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

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LD Cart Transporter

User’s Guide

I612-E-03

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

Omron Adept Technologies, Inc., assumes no responsibility for any errors or omissions in the documentation. Critical evaluation of the documentation by the user is welcomed. Your comments assist us in preparation of future documentation. Please submit your comments to: techpubs@adept.com.

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.

This manual was originally written in English.

Created in the United States of America

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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

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

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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

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

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

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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

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

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

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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

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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

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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

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.

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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.

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1.1 Product Description

Figure 1-1. Cart and LD Platform Cart Transporter, Separate

Figure 1-2. Cart and LD Platform Cart Transporter, Coupled

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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

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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.

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What’s Included with an LD Platform Cart Transporter

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.

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.

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.

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.

An HMIPost

This supports the two side lasers and the rear-facing laser, both for obstacle avoidance. It also supports the Operator Panel.

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.

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.

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.

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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:

a motorized Latching Mechanism

a coupling laser

This is mounted in the coupling plate, and is used to align the transporter with the cart when coupling.

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.

The cart coupling plate includes a slot that can be latched with the platform coupling plate. The cart coupling plate is passive.

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.

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.

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.

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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.

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

Ethernet (wireless preferred)

Wireless is required for a fleet (more than one AIV).

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:

the map that all AIVs use

the configuration that all AIVs use

traffic control of the AIVs

This includes multi-AIV avoidance, destination, standby, and dock control.

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1.2 Software Overview

queuing of jobs for the AIVs

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.

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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.

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.

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.

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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.

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Chapter 1: Introduction

Regardless of how you accessed SetNetGo, you should now have a window similar to the following:

From the SetNetGo screen, select:

Status >Debug Info

This will display the “Download debug info” button.

Click Download debug info.

Save the downloaded file, and attach it to your support request.

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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.

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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:

Using MobilePlanner

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:

Reading the installation and operation instructions, as well as the Mobile Robot

LDSafety Guide, before using the equipment.

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.

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.

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.

Do not ride on the platform or cart.

Do not exceed the maximum weight limit.

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

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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.

Do not drop the AIV, run it off a ledge, or otherwise operate it in an irresponsible manner.

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.

Do not get the AIV wet. Do not expose the AIV to rain or moisture.

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.

Do not use parts not authorized by Omron Adept Technologies, Inc.

Do not turn on the AIV without the antennas in place.

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.

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2.3 User's Responsibilities

Do not use power extension cords with the docking station unless properly rated.

Never access the interior of the platform with the docking station attached.

Immediately disconnect the battery after opening the battery compartment door.

Avoid shorting the battery terminals.

Do not use any charger not supplied by Omron Adept Technologies, Inc.

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.

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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:

Skilled persons have technical knowledge or sufficient experience to enable them to avoid the dangers, electrical and/or mechanical

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:

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2.3 User's Responsibilities

Have the necessary qualifications

Have received the guides (both this guide, and the Mobile Robot LDSafety Guide)

Have read the guides

Understand the guides

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.

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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

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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.

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.

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:

In hazardous (explosive) atmospheres

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.

In the presence of ionizing or non-ionizing radiation

In life-support systems

In residential installations

Where the equipment will be subject to extremes of heat or humidity.

In mobile, portable, marine, or aircraft systems

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Chapter 2: Safety

NOTE:The gyroscope used to assist in navigation in LD Platform Cart Transporters requires a stationary environment for optimum accuracy. Therefore, we do not recommend them for use on a ship, train, aircraft, or other moving environment.

WARNING: The instructions for operation, installation, and maintenance given in this guide and the AIV user’s guide must be strictly observed.

Non-Intended Use

Non-intended use of LD platforms can:

Cause injury to personnel

Damage the platform or other equipment

Reduce system reliability and performance

The body of the AIV must not come into contact with liquids. The drive wheels can tolerate damp floors, but the body of the AIV must remain dry.

If there is any doubt concerning the application, ask your local Omron support to determine if it is an intended use or not.

Platform Modifications

If the user or integrator makes any changes to the LD Platform Cart Transporter or cart, it is their responsibility to ensure that there are no sharp edges, corners, or protrusions.

Note that any change to the platform or cart can lead to loss in safety or functionality. It is the responsibility of the user or integrator to ensure that all safety features are operational after modifications.

2.6 Battery Safety

Store batteries upright (in an environment with relative humidity less than 70%) at:

l 5 to 45°C (41 to 113°F) for up to one month l 20 to 25°C (68 to 77°F) for up to one year

Never expose the battery to water.

If the battery is leaking, submerge it in mineral oil and contact your local Omron support.

In case of a fire, use a type D extinguisher: foam, dry chemical, or CO2.

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2.7 Additional Safety Information

2.7 Additional Safety Information

Accidental Cart Separation

In the unlikely event that the cart becomes unlatched from the platform while in motion, the brakes are designed to stop the cart within six feet.

Mobile Robot LDSafety Guide

Your local Omron support provides other sources for more safety information:

The Mobile Robot LDSafety Guide provides detailed information on safety for LD Platforms. It also gives resources for information on relevant standards. It ships with each LD Platform.

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Chapter 3: Setup

CAUTION: Possible battery damage. Immediately charge the battery to a full charge upon receipt to avoid the risk of discharging the battery below a usable state, which would require battery replacement.

Effective April 1, 2016, IATAregulations require that air-shipped lithium ion batteries (UN3480, PI 965) must be transported at a state of charge not exceeding 30%. You should charge the battery completely as soon as you receive it.

NOTE:If the battery was not sent by air, it may be fully-charged.

Overview

In general, setup is the physical preparation of the platform and cart, and physically marking parking goal locations on your facility floor. Marking the parking goals on the floor is for human use. An LD Platform Cart Transporter will not use those markings, although we recommend you mark them in any case to prevent someone from placing something there that would prevent a cart from being parked.

Setup also includes generating a map of the workspace and configuring the AIV with the MobilePlanner software to perform useful tasks.

Tasks

This overview covers the LD Platform Cart Transporter starter kit, which includes the LD Platform Cart Transporter with all components needed for use including a cart, a docking station, and the software needed for navigation.

Install the battery in the platform. See Installing the Battery on page 43.

Fully charge the battery, either outside of or inside the platform.

Set up the wireless Ethernet for the platform. See Configuration on page 59.

Install the docking station. See Installing the Docking Station on page 47.

Install the cart’s manual brake-release cable and lever.

Design, build, and install a payload structure, to suit your application. See Payloads on page 73.

This is the most involved task in getting your AIV working the way you want.

Configure the AIV for your environment, so it can perform useful tasks.

This includes generating the map that the platform will use for its navigation. This procedure and parameter configuration is covered in the Mobile Robot Software Suite User's Guide.

Mark the location and orientation of the goals where the cart can be parked. This allows

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3.1 Transport and Storage

a person to place a cart where the transporter can find it.

It will also help keep someone from putting something other than a cart in that area, which could prevent a cart from being parked in that location.

Configure the MobilePlanner software, so a transporter can pick up and drop off carts.

This includes modifying the map that the transporter uses for its navigation. The configuration is covered in the Mobile Robot Software Suite User's Guide.

3.1 Transport and Storage

Use a forklift, pallet jack, or similar device to move the shipping containers.

The containers must always be shipped and stored in an upright position in a clean, dry area that is free from condensation. Do not lay the containers on their sides or any other nonupright position.

LD Platform Cart Transporter

The LD Platform Cart Transporter system, which includes a cart, is shipped in one crate, along with the docking station, joystick, and all components except for the battery.

