (wireless preferred)
Wireless is required for a fleet (more than one AIV).
l
100 megabytes of available hard-disk storage

1.2 Software Overview

Mobile Robot Software Suite

The Mobile Robot Software Suite includes all of the software used for platforms and the Enter­prise Manager appliance, with the exception of the SetNetGo OS.
ARAM
The Advanced Robotics Automation Management software (ARAM) runs on the LD Platform core. It operates ranging sensors like the safety scanning laser and sonar, and performs all the high-level, autonomous robotics functions, including obstacle avoidance, path planning, loc­alization, navigation, and so on, culminating in motion commands to the MARC firmware. ARAM also controls the battery and light discs, and manages digital and analog I/O, which, along with platform power, provide for integration of application-specific sensors and effectors that the user adds.
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 optional Enterprise Manager 1100. It also manages integration with other systems, as well as external monitoring, setup, and control with the MobilePlanner applic­ation.
®
ARAMCentral
ARAMCentral is the software that runs on the Enterprise Manager appliance. This software and the appliance combined are referred to as the Enterprise Manager 1100.
For a fleet, the ARAMCentral software manages:
l
the map that all AIVs use
l
the configuration that all AIVs use
l
traffic control of the AIVs
This includes multi-AIV avoidance, destination, standby, and dock control.
14766-000 Rev E LD Platform Cart Transporter User's Guide 17
1.2 Software Overview
l
queuing of jobs for the AIVs
l
remote I/O, if you are using it
MobilePlanner (licensed)
In order to have your AIV perform autonomous mobile activities, you need to make a map of its operating space, and configure its operating parameters. The MobilePlanner software is used to make this map and perform this configuration.
Refer to the separate Mobile Robot Software Suite User's Guide for details on how to map a work- ing space and prepare the virtual elements, goals, routes, and tasks for your application. In par­ticular, refer to:
Working With Map Files > Editing a Map File > Using the Drawing Tools > Adding Goals and Docks
The MobilePlanner software requires a license to run. You will need at least one license for MobilePlanner for each fleet of AIVs. Once you generate a map for an area, it can be shared between multiple AIVs in one fleet.
MobilePlanner, Operator Mode
The MobilePlanner Operator Mode is used to monitor one or more AIV's activities and have them perform mobile tasks in the mapped space. When MobilePlanner is started without its license dongle, it automatically starts in this mode. Refer to the separate Mobile Robot Software Suite User's Guide for details.
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.
Touchscreen Support
Whenever the Mobile Software suite is downloaded, it includes support software for the optional touchscreen.
Call/Door Box Support
Call/Door boxes have one software component on the box and another on either the Enterprise Manager 1100 or on the single AIV, when there is no Enterprise Manager 1100.
ARCL P rotocol
ARCL is a function of ARAM and ARAMCentral, which is included as part of this suite.
The Advanced Robotics Command Language, or ARCL, is a simple text-based command and response server for integrating an AIV (or fleet of AIVs) with an external automation system.
ARCL allows you to operate and monitor the AIV, its accessories, and its payload devices over the network, with or without MobilePlanner.
18 LD Platform Cart Transporter User's Guide 14766-000 Rev E

SetNetGo

The SetNetGo OS runs on the LD Platform core and Enterprise Manager appliance. It is the host OS in which ARAM and ARAMCentral run.
The SetNetGo interface in the MobilePlanner software is used for configuring the Ethernet set­tings for the platform, upgrading software, and performing systems diagnostics, such as retrieving log files. It can be accessed when connected via the maintenance and management Ethernet ports, or via wireless Ethernet if enabled.
NOTE:It is possible to connect directly to the SetNetGo OSon a platform through a web browser. The main intent of this is to allow your IT support to set up the net­work for you, without using MobilePlanner, which requires a license.

1.3 How Can I Get Help?

Refer to the corporate websites:
http://www.ia.omron.com
and
Chapter 1: Introduction
http://www.adept.com

Related Manuals

This manual covers the installation, setup, operation, and maintenance of an LD Platform Cart Transporter. There are additional manuals that cover these actions for the platform.
Table 1-1. Related Manuals
Manual Title Description
Mobile Robot LDSafety Guide
Mobile Robot Software Suite User's Guide
Enterprise Manager 1100 User's Guide
LDPlatform Peripherals Guide
Contains general safety information for all of our LD Platforms.
Covers MobilePlanner software, the SetNetGo OS, and most of the configuration of an LD Platform.
Covers the Enterprise Manager 1100 system, which is hardware and software used for managing a fleet of AIVs.
Covers peripherals, such as the Touchscreen, Call/Door box, and Acuity Localization options.