The system must be shipped and stored in a temperature-controlled environment, from 5 to 60°C (41 to 140°F). The recommended humidity range is 5% to 95%, non-condensing. It should be shipped and stored in the supplied shipping crate, which is designed to prevent damage from normal shock and vibration. You should protect the crate from excessive shock and vibration.

The transporter alone weighs 81 kg (179 lb).

The crate for the transporter measures 1257 x 1149 x 1645 mm (49.50 x 45.25 x 64.75 inches), and weighs 129 kg (284 lb). The weight, as shipped, is 230 kg (507 lb).

Battery

NOTE:If you purchased spare batteries, this section applies to them, also.

The battery is shipped in a separate carton, not inside the platform or platform crate.

Storage Requirements

If the battery needs to be stored, the manufacturer recommends:

l 5 to 45°C (41 to 113°F) for up to a month l 20 to 25°C (68 to 77°F) for up to a year

The battery should start storage fully-charged and upright, in a dry location. If the battery will be stored for an extended period, it should be recharged periodically to avoid total discharge, which will damage the battery.

Maintenance

Every six months:

l Inspect the battery for damage or leaks.

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Chapter 3: Setup

l Place the battery on a charger and allow to fully balance (battery shows all solid LEDs

when fully balanced). Fully recharging a battery every six months is sufficient to keep it charged enough to avoid damage.

Standalone Cart

Carts can be purchased as an option, if you need more carts than transporters.

The cart box measures 1092 x 635 x 711 mm (43 x 25 x 28 inches). Weights are listed in the following table.

Table 3-1. Item Weights

Item Weight

Cart 22.7 kg (50 lb)

Cart and Box 28 kg (62 lb)

Cart, Box, and Pallet 44.5 kg (98 lb)

Each cart comes with caster brakes, which require the installation of a brake-release lever. See Installing the Cart Brake Release on page 52.

3.2 Before Unpacking

Carefully inspect all shipping containers for evidence of damage during transit. If any damage is indicated, request that the carrier’s agent be present at the time the containers are unpacked.

3.3 Unpacking

Before signing the carrier’s delivery sheet, compare the actual items received (not just the packing slip) with your equipment purchase order. Verify that all items are present and that the shipment is correct and free of visible damage.

If the items received do not match the packing slip, or are damaged, do not sign the receipt.

If the items received do not match your order, please contact your local Omron support immediately.

Retain the containers and packing materials. These items may be necessary to settle claims or, at a later date, to relocate the equipment.

A complete LD Platform Cart Transporter will come in two packages:

The battery is shipped in a separate cardboard carton.

The transporter and cart are shipped in a wooden crate.

This includes the HMI post with the side laser support tubes.

This also includes the joystick, docking station, as well as miscellaneous cords all in a cardboard carton inside the transporter crate.

NOTE:If extra accessories are ordered, they will be shipped separately.

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3.3 Unpacking

Battery

The battery is shipped separately from the transporter. Locate the box that contains the battery before continuing. Refer to the following figure.

Figure 3-1. Battery Shipping Container

The battery box measures 311 x 540 x 457 mm (12.25 x 21.25 x 18 inches).

NOTE:The battery weighs 19 kg (42 lbs). There are recesses at the front and the back of the battery, to aid in lifting it.

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LD Platform Cart Transporter

Chapter 3: Setup

Figure 3-2. Cart and LD Platform Cart Transporter in Crate

The transporter crate measures 1257 x 1149 x 1645 mm (49.50 x 45.25 x 64.75 inches).

Removing the Front Panel

The front panel of the transporter crate doubles as a ramp, for rolling the platform off of the crate base.

Release the latches that hold the front panel to the crate.

There are four spring-loaded latches.

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3.3 Unpacking

Remove the front panel, and set it aside.

This will be used as a ramp, to roll the platform off of the crate base.

Figure 3-3. Spring-loaded Latch

Removing the Upper Body of the Crate

There are six lag bolts and washers around the base of the crate, two in the rear and two on each side. Remove all six lag bolts and washers.

Slide the upper body of the crate off of the base.

Take care as you slide it over the HMI post, watching the clearance between the crate and the HMI post components.

Figure 3-4. Crate Lag Bolts

The platform will still be held securely by the base of the crate.

CAUTION: Due to the weight and size of the crate upper body, and the potential to damage the platform during this step, two people should work together to remove it.

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Removing the Cart

The cart is secured under a wooden panel and a cardboard box.

Loosen the restraining strap that is around the cardboard box.

Remove the cardboard box.

This contains the dock and the joystick, as well as miscellaneous cords.

If accessories, such as call boxes, are ordered, they will be shipped separately.

3. Release the two spring-loaded latches on either side of the panel that is securing the cart.

Chapter 3: Setup

Figure 3-5. Cart Panel Latches

4. Remove the panel and the straps off the top of the cart. Then remove the cart itself.

CAUTION: Due to the weight of the cart, two people should work together to remove it from the crate.

Removing the Crate Braces

Remove the top brace by releasing the four spring-loaded latches, two on either side of the brace.

Remove the front brace by releasing the two spring-loaded latches, one on either side of the brace.

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3.4 Setting Up an LD Platform Cart Transporter

Figure 3-6. Crate Braces

Repacking for Relocation

If the LD Platform Cart Transporter or other equipment needs to be relocated, reverse the steps in the installation procedures in this chapter. Reuse the original packing crates and materials and follow all safety notes used for installation. Improper packing for shipment will void your warranty.

The LD Platform Cart Transporter must always be shipped in an upright orientation.

3.4 Setting Up an LD Platform Cart Transporter

The LD Platform Cart Transporter is shipped with the HMI post installed. This includes the Operator panel at the top of the HMI post. You will have to:

Roll the transporter off of the crate, down the ramp

This will be rolling on the casters, not the drive wheels.

Remove the pins holding the drive wheels up

Install the battery

Install the dock, for charging the transporter‘s battery

This should have already been removed from the crate.

Set up your wireless system

This is covered in Settings and Configuration on page 59.

Rolling the LD Platform Cart Transporter off of the Crate Base

Install the crate front onto the crate base, to serve as a ramp.

There are two hanger bolts that stick up out of the front of the crate base. These fit into two holes in the end of the ramp. Orient the ramp as shown in Figure 3-7. to ensure there is a smooth transition between the ramp and the ground.

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Roll the transporter off of the crate base and down the ramp.

Chapter 3: Setup

Figure 3-7. LD Platform Cart Transporter on Crate Base, with Ramp

Remove the two wheel pins that held the wheels up during transit.

The wheels are pinned up to protect the motors and drives. When you receive your LD Platform Cart Transporter, the drive wheels will not touch the ground until you remove the wheel pins. The wheel pin hole is shown in the following figure.

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3.4 Setting Up an LD Platform Cart Transporter

Figure 3-8. Wheel Pin Hole Location

For each side of the platform:

Remove the side cover a small distance from the platform. Refer to Removing Covers on page 152.

The light disc PCA cable will still be attached.

Disconnect the cable from the light disc PCA, so the side cover can be moved completely away from the platform.

This will fully expose the wheel and tire.

Lift the wheel slightly to relieve pressure on the pin.

Remove the pin by pulling the ring that is attached.

These pins can be used for later service of the entire drive assemblies.

Figure 3-9. Wheel Pin

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Chapter 3: Setup

Lower the wheel to the floor.

The wheels are spring-loaded, and the wheel brakes will be on.

Put the side cover next to the platform, and attach the light disc cable to the light disc PCA.

Reinstall the side cover.

Installing the Battery

Your platform battery comes with less than 30% charge, to comply with air-shipping regulations. It should be charged as soon as possible, to a full charge.

NOTE:Air shipping regulations require that the tranporter be shipped without the battery installed.

Removing the Battery Cover

Accessing the battery compartment requires removing the platform's rear cover. This is held in place with magnets.

CAUTION: Pinch hazard. The magnets holding the cover in place are strong enough to pinch you if you are not careful.

No tools are needed for either the removal or installation of the battery cover.

NOTE:After removing the cover, place it inner-side down, so the outer surface doesn't get scratched.

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3.4 Setting Up an LD Platform Cart Transporter

Figure 3-10. Pulling the Bottom of the Rear Cover Out

Figure 3-11. Lowering the Rear Cover

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Chapter 3: Setup

Refer to Removing and Installing LD Platform Cart Transporter Covers in the Maintenance section for cover removal and installation.

Remove the inner rear platform cover.

Pull the bottom of the cover away from the platform chassis.

This is easiest if you grip it with two hands, toward the center.

Lower the cover down, so its top tab clears the rear outer cover.

Unlatch and open the battery compartment door, at the back of the platform.

The battery compartment door is capable of being locked. You may need to unlock it.

Lift and slide the new battery into the platform body.

The battery weighs 19 kg (42 lbs).

There are recesses at the front and the back of the battery, to aid in lifting it.

Figure 3-12. Battery Recesses, for Gripping

The battery is designed to be lifted and replaced by one person, using one hand in each of the grips, as shown in the following figure.

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3.4 Setting Up an LD Platform Cart Transporter

Figure 3-13. Lifting the Battery

The connectors for power and data go toward the rear of the platform.

Attach the battery power and data cables to the connectors at the rear of the battery.

Figure 3-14. Battery Cable Connectors

Close the battery compartment door to secure the battery in place.

The battery compartment is designed to hold the battery tightly, so that it will not move within the compartment, once the door is closed.

Reinstall the inner rear platform cover.

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Chapter 3: Setup

Installing the Docking Station

The automated docking station can be used for either manual or automated charging of your LD Platform Cart Transporter's battery.

The docking station sits on the floor. It can be attached to a wall with the wall bracket, attached directly to the floor with screws through its base, or it can sit stand-alone on the floor with the floor plate, all of which will keep the docking station from moving when the transporter docks. Each docking station comes with a wall bracket and floor plate.

CAUTION: It is very important that the docking station be mounted with one of these methods, or the transporter will simply move the docking station when it tries to dock, rather than docking successfully.

Regardless of mounting method:

Locate the docking station near an AC outlet with 1-2 m (3.25-6.5 ft)of clear space in front to ease the transporter’s maneuvers onto the docking station.

When docked, the rear-facing laser extends almost 5 inches beyond the back of the docking station. Ensure that you leave enough free space behind the back of the docking station to allow clearance for this.

The wall-mount bracket provides enough room for this.

The top of the docking station foot is spring-loaded, and lifts off of the bottom of the foot slightly to accommodate variations in the floor surface. The weight of the transporter will push the top of the foot down.

Requirements

100 to 240 VAC, 50 to 60 Hz, 8 A

The station's power converter automatically detects the source voltage.

Ambient operating temperature: 5 to 40°C (41 to 104°F)

5% to 95% humidity, non-condensing

Wall Bracket Mount

NOTE:This is the recommended method for mounting the docking station.

Attach the docking station mounting bracket to a wall, with the bottom edge of the bracket 98±20 mm above the floor, using user-supplied anchors and screws. There is leeway, so you can adjust the height a little bit.

Refer to the following figure:

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3.4 Setting Up an LD Platform Cart Transporter

369

537

313

98 ± 20

168

122

357

123

247

3x Ø6 Thru

350

R95

267

114

203

R13

Wall Mount Bracket Detail

18x Ø6 Thru

8x 25

Units are mm

Figure 3-15. Docking Station, Wall Mount

Screw the two shoulder bolts, each with a washer, into the rear of the docking station. The shoulder bolts are M5 x 4, stainless steel. Their locations are shown in the following figure. Tighten to 9 N·m (80 in-lb).

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Chapter 3: Setup

Figure 3-16. Rear View of Docking Station with Shoulder Bolts

Lower the docking station down, so the two shoulder bolts on the back of the docking station slide into the bracket, to secure the docking station to the wall.

Floor-mount, without Floor Plate

NOTE:Because this method permanently attaches the dock to the floor, it may be subject to building code regulations. It is the user’s responsibility to verify that the installation is in compliance with local regulations.

Screw the base of the docking station directly to the floor, using three user-supplied screws. For dimensions of the available holes in the base, refer to Figure 3-15. We recommend M5 self-tapping or M4 drywall screwsfor this.

Floor-mount, with Floor Plate

This mounting method uses the floor plate. The floor plate is not shipped attached to the docking station, so you must attach it for this type of mount. It will be in the crate with the docking

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3.4 Setting Up an LD Platform Cart Transporter

station.

Attaching the Floor Plate

Refer to the following figures.

Tip the docking station onto its back, so you can access the underside.

Remove the two lowest screws (M4 x 12 flat-head), if present.

In the following figure, these screws are circled. The location of the third screw hole is also circled.

Attach the floor plate to the base of the docking station with three M4 x 12 flat-head stainless steel screws.

The floor plate comes with three screws, so you will have two spares.

The docking station and floor plate do not need to be attached to the floor, as the weight of the platform on the floor plate will keep the docking station from moving.

Figure 3-17. Underside of Docking Station Foot, Showing Screw Locations

NOTE:These are the three locations for the M4 x 12 flat-head screws. Two are already in place, and need to be removed before attaching the plate.

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Chapter 3: Setup

406

495

Units are mm

Figure 3-18. Docking Station, Mounted on Floor Plate

Figure 3-19. Docking Station Floor Plate Dimensions

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3.5 Installing the Cart Brake Release

Power On

Install the power cord and turn the power switch to ON. The power switch is next to the power plug. The blue power LED indicator should light.

Docking Station Contact Adjustment

The contacts on the docking station have five height settings. The station is shipped with the height in the middle setting, which should be correct in most cases. The height can be changed by tilting the station enough to see the bottom of the base, making the adjustment accessible.

NOTE:Squeeze and keep the docking station foot against the bottom of the docking station to make this adjustment easier.

Adjust the height of the contacts by using the pull-knob on the bottom of the dock. The height changes by 4 mm (0.15 inch) for each notch. See the following figure.

The height of the contacts should be set so that the roller is high enough to stay in contact with the platform as it is docking, but low enough so that the bi-level of the roller guides the paddle under the platform.

Figure 3-20. Docking Station Contact Adjusting Pull-Knob

3.5 Installing the Cart Brake Release

The two rear casters of the cart have brakes, which push a blunt pin against the caster rolling surface to prevent the cart from rolling when it is parked on a floor that is not perfectly level.

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Figure 3-21. Cart Caster Brake, Showing Spring and Pin

To allow an Operator to release the cart brakes when there is no cart LD Platform Cart Transporter present, each cart comes with a brake-release cable and lever, similar to a bicycle hand brake, that releases the cart brakes when squeezed.

NOTE:The cart brake-release mechanism is actuated by the transporter when it couples with the cart, so the cart will roll freely with the transporter. This part of the brake release does not requires any user setup or adjustment.

Installation

The cart brake cable is attached on one end to the cart brake-release mechanism, and outfitted on the other end with a bicycle-style brake lever, to release the cart’s brakes and allow an Operator to move the cart manually. It is up to the user to mount the brake-release lever at some location on the cart, and route the brake-release cable from the brake-release lever to the actuator. The brake-release lever comes with a 1524 mm (60 inches) cable. The lever has a clamp the fits a 22 mm (7/8 inch) tube.