Support

If, after reading this manual, you are having problems with your LD Platform Cart Trans­porter, contact your local Omron support.
l
In the body of your e-mail message, provide your platform’s serial number and describe
the problem you are having in as much detail as possible.
l
Attach your debuginfo file to the email. Refer to the next section for details on retrieving your debuginfo file. See the following section for generating your debuginfo file.
14766-000 Rev E LD Platform Cart Transporter User's Guide 19
1.3 How Can I Get Help?

Including a DebugInfo File

If the platform has been set up on a wireless network, skip to SetNetGo Access on page 20.
Network Setup
If the AIV has not been set up on a wireless network, a local area network will have to be set up on a separate PC, and configured to talk to the AIV over a TCP/IP port. The IP address should be set to: 1.2.3.5. The Subnet Mask should be 255.255.255.0.
(Windows 7)Start >Control Panel >(Network and Internet >)Network and Sharing Center
>Change adapter settings
Right-click on the LAN Connection, and click on Properties.
From the Properties dialog, scroll to and double-click the Internet Protocol (TCP/IP or TCP/IPv4) option. In Internet Protocol Properties, click both “Use the following…” radio but­tons to enable them, and then type in the IP and netmask values.
Connect the network port of your computer to the platform's Maintenance port. See the figure Location of Parts in the Payload Bay on page 142.
SetNetGo Access
If the MobilePlanner software is available, use the SetNetGo interface within that software to access SetNetGo. Otherwise, open a web browser and enter the URL: https://1.2.3.4:
You will be requested to confirm security certificates.
20 LD Platform Cart Transporter User's Guide 14766-000 Rev E
Chapter 1: Introduction
Regardless of how you accessed SetNetGo, you should now have a window similar to the fol­lowing:
1.
From the SetNetGo screen, select:
Status >Debug Info
This will display the “Download debug info” button.
2.
Click Download debug info.
3.
Save the downloaded file, and attach it to your support request.
14766-000 Rev E LD Platform Cart Transporter User's Guide 21

Chapter 2: Safety

2.1 Dangers, Warnings, Cautions, and Precautions

There are six levels of special alert notation used in this manual. In descending order of importance, they are:
DANGER: This indicates an imminently hazardous electrical situation which, if not avoided, will result in death or serious injury.
DANGER: This indicates an imminently hazardous situation which, if not avoided, will result in death or serious injury.
WARNING: This indicates a potentially hazardous electrical situation which, if not avoided, could result in serious injury or major damage to the equipment.
WARNING: This indicates a potentially hazardous situation which, if not avoided, could result in serious injury or major damage to the equipment.
CAUTION: This indicates a situation which, if not avoided, could result in minor injury or damage to the equipment.
Precautions for Safe Use: This indicates precautions on what to do and what not to do to ensure safe use of the product.

2.2 What to Do in an Emergency /Abnormal Situation

Press the E-Stop button (a red push-button on a yellow background) and then follow the internal procedures of your company or organization for an emergency /abnormal situation. If a fire occurs, use a type D extinguisher: foam, dry chemical, or CO2.

Releasing the Brakes

In case of an emergency or abnormal situation, the transporter can be manually moved. However, only qualified personnel who have read and understood this manual and the Mobile Robot LDSafety Guide should manually move the transporter. The brakes on the drive wheels can be released with the brake release button. This requires battery power, and an E-Stop must be pressed on the transporter.
14766-000 Rev E LD Platform Cart Transporter User's Guide 23
2.3 User's Responsibilities
NOTE:The LD-130CT has a high gear ratio, and is difficult to move, even with the brakes released.