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3.5 Installing the Cart Brake Release

6-mm

dia. (0.25-inch dia.) Pass-through hole

for brake cable, through rear frame tube

Figure 3-22. Brake-release Lever

CAUTION: It is important that the brake-release handle be mounted in an ergonomically-suitable location, so an Operator can repetitively release the brakes without risking injury.

The actual mounting location and procedure for the brake-release handle are not covered here due to the variability that is possible in cart structure designs. Ensure that no part of the cart brake-release cable bends more than a 76 mm (3 inches) radius.

There is a 6.4 mm (0.25 inch) horizontal hole through the rear horizontal tube of the cart. See the following two figures.

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Figure 3-23. Thru-hole for Brake-release Cable

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Chapter 3: Setup

Secure brake-release cable to saddle tie

Ø6 mm (0.25 inch) hole through rear tube wall

Route brake-release cable up to brake lever

After the brake-release lever has been mounted on the cart payload:

Push the free end of the lever cable through the hole in the cart’s upper-rear horizontal tube.

Figure 3-24. Thru-holes for Brake-release Cable, Plate Removed

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3.5 Installing the Cart Brake Release

Lever Cable Clamp

Lever Cable

Actuator Bar Hard Stop

Right Brake Cable

Left Brake Cable

Pulley

Lever Cable Anchor

Left Brake Adjust.

Right Brake Adjust.

Actuator Bar

Figure 3-25. Internal Brake-Release Mechanism

Route the cable to the lever cable anchor.

Attach the actuator end of the cable to the lever cable anchor.

Run the inner wire of the cable around the pulley, through the bushing in the actuator bar, and through the lever cable clamp.

Pull the inner wire tight enough to remove slack, and tighten the lever cable clamp on it.

Cut off the excess inner wire, leaving a small amount protruding past the clamp.

Make a service loop of any excess lever cable, at least 152 mm (6 inches) in diameter.

Attach the lever cable housing to the saddle tie. See Figure 3-24.

Adjustment

The brake lever cable needs to be adjusted so there is no excess slack, but so the brakes are engaged when the lever is not being actuated. The two caster brake cables will be adjusted at the factory.

Brake Lever Cable

The brake lever cable should be adjusted at the lever cable clamp, shown in the preceding figure. There should be just enough slack so the actuator bar touches its hard stop.

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Caster Cables

These should be adjusted correctly from the factory. If any adjustment is needed, refer to the preceding figure for the adjustment location. The brake pins should be able to go down as far as the caster surface allows, without any slack. The jam nuts on the two brake adjustments should be installed using a threadlocker.

Actuator Bar Hard Stop

After the caster cables are adjusted correctly, ensure that the actuator bar just touches its hard stop. This will keep the actuator bar in position if you have to adjust the lever cable.

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Chapter 4: Configuration

The LD Platform Cart Transporter comes with firmware and on-board software installed.

Configuration of an LD Platform Cart Transporter is done using the MobilePlanner software. Configuration includes generation of the map that the AIV will use for navigation. The cart parking goals need to be added to that map. This manual only provides an overview of that process, which is covered in detail in the Mobile Robot Software Suite User's Guide.

CAUTION: The MobilePlanner dongle, which contains the license for running the software, should be locked up when not in use, to prevent unauthorized modifications to your system configuration. The software should be turned off when not in use.

Other setup, mostly for communication, is handled by the SetNetGo OS, which is accessed through the MobilePlanner software. It can also be accessed through a direct connection, so your IT support can set up your wireless without needing the MobilePlanner license.

The transporter navigates using a map, generated with the MobilePlanner software. The operation of this software, as well as the downloading of the resultant map to the platform, is covered in the Mobile Robot Software Suite User's Guide.

NOTE:The map must be generated and downloaded to the platform before you can perform the steps covered in this chapter.

By default, the LD Platform Core, safety scanning laser, and some auxiliary power start automatically when you press ON.

4.1 Settings and Configuration

Maintenance Ethernet Connection

To prepare your AIV for autonomous mobile operation, attach a PC to the platform’s Maintenance Ethernet port, and connect with the SetNetGo OS through the MobilePlanner SetNetGo interface. If you do not have wireless yet, you can connect MobilePlanner through the wired Ethernet port (Maintenance LAN) and set up the wireless network later.

The LD Platform core is preset and tested on a Class-C network (netmask for all ports

255.255.255.0). The Maintenance Ethernet port is set to IP address 1.2.3.4 and the wireless IP comes set with an AP-based ("managed") SSID of “Wireless Network”, unsecured. Consult with your network systems administrator before modifying these network details through the SetNetGo OS.

The User LANport is set to IP address 10.10.10.10.

Refer to the Mobile Robot Software Suite User's Guide.

The Maintenance Ethernet port is on the left side of the platform, under the small access panel at the upper-right corner of the platform. (The joystick port is also there.) The access panel is held in place with a push-push latch, and retained by a lanyard. See Figure 10-3. This is

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4.1 Settings and Configuration

internally connected to the Ethernet port located on the rear side of the LD Platform core in the payload bay.

The Maintenance Ethernet port is permanently set to IP address 1.2.3.4, with a netmask of

255.255.255.0, for direct, wired access to the onboard systems. Accordingly, when accessing the port, manually set the offboard computer’s Ethernet to an IP 1.2.3.x, where x is any number 1 through 254 except 4, and with a netmask of 255.255.255.0. No special DNS or gateway settings are needed.

Attach a pass-through or cross-over CAT5 (or better)Ethernet cable between the PC and the Maintenance Ethernet port of the platform. The platform Ethernet is Auto-MDIX, and will detect the type of cable you are using.

Start the Network Connections:Local Area Connection dialog for the ETH 0 Ethernet port:

(Windows) Start > Settings > Network Connections > Local Area Connection

Select Properties, and, from its dialog, scroll to and double-click the Internet Protocol (TCP/IP) option. In the Internet Protocol (TCP/IP) Properties dialog, click both ‘Use the following…’ associated radio buttons to enable them, and then type in the IP and netmask values.

Setting Up Wireless Ethernet

The SetNetGo OS is used to configure the platform wireless Ethernet, among other things. Refer to the Mobile Robot Software Suite User's Guide for details.

NOTE:Although an LD Platform Cart Transporter is capable of working without wireless Ethernet if there are no other AIVs that it needs to know about (and to avoid), that is the exception. In most cases, wireless Ethernet will be needed.

NOTE:For all of the following settings, work with your IT group to verify the correct IP, radio, and security settings.

The following applies to the wireless Ethernet supported by the platform.

The SetNetGo OS is used to configure the wireless Ethernet, among other things. Refer to the Mobile Robot Software Suite User's Guide for details.

Access the SetNetGo OS through the MobilePlanner software:

MobilePlanner >SetNetGo >Network

NOTE:It is also 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.

IP Address, Netmask, Gateway, DNS1

Choose Static (DHCP is not recommended), and fill in the IP address, netmask, gateway, and DNS1, as supplied by your network administrator.

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NOTE:The following settings have to be provided by your IT department.

Radio Settings

SSID (e.g. AGV)

Fill in the appropriate wireless SSID for your wireless network. The SSID is case sensitive.

Mode

Managed/STA, Ad-Hoc, or Master/AP

Radio Mode

Auto, 802.11a, 802.11b, 802.11g

Channel Set

Wireless Watchdog IP Address

Wireless Watchdog Max Count

0 disables this.

Chapter 4: Configuration

Security Settings

Encryption:

Disabled

WEP 64-bit

WEP 128-bit

TKIP/RC4

CCMP/AES

TKIP/CCMP/AES

Authentication:

OPEN

WPA-PSK

WPA2-PSK

WEP

WEP Key Number (Key 1 - Key 4)

WEP Keys

WPA/WPA2-PSK

PSK

PSK-Type (Passphrase or Raw Hex)

Click Apply for your changes to take effect.

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4.2 Mapping

Wireless Coverage

The AIV must have wireless coverage for multi-AIV installations, or in areas where you wish to send new commands to or receive status updates from the AIV.

Ensure that, in such cases, you have adequate wireless coverage. Because of the variation possible in different environments, we don't specify what components or techniques should be used to obtain this coverage.

We suggest that you conduct a comprehensive site survey to ensure adequate wireless coverage. You can test the coverage of your wireless setup by trying to ping it from various locations.

>= -40 dBm is the ideal WiFi signal strength, -60 dBm is the recommended minimum.

Bandwidth Considerations

The typical bandwidth in a fleet will average about 50 Kbps/AIV. This would increase if the AIV is connected to the Enterprise Manager 1100, and is actively viewed by MobilePlanner. This number can increase or decrease depending on the types of commands and debugging tools that are enabled in MobilePlanner. In any case, the bandwidth is not likely to exceed 500 Kbps per AIV (0.5 Mbps).

0.5 Mbps per AIV would easily fit within the capabilities of access points (>=54 Mbps). If you have multiple access points, this number becomes even less of a concern.

4.2 Mapping

There are many options for configuring and tuning your LD Platform Cart Transporter to best suit your application.

In order to have your transporter perform autonomous mobile activities, you need to make a map of its operating space. Configuration includes generation of the map that the transporter will use for navigation. The cart parking goals need to be added to that map. Use the MobilePlanner application to make the map. This manual only provides an overview of that process, which is covered in detail in the Mobile Robot Software Suite User's Guide.

Maps may contain a variety of virtual elements which act to modify the behavior of an AIV. Virtual elements include forbidden lines and areas, speed zones, preferred-direction zones, and more, all working to help you configure your workspace for efficient and safe performance of your mobile application. You can also create your own virtual elements for application-specific AIV-workspace interactions.

Maps contain a variety of goals, routes, and tasks that comprise the destinations and activities of the AIV in the workspace. There needs to be a goal at every location where you want the transporter to be able to pick up or drop off a cart. Make sure that the goal orientations leave room for the platform to maneuver.

The tasks involved are:

Make a floor plan scan while driving the transporter with the joystick.

Load that floor plan scan into MobilePlanner, on your PC, to make and edit the map.

Add goals and docks to your map. In particular, refer to:

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Chapter 4: Configuration

Working With Map Files > Editing a Map File > Using the Drawing Tools > Adding Goals and Docks

in the Mobile Robot Software Suite User's Guide.

Transfer the working map to the Enterprise Manager 1100, or back to the platform, if you have only one platform, to perform autonomous mobile actions.

The Enterprise Manager will automatically download the new map to each AIV in your fleet as soon the AIV becomes idle.

If you have multiple, separate working spaces, which will each require their own map, you can save map collections and deploy your platform in any of your working spaces by selecting the appropriate map file.

NOTE:It is a good idea to have the automated docking station installed prior to creating the map scan. Its distinctive front angle will be useful in locating and setting it up in the map.

Setting Up Cart-Parking Goals

Any location where you want a cart to be picked up or dropped off needs to have a corresponding goal on the map. Pay special attention to the direction of the goals, as the transporter may need extra room to maneuver into the correct position for coupling.

Marking Cart-Parking Goals on Floor

The purpose of marking the parking goals on your floor is so that a human being knows where to leave a cart, so that the transporter will find it and be able to couple with it.

Even if people will never be moving carts, this step is recommended, so that someone doesn’t place other items where a cart needs to be parked.

If people will be moving carts, make sure that your markings include the direction of the goal, so the transporter will be approaching from the correct direction.

The easiest way to accurately mark the goals where a cart may be parked is to send the transporter to each cart-parking goal, and, while the transporter is at the goal, put down tape markings that include the size of the cart, as well as the transporter‘s orientation. The transporter will always approach the goal from the same direction, so the cart needs to be oriented correctly.

4.3 Configuring a Touchscreen

You configure the touchscreen's appearance and behavior with the MobilePlanner software. The tasks include setting the mode to use, setting up goals for relocalization, and specifying a custom screen logo and the language to be used for the display.

Touchscreen Ethernet Setup

The touchscreen plugs into the UserLAN port on the platform‘s core.

NOTE:After making and saving changes within User LANEthernet Settings, the platform has to be power-cycled for those changes to take effect. If the only change is to enable DHCP, then the platform does not have to be power-cycled.

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4.3 Configuring a Touchscreen

In the MobilePlanner software, select:

MobilePlanner > SetNetGo

Network > User LAN Ethernet

Ensure that:

the IP address subnet doesn’t conflict with the Wireless Ethernet IP subnet

Interface mode is set to Accessory

DHCP Server for Accessories is set to Enable

DHCP IP Range is large enough to provide IP addresses for all connected devices

Figure 4-1. Accessory and DHCP Server for Accessories Enabled

Operating Modes

Specify the touchscreen mode: either Choose Dropoff or Patrol Route.

Choose Dropoff mode allows the Operator to input the next dropoff goals.

Patrol Route mode simply drives around a specific route. The AIV will have goals that it stops at, but the Operator will not be able to alter the order of those goals.

For Choose Dropoff, you specify how many dropoff buttons there will be, and how each button is labeled, as well as the goal on the AIV's map that gets associated with each button.

For Patrol Route, you specify the name of the route and whether to start the patrol on bootup. The route will include whatever goals the AIV will stop at, and how long it will wait at each specific goal.

These parameters are accessed from:

MobilePlanner >Config, then Robot Interface >Touchscreen

Select either Choose Dropoff or Patrol Route with the Pages >MainPage parameter, which has a dropdown selection box.

Choose Dropoff Mode

The following parameters only apply to the Choose Dropoff mode.

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Dropoff Priority

This is accessed under Pages >ChooseDropoffPage.

You can enable high-priority dropoffs, which will be serviced before normal-priority dropoffs. The Operator can specify that a goal is high-priority when it is being selected for the upcoming dropoff.

AllowHighPriorityDropoffs

This allows some dropoffs to be specified as high-priority. This is enabled by default, and you can disable or re-enable it in the MobilePlanner software.

HighDropoffPriority

This is the priority assigned to any dropoff that is specified as high-priority. Higher priority jobs will be serviced before lower-priority jobs by the queuing manager. This has no effect if AllowHighPriorityDropoffs is disabled.

Dropoff Buttons

This is accessed under Pages >ChooseDropoffPage.

DropoffButtonCount

This specifies the total number of buttons that will be available on the touchscreen page. You can scroll the page to see other buttons, if all of the buttons cannot be displayed at once.

DropoffButtonx

There will be a DropoffButton1 through DropoffButtonx, where x = DropoffButtonCount. Each contains the two following parameters:

GoalName

This is a combo box that lists all of the goals that have been created on the map. Select the map goal to be serviced when this dropoff button is pressed.

You can eliminate a button from the screen by making GoalName blank. The other buttons will fill in, so there will be no blank spaces in the screen.

ButtonLabel

This is the text label displayed on the dropoff button. If empty, the GoalName is displayed.

Patrol Route Mode

NOTE:A goal can have a wait time associated with it, to give an Operator time to load or unload the AIV. This is configured, in the map, using the MobilePlanner software.

The following parameters only apply to the Patrol Route mode.