Releasing an E-Stop

WARNING: If the AIV’s E-Stop is triggered, ensure that the cause of the E­Stop is resolved, and all surrounding areas are clear and safe before releasing the E-Stop.
After the E-Stop button has been manually released, the AIV will wait until the motors are manually enabled.
There are two ways to enable the motors:
l
Using MobilePlanner
l
Pressing the green ON button on the Operator Panel or the GO button on the Touch­screen
Once the motors are enabled, the transporter will wait two seconds and then resume com­manded motion, if there is adequate space to maneuver.

2.3 User's Responsibilities

It is the end-user’s responsibility to ensure that the AIVs are used safely. This includes:
l
Reading the installation and operation instructions, as well as the Mobile Robot
LDSafety Guide, before using the equipment.
l
Ensuring that the environment is suitable for safe operation of the AIV.
If a fleet of AIVs (two or more) is installed, the Enterprise Manager 1100 must be used, unless no two AIVs will ever operate in the same area.
l
Ensuring that anyone working with or near an AIV has been adequately trained, and is following this user’s guide and the Mobile Robot LDSafety Guide, for safe AIV operation.
l
Maintaining the AIVs so that their control and safety functions are working properly.

General Hazards

CAUTION: The following situations could result in minor injury or damage to the equipment.
l
Do not ride on the platform or cart.
l
Do not exceed the maximum weight limit.
l
Do not exceed the maximum recommended speed, acceleration, deceleration, or rotation limits. See Center of Gravity on page 74 and Acceleration, Deceleration, and Rotation Limits
24 LD Platform Cart Transporter User's Guide 14766-000 Rev E
Chapter 2: Safety
on page 70.
Rotational speed becomes more significant when the payload’s center of gravity is farther away (vertically and/or horizontally) from the platform’s center of gravity.
l
Do not drop the AIV, run it off a ledge, or otherwise operate it in an irresponsible man­ner.
l
Do not allow the AIV to drive through an opening that has an automatic gate/door unless the door and AIV are configured correctly with the Door Box option.
Refer to the LDPlatform Peripherals Guide for details on the Door Box.
l
Do not get the AIV wet. Do not expose the AIV to rain or moisture.
l
Do not continue to run the AIV after hair, yarn, string, or any other items have become wound around the platform’s axles, casters, or wheels.
l
Do not use parts not authorized by Omron Adept Technologies, Inc.
l
Do not turn on the AIV without the antennas in place.
l
Although the lasers are Class 1 (eye-safe), we recommend you not look directly into them.

Falling Hazards

WARNING: An AIV 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
The edge of a loading dock, the entrance to downward stairs, or any other substantial drop that is within the AIV’s expected operating area should be physically marked so that the AIV’s navigation laser will see the barrier, and stop before reaching it. The AIV’s navigation laser scans at 201 mm (7.9 inches) from the floor, so the barrier must cover at least that height.
This needs to be continuous at the site, so that the AIV can’t drive around or through it to the dropoff.
Logical Barriers
You should also use forbidden areas, sectors, or lines with several feet of safety zone (padding)
before the actual dropoff, to ensure that the AIV will not try to drive there.
These need to be continuous at the site, so that the AIV can’t plan a path to drive around or between them to the dropoff.

Electrical Hazards

WARNING: The docking station has AC power inside. Its covers are not inter­locked.
14766-000 Rev E LD Platform Cart Transporter User's Guide 25
2.3 User's Responsibilities
l
Do not use power extension cords with the docking station unless properly rated.
l
Never access the interior of the platform with the docking station attached.
l
Immediately disconnect the battery after opening the battery compartment door.
Avoid shorting the battery terminals.
l
Do not use any charger not supplied by Omron Adept Technologies, Inc.
l
If any liquid is spilled on the AIV, power off the AIV, clean up all possible liquid, and allow the AIV to air dry thoroughly before restoring power.