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4.3 Configuring a Touchscreen

In this mode you need to specify the name of the Patrol Route that the AIV will patrol. The route needs to have already been set up using the MobilePlanner software. You also need to specify if the AIV will start its patrol automatically, or if it requires an Operator to press Go.

Select Pages >PatrolRoutePage

In RouteName, enter the route to be patrolled.

Check AutoStartRoute for the AIV to start its patrol as soon as the Patrol Route screen is displayed (the touchscreen has finished booting).

Localization Goals

You need to configure at least one localization goal. You can configure more if you want. A localization goal is needed to relocalize a lost AIV from the touchscreen.

Each localization goal should have:

a heading

The AIV will need to be aligned with the heading when relocalizing.

This applies to both laser and Acuity localization.

mapped features that don’t change much

Things that get moved frequently, such as pallets, chairs, or carts do not make good mapped features, because the map will not match what the laser is seeing.

mapped features that don’t get blocked

If a mapped wall is often used for stacking boxes or storing carts, the laser may have trouble seeing the wall behind those objects.

multiple visible lights, when using Acuity localization

The more lights the AIV can see, the better.

a high localization score

This represents the percent of readings that the AIV currently sees that match the features on its map.

NOTE:Localization goals do not have to be dedicated to localization - they can also be used as normal goals for regular use.

In MobilePlanner, select:

Config > Robot Interface > Touchscreen

From there, use ChooseLocalizationPage to set LocalizationButtonCount to the number of localization goals you want, and then specify the GoalName and ButtonLabel for each.

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Chapter 4: Configuration

Figure 4-2. Localization Goal Parameters

Screen Logo

In MobilePlanner, select

Config > Robot Interface > Touchscreen

From there, use Style/Appearance.

A logo is displayed in the upper-left corner of the touchscreen. The default logo is Omron, as shown in the following figure.

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4.3 Configuring a Touchscreen

Figure 4-3. Sample Touchscreen, with Omron Logo, in Choose Dropoff Mode

You can customize this with a logo of your choosing using the following steps:

Upload a PNG image file to the AIV using the MobilePlanner software:

File > Download/Upload

Open the Configuration window and choose:

Robot Interface > Touchscreen

Edit the SmallLogo parameter.

Click the file-select button to open the file chooser.

Select the newly-uploaded file.

Click Open.

Click Save, to save the configuration.

NOTE:If the SmallLogo field is left blank, the default Omron logo will be displayed.

NOTE:If a different version of the same file name is uploaded to the AIV, you will need to power cycle the AIV to see the change.

Screensaver

In MobilePlanner, select

Config > Robot Interface > Touchscreen

From there, use Screensaver.

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Chapter 4: Configuration

If the AIV is in motion when the screensaver comes on, it will use the Busy icon, and display a status message (where it’s going). If the AIV is not in motion, it will display the Available icon. The rounded rectangle, icon, and any text inside the rectangle will move around the touchscreen display area.

Screensaver Enabled

This is a checkbox that determines whether a screensaver is displayed when the touchscreen is inactive. Checking the box enables the screensaver.

TimeoutSeconds

This is the number of seconds that will elapse before the screensaver is turned on. This has no effect if the Screensaver Enabled box is not checked. The range is 1-999 s.

StayOnTouch

This is a checkbox that determines if touching the screensaver has the same effect as touching Stay. If this is checked, the AIV will stay when the screensaver is touched.

Display Language

You can select what language is used for the display from a dropdown box in the MobilePlanner software.

NOTE:Some messages from the AIV will be in English, regardless of the language set here. These include status and mode messages.

From MobilePlanner, select:

Config > Robot Interface >Language/Location

Select RobotLanguage, which has a dropdown selection box.

This parameter is not touchscreen-specific, so it may affect other displays that involve written language. As of this writing, only the touchscreen is affected. This parameter does not affect synthesized speech.

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4.4 Acceleration, Deceleration, and Rotation Limits

Contact Information

Figure 4-4. Help Screen, with Contact Information

Help shows installed software and contact information.

NOTE:No contact information will be displayed unless it is set up in the MobilePlanner software.

In MobilePlanner >Config:

Robot Interface >Touchscreen >ContactInformation

Check the ShowContactPage checkbox.

Enter appropriate information in ContactName and the fields following it.

4.4 Acceleration, Deceleration, and Rotation Limits

Reducing the absolute max allowable linear and rotational acceleration, deceleration, and speed will affect the size of the allowable CG envelope, but it may do so in non-obvious ways. For use-cases where the payload can’t be decreased, or the CG can’t be brought within the recommended limits, Service can work with your system designer to input your needs into our models.

Contact your local Omron support for details. See Support on page 19.

If your payload’s center of gravity is not within the guidelines given in the Payloads chapter, you will need to adjust the Absolute Movement Maximums parameters in the MobilePlanner software.

From the MobilePlanner software, Config:

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Chapter 4: Configuration

Robot Physical >Absolute Movement Maximums

Show Expert + Parameters needs to be checked to see or modify these parameters.

The first two parameters and AbsoluteMaxRotVel are not likely to have significant impact on the AIV‘s stability. The Accel and Decel parameters will have a major impact. In certain cases, if the payload is lopsided, the AbsoluteMaxRotVel may need to be adjusted.

The limits and defaults for these parameters are listed in the following table.

Parameter Default Min Max

AbsoluteMaxTransVel (LD-105CT) 1350 1 2500

AbsoluteMaxTransVel (LD-130CT) 900 1 2500

AbsoluteMaxTransNegVel (LD-105CT) -210 -2500a-1

AbsoluteMaxTransNegVel (LD-130CT) -140 -2500a-1

AbsoluteMaxTransAccel 1000 1 2000

AbsoluteMaxTransDecel 2000 1 2000

AbsoluteMaxRotVel 180 1 180

AbsoluteMaxRotAccel 360 1 360

AbsoluteMaxRotDecel 360 1 360

a: Although the Min value, in software, is -2500, the hardware safety system on the platform will generate a fault if the velocity is anything from -300 to -2500 mm/s.

4.5 Supplemental Information

Laser Setup

For most installations, the defaults for the lasers should be appropriate, and will not require any user adjustment.

The specific parameters for these lasers will come in the model config file that ships on the unit, or can be provided on request if needed.

Laser_1 Settings are for the main scanning laser (S300), used both for safety and localization.

Laser_2 Settings are for the low front laser (TiM).

Laser_3 Tilted and Laser_4 Tilted are for the side lasers (TiM).

Laser_5 Settings are for the coupling laser (TiM).

Laser_6 Settings are the rear-facing laser (TiM).

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5.1 Safety

Drive Warning Light

For CE compliance, an AIV is required to have a readily-visible warning light, when it is either ready to move or is moving. The platform comes with light discs on each side, and the HMI post has a beacon, designed to be higher than a normal payload, to do this.

If you have a payload that blocks the beacon, the core also provides an output, so you can add

your own warning device. This may be necessary for taller payloads, which may make the

beacon not always visible. The core has a Light Pole connector, which is covered in the Connectivity chapter in LD Platform Core Rear, Upper on page 94. This can be used to drive a warning light in a more prominent location for taller payloads.

Turn Warning Lights

An AIV is also required, for CE compliance, to have readily-visible turn warning lights, when it is either turning or about to turn. The platform’s light discs indicate that the AIV is turning, and in which direction.

If you have a payload that blocks the beacon, the core also provides an output, so you can add

your own warning device. This may be necessary for taller payloads, which may make the

Chapter 5: Payloads

5.2 Considerations

Dimensions

You must keep your payload no wider and no longer than the LD Platform Cart Transporter.

Take care to keep all of the sensors exposed. If any of the sensors get blocked, the AIV won't be able to function as intended. This is critical in the case of the lasers.

The payload design must not obstruct the side lasers' field of view.

If you have Acuity localization, you need to make sure that the height of your payload does not obstruct the camera’s field-of-view. The Acuity camera lens has a 140° field-of-view, so take care that nothing higher than the camera lens is close beside the camera.

Pinch Hazard

There is a potential, with an improperly-designed cart payload, to create a pinch hazard between the payload and the HMI post.

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5.2 Considerations

CAUTION: Potential pinch hazard. Ensure that there is enough space between the HMI post and your payload, when the transporter and cart are coupling, that it is not a pinch hazard.

Weight

Run-time between charges is a function of payload weight. A heavier payload will result in a shorter run-time. If you have added any options to the platform that draw power from the platform battery, that will also result in decreased run-time.

Center of Gravity

When adding payload, the center of gravity of the entire cart and payload needs to be considered.

As much as possible, you should keep the payload center of gravity centered on the platform, and as low (close to the platform top) as possible. This will give you the best stability, particularly when turning or crossing irregularities in the floor.

The payload should be centered on the cart left-to-right, but biased toward the rear of the cart according to the following plots.

The following figures show the calculations of safe placements for the center of gravity for payloads with the weights listed. The center of gravity, in each instance, needs to be within the area shown. All units are mm.

WARNING: These figures show centers of gravity for the listed parameter settings only. They do not apply to any other parameter settings. Even small changes in these parameters can change the safe CG area drastically.

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105 kg

Chapter 5: Payloads

Figure 5-1. Isometric View, 105 kg

Figure 5-2. Longitudinal View, 105 kg

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5.2 Considerations

Figure 5-3. Transverse View, 105 kg

Figure 5-4. Top View, 105 kg

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130 kg

Chapter 5: Payloads

Figure 5-5. Isometric View, 130 kg

Figure 5-6. Longitudinal View, 130 kg

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5.2 Considerations

Figure 5-7. Transverse View, 130 kg

Figure 5-8. Top View, 130 kg

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5.3 Payload-Related Tradeoffs

If you have to extend your center of gravity beyond the guidelines given here, you will need to adjust various parameters in the MobilePlanner software to compensate for that.

Contact your local Omron support to get a new set of plots based on parameters that differ from those used to produce the plots shown here.

In general, lowering the maximum accel, decel, and rotation speeds will be required. Refer to Acceleration, Deceleration, and Rotation Limits on page 70.

Chapter 5: Payloads

14766-000 Rev E LD Platform Cart Transporter User's Guide 79

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Page 81

Most of the connections that are available to the user are in the payload bay, which is the space between the platform and the platform top plate. These include I/O and power connections. Access to the payload bay is covered in Accessing the Payload Bay on page 150.

For a LD Platform Cart Transporter system, most of these connections will not usually be used.

The two connections outside of the payload bay are the Joystick port and the Maintenance Ethernet port, which are located under a small access panel on the left side of the platform, in the upper-right corner. Both of these ports connect to the core inside the payload bay.

6.1 Required Connections

Joystick port In order to generate maps with the LD Platform Cart Transporter, you

need to connect a joystick to its Joystick port.

The Joystick port is located under a small access panel on the left side of the platform, in the upper-right corner.

Maintenance Ethernet

The Maintenance Ethernet port is located under a small access panel on the left side of the platform, in the upper-right corner.

Its IP address is 1.2.3.4, with Netmask 255.255.255.0. Access to the SetNetGo OS is always enabled on this interface, and does not require a password or a license.

Chapter 6: Connectivity

Wireless Ethernet

For multi-AIV installations, or where you wish to send new commands or receive status updates from the AIV, you need to have wireless Ethernet.

Docking Station

The AIV needs access to a docking station so it can charge itself. The docking station needs access to AC power.

6.2 LD Platform Cart Transporter Connections

NOTE:All of these are in the payload bay.

NOTE:If a connection is covered in this subsection, it means that the description in

the subsection Standard Platform Connections on page 86 does not apply to the LD Plat- form Cart Transporter, because that connection is being used for a cart-specific use.

Core

RS232-2 is used for the rear-sensing laser.

Both the Debug Port and Aux Power are used by the coupling laser.

Digital I/Oconnector.

14766-000 Rev E LD Platform Cart Transporter User's Guide 81

Page 82

6.2 LD Platform Cart Transporter Connections

J15

J16

User Power Out

User I/O Out 1 - 8

J19 - 26

User PowerJ37

User I/O In 1 - 8

J40, 45 - 51

User Beeper Out J56

User EMO Out

J13

User EMO Switch Connector

J39

JP41JP40

JP5

JP26

JP27

JP6, JP7

The transporter uses pins 9-16, both Input and Output.

Pins 1-8 are available on the cart PCA.

User Power is used for cart PCA power.

User Interface goes through the PCA to the Operator panel.

Aux Sensors is used for both side lasers and the low front laser.

Light Pole goes through the PCA to the Operator panel.

User LAN goes to the Ethernet switch in the payload bay. Two ports are spares.

Cart-Specific PCA

NOTE:Contact your local Omron support for details.

Figure 6-1. PCA Silkscreen with Callouts

82 LD Platform Cart Transporter User's Guide 14766-000 Rev E

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Chapter 6: Connectivity

User E_Stop (USER EMO OUT), J13. Micro MATE-N-LOK, mates with TE6C 794617-6.

Pin No. Designation Notes

1 ESTOP 2A Dry contact

2 ESTOP 2B Dry contact

3 BRAKE Use switch to connect to BATTERY (pin 5)

for external brake release

4 ESTOP CTRLD POWER (BAT) 1 A limit

5 BATTERY 1 A limit

6 GND

User E-Stop Switch (USER EMO SWITCH), J39. Jumpers JP40 and JP41 must be moved to pins 1-2 for this to be functional. MiniFit Jr™, mates with MOLEX 4C 39-01-2045.

Pin No. Designation Notes

1 ESTOP 1A

2 ESTOP 2A

3 ESTOP 1B

4 ESTOP 2B

User Power, J15 & J16. MiniFit Jr™, mates with MOLEX 6C 39-01-2065.

Pin No. Designation Notes

1 GND

2 GND

3 GND

4 5 V 2 A total

5 12 V 1.5 A total

6 BATTERY 22-28 V

1 A total

User Power, J37. Jumper JP5 selects battery (1/2) or E-Stop-controlled battery (2/3). MiniFit Jr™, mates with MOLEX 4C 39-01-2045.

Pin No. Designation Notes

1 BATTERY 1.8 A

2 GND

3 N.C.

4 SHIELDGND

User I/OOutputs, J19 - J26. Micro MATE-N-LOK, mates with TE 2C 794617-2.