Pinch Hazards

Latching System Latch
CAUTION: Pinch hazard. The latch of the LD Platform Cart Transporter can pinch you if you are not careful. Keep your hands clear of the transporter when it is in action.
Latching System Belt/Pulley
CAUTION: Pinch hazard. During maintenance on the latch mechanism, the belt and pulley can pinch you if you are not careful. Keep your hands clear of the belt and pulley when they are in action.
HMIPost-Cart Gap
CAUTION: Pinch hazard. The coupling action of the LD Platform Cart Trans­porter and cart can pinch you if the cart payload is incorrectly designed, and you are not careful. Keep your hands clear of the space between the HMI post and cart when the platform and cart are coupling.
Platform Covers
CAUTION: Pinch hazard. The covers are held in place with strong magnets, which can pinch you if you are not careful. Follow the instructions in the Main­tenance chapter for handling covers.
NOTE:The hazard presented by the platform cover magnets is slight enough that the covers and their magnets do not have warning labels.
26 LD Platform Cart Transporter User's Guide 14766-000 Rev E
Chapter 2: Safety

Magnetic Field Hazards

Platform Covers
WARNING: Magnetic fields can be hazardous to medical implant wearers. Medical implant wearers stay back 30 cm (12 inches) from the covers, which are held in place with strong magnets.
Docking Funnel
WARNING: Magnetic fields can be hazardous to medical implant wearers. Medical implant wearers stay back 30 cm (12 inches) from the underside of the platform, which is exposed during certain maintenance procedures for which the platform is tipped on its side.
Cart Magnet
The underside of the cart has a strong magnet, used to signal the LD Platform Cart Transporter that it is in place. This can be a hazard to medical implant wearers, if they get too close to it.
WARNING: Magnetic fields can be hazardous to medical implant wearers. Medical implant wearers stay back 30 cm (12 inches) from the bottom of the cart.

Qualification of Personnel

It is the end-user’s responsibility to ensure that all personnel who will work with or around AIVs have attended an appropriate Omron training course and have a working knowledge of the system. The user must provide any necessary additional training for all personnel who will be working with the system.
As noted in this and the Mobile Robot LDSafety Guide, certain procedures should be performed only by skilled or instructed persons. For a description of the level of qualification, we use the standard terms:
l
Skilled persons have technical knowledge or sufficient experience to enable them to avoid the dangers, electrical and/or mechanical
l
Instructed persons are adequately advised or supervised by skilled persons to enable them to avoid the dangers, electrical and/or mechanical
All personnel must observe industry-prescribed safety practices during the installation, oper­ation, and testing of all electrically-powered equipment.
WARNING: Before working with the AIV, every entrusted person must con­firm that they:
14766-000 Rev E LD Platform Cart Transporter User's Guide 27
2.3 User's Responsibilities
l
Have the necessary qualifications
l
Have received the guides (both this guide, and the Mobile Robot LDSafety Guide)
l
Have read the guides
l
Understand the guides
l
Will work in the manner specified by the guides

Payload Movement and Transfer

Monitoring and confirmation of the status of AIV payload movement and transfer to or from facility equipment is the end-user’s responsibility.
Payload transfer problems must trigger an AIV E-Stop, preventing the AIV from moving until an Operator has resolved the problem and confirmed that the system is safe to use. This hand­ling of payload transfer problems is the end-user’s responsibility.
Providing an interlock between the AIV and facility equipment is the user’s responsibility.

Configurable Warning Buzzer

The LD Platform Cart Transporters have a configurable warning buzzer. It is the user’s responsibility to configure this buzzer as appropriate for the facility in which the AIV will be operating. The buzzer will sound whenever the AIV is moving backwards or is turning. Other situations are configurable.
The buzzer is configured with MobilePlanner, using the following parameters:
NOTE:These parameters are only available with the Mobile Robot Software Suite
5.0 and later.
Table 2-1. Default Parameters
Parameter Default Setting
DriveWarningEnable True; If this parameter is set to False, the remaining para-
meters will not be displayed.
WARNING: Disabling the DriveWarn­ingEnable parameter violates the JIS D6802 standard. It is strongly recommended that you leave this set to True.
DoNotWarnDrivingForwards False
DoNotWarnTurningInPlace False
DriveWarningLoudMilliseconds 500; If DriveWarningQuietMilliseconds is 0, this parameter is
irrelevant.
DriveWarningQuietMilliseconds 500; This is the length of time between warnings that the
buzzer is silent. Setting this to 0 will cause a continuous warn­ing.
28 LD Platform Cart Transporter User's Guide 14766-000 Rev E
Chapter 2: Safety

Multi-AIV Avoidance

When multiple AIVs are operating in the same operating space, they must be connected to an Enterprise Manager 1100 (EM) via WiFi. The EM helps prevent collisions by sharing AIVs’ dynamic X, Y, Theta, size, and path-planning information with each other. AIVs then factor this data into their obstacle avoidance. This is not an interlocked method of preventing col­lisions. Ultimately, it is the end-user/integrator's responsibility to provide an interlocked method of preventing collisions.
NOTE:If two AIVs are approaching each other, neither will see the other because the incoming laser beams are detected as reflected beams. Because of this, any installation with more than one AIV working in the same operating space must be managed by the same Enterprise Manager 1100.

Traffic Control

A "switchable forbidden area" can be programmed on the map to prevent the AIV from enter­ing an area based on the state of a discrete input. If this input is set from another vehicle, such as a forklift, while it is in that area, then the AIV will not be allowed to enter that area.

Passing Lanes

Since the LD Platform Cart Transporter technology does not use fixed tracks to guide the AIVs, the concepts of passing lanes and human safety areas are not relevant.

2.4 Environment

General Environmental Conditions

It is the end-user’s responsibility to ensure that the operating environment of the platform remains safe for the platform. If there are areas that are not safe for the platform to travel in, those areas should be physically blocked off so that the platform’s scanning laser will detect the barriers, and the platform will not attempt to drive there. These areas can also be blocked off with forbidden zones in the MobilePlanner software, but that should be in addition to phys­ical barriers.

Public Access

The LD Platform Cart Transporter is designed for operating in indoor industrial or pro­fessional environments. It must be deployed in a manner that takes into account potential risks to personnel and equipment. The product is not intended for use in uncontrolled areas without risk analysis, for example, areas open to general public access. Use in such areas may require deployment of additional safety measures.

Clearance

The LD Platform Cart Transporter is designed to operate in an environment that is generally level and has no doors or other restricted areas too narrow for the platform and cart. It is the user’s responsibility to ensure that adequate clearance is maintained on each side of the AIV, so that a person cannot get trapped between the AIV and a wall or other fixed object. You should consult the applicable standards for your area. An exception to side clearance can exist
14766-000 Rev E LD Platform Cart Transporter User's Guide 29
2.5 Intended Use
at pickup and dropoff locations where the AIV must get close to conveyors or other fixed objects.
The primary direction of travel of the LD Platform Cart Transporter is forward. When the trans­porter is turning in place, with no forward movement, the detection of an obstacle in its path of rotation will not trigger an E-Stop.
WARNING: Personnel who work with or around the transporter should not stand close to the transporter when it is turning in place (with no forward motion).

Obstacles

If the LD Platform Cart Transporter will be entering high-traffic areas, the user must take appro­priate precautions to alert people in those areas that an AIV might enter. If the traffic consists of other machines, the user must adjust the AIV‘s and/or the other machine’s parameters to reduce the risk of a collision.

Safety Scanning Laser Emergency Stop

If an obstacle enters the transporter’s immediate path, the safety scanning laser will trigger an emergency stop. After the transporter has come to a complete stop, it will wait a minimum of two seconds before resuming commanded motion, with no human intervention necessary.
l
If the obstacle is still in the transporter’s path, it will first attempt to safely path plan and maneuver around the obstacle, if there is adequate room.
l
If the transporter can’t simply maneuver around the obstacle, it will search for another path to reach its goal.
If it can’t find another path, it will wait for human intervention.

2.5 Intended Use

The LD Platform Cart Transporter is not intended for use in any of the following situations:
l
In hazardous (explosive) atmospheres
l
Uncontrolled areas, for example, areas open to general public access.
Application in such areas may require deployment of additional safety measures, and risk analysis.
LD Platform Cart Transporters are designed for operating in industrial or professional environments. They must be deployed in a manner that takes into account potential risks to personnel and equipment.
l
In the presence of ionizing or non-ionizing radiation
l
In life-support systems
l
In residential installations
l
Where the equipment will be subject to extremes of heat or humidity.
l
In mobile, portable, marine, or aircraft systems
30 LD Platform Cart Transporter User's Guide 14766-000 Rev E
Loading...
+ 156 hidden pages
Buy Points How it Works FAQ Contact Us Questions and Suggestions Privacy Policy Cookie Policy Terms of Use