14766-000 Rev E LD Platform Cart Transporter User's Guide 83

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6.2 LD Platform Cart Transporter Connections

123

J26

J25

J24

J23

J22

J21

J20

J19

VBAT

JP27

9.09K 9.09K 9.09K

9.09K

R60

9.09K

R61

9.09K

R58

9.09K

R59

IO_OUT_8

IO_OUT_4

6/D8,6/C1

OUT_8

OUT_3

OUT_6

JP26

JP16

JP12

OUT_COM_5-8

OUT_7

6/C6

IO_OUT_7

IO_OUT_8

6/C6

JP17

JP14

OUT_1

IO_OUT_6

6/C6

IO_OUT_5

6/C6

6/D6

IO_OUT_4

6/D6

IO_OUT_2

IO_OUT_3

6/D6

IO_OUT_1

6/D8,6/C3

IO_OUT_1

IO_OUT_5

IO_OUT_3

6/D5

IO_OUT_1

JP13

JP11

JP10

6/D8,6/C3

IO_OUT_3

IO_OUT_2

6/D7,6/C3

DS13

IO_OUT8

DS12

IO_OUT7

DS11

IO_OUT6

DS10

IO_OUT5

15 14 13

21 20

19 18

3 5 7 9

IO_OUT_7

6/C5

IO_OUT_8

6/C5

IO_OUT_7

IO_OUT_6

6/C5

IO_OUT_5

6/C5

IO_OUT_6

DS17

GRN LED

IO_OUT4

DS16

GRN LED

IO_OUT3

DS15

GRN LED

IO_OUT2

DS14

GRN LED

IO_OUT1

15 14 13

21 20

19 18

3 5 7 9

IO_OUT_3 IO_OUT_4

IO_OUT_4

6/C5

6/D5

IO_OUT_2

JP15

IO_OUT_5

6/C8,6/C1

IO_OUT_7

6/C8,6/C1

6/C7,6/C1

IO_OUT_6

6/C8,6/C1

IO_OUT_8

OUT_2

OUT_4

OUT_5

OUT_COM_1-4

NC NC

VBAT

123

EMO OUT

EMO OUT 8

OUT1_H_L

OUT2_H_L

OUT3_H_L

OUT4_H_L

OUT5_H_L

OUT6_H_L

OUT7_H_L

OUT8_H_L

9.09K

VBAT

VNI4140K

IN4

IN3

IN2

IN1

ST1 ST2 ST3 ST4 GND

NC1

OUT1

VCC

OUT1

OUT2 OUT2 OUT2

OUT3 OUT3 OUT3

OUT4

VNI4140K

IN4

IN3

IN2

IN1

ST1 ST2 ST3 ST4 GND

NC1

OUT1

VCC

OUT1

OUT2 OUT2 OUT2

OUT3 OUT3 OUT3

OUT4

OUTPUT HIGH SIDE DRIVERS

Set JP26 and 27 to 2/3 for ACTIVE HIGH OUT

Set remaining jumpers to 2/3 for ACTIVE LOW OUT

The return is common for each bank of four outputs, with the indicated jumper.

Connector Designation Notes

J19 OUT1 JP13, LEDDS14

J20 OUT2 JP11, LEDDS15

J21 OUT3 JP10, LEDDS16

J22 OUT4 JP12, LEDDS17

JP26 RETURN Selects HI or LO for J19-J22

J23 OUT5 JP17, LEDDS10

J24 OUT6 JP15, LEDDS11

J25 OUT7 JP14, LEDDS12

J26 OUT8 JP16, LEDDS13

JP27 RETURN Selects HI or LOfor J23-J26

User I/O Inputs, J40, J45 - J51. Micro MATE-N-LOK, mates with TE 4C 794617-4.

The return is common for each bank of four inputs, with the indicated jumper.

84 LD Platform Cart Transporter User's Guide 14766-000 Rev E

Pin No. Designation Notes

1 RETURN 0 or Battery, 22-29 VDC

2 OUTPUT HI (BAT) or LO (GND)

Figure 6-2. Output Schematic

Page 85

Chapter 6: Connectivity

Connector Designation Notes

J40 IN1 LEDDS26

J45 IN2 LEDDS27

J47 IN3 LEDDS29

J46 IN4 LEDDS28

JP6 RETURN Selects SINK LO or SOURCE HI

for J40, J45-47

J51 IN5 LEDDS33

J50 IN6 LEDDS32

J49 IN7 LEDDS31

J48 IN8 LEDDS30

JP7 RETURN Selects SINK LO or SOURCE HI

for J48 - J51

Pin No. Designation Notes

1 BATTERY 22-29 VDC, 0.4 A TOTAL

2 GND HI (BAT) or LO (GND)

3 SENSOR

4 SHIELD GND

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6.3 Standard Platform Connections

161

152 143

134 125

116

8 9

7 10

161

152 143

134 125

116

8 9

7 10

SHIELD_GND

VBAT

9.09K

VBAT

SHIELD_GND

PS2805_4

INPUTS 9-16 Have options for PIC outputs

IO_INPUT1

J45

J40

9.09K

DS27

DS26

SHIELD_GND

IN_1

IN_2

J47

DS29

IO_INPUT2

IO_INPUT3

VBAT

IN_3

IN_4

J46

DS28

IO_INPUT4

IN_5

IN_6

IN_7

IN_8

J48

J49

J50

J51

PS2805_4

123

VBAT

IO_INPUT5

IO_INPUT6

IO_INPUT7

IO_INPUT8

3.9K

123

3.9K

DS30

DS31

DS32

DS33

INPUTS 1-8 Targeted for ACTIVE LOW IN, 9-16 for ACTIVE HIGH IN.

JP7

JP6

Move to 2/3 position ACTIVE HIGH IN

Jumpers shown as ACTIVE LOW IN

User Beeper, J56. Micro MATE-N-LOK, mates with TE 2C 794617-2.

This signal goes low when the platform is moving. It can be used to drive a beeper.

6.3 Standard Platform Connections

NOTE:All of these are in the payload bay.

If there is no conflicting connection in the Connectivity on page 81, these connections are avail- able for use with standard- and user-supplied accessories. The antennas and joystick come with the platform.

86 LD Platform Cart Transporter User's Guide 14766-000 Rev E

Pin No. Designation Notes

1 BATTERY 22-29 VDC, 0.1 A

2 SOUNDER ACTIVE LOW

Figure 6-3. Input Schematic

Page 87

Chapter 6: Connectivity

Digital

Ant1

Ant2

Audio In

Audio Out

CAN Bus B Digital I/O

Analog I/O

User LANRS232-1RS232-2Aux Sensors

NOTE:If a connection is in Connectivity on page 81, it means that the description here does not apply to the LD Platform Cart Transporter, because that connection is being used for a cart-specific use.

NOTE:Standard connectors, such as audio, are not covered here. These are on the right side of the core, shown in the following figure:

Figure 6-4. Right Side of the Core

The left end of the LD Platform core has 12 indicator lights. Their meanings are covered in LD Platform Core Indicators on page 124.

LD Platform Core Front, Upper

Figure 6-5. Front Upper Core

Connection Type Description

User LAN RJ45,

Shielded

Aux Sensors HDB15M Side lasers

RS-232 x 2 DB9M Port 1 and Port 2, general use

CAN Bus B DB9F Consult Support for use.

General Ethernet, Auto-MDIX.

Digital I/O (HDB44F) HDB44F 16 digital inputs, in 4 banks of 4. Each bank can be

wired as active high or active low depending on the connection of the BANK# terminal.

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6.3 Standard Platform Connections

Connection Type Description

Analog I/O HDB15M General use

CAN Bus B

Connector type DB9F

Use CAN Bus

VINrange for each input is 0 to 30 V. The input is ON when VIN> 4 V, OFF when VIN< 1.3 V.

16 digital outputs, protected low-side drivers. These outputs should be wired to positive voltage through the load. Output is open when OFF and grounded when ON. Each open-drain output is capable of sinking 500 mA. May be used with loads connected to VBAT, AUX_20V, _12V, or _5V. You must stay within the allowed current capacity of the VBAT or AUX power supplies.

Pin No. Designation Notes

1, 4, 8 No Connection

2 CANL_B CAN Communication differential pair

3, 6 GND Direct GND

5 SHIELDGND Bead filter to GND

7 CANH_B CAN Communication differential pair

9 CANB_12V_OUT_SW 12 V @ 0.5 A Max (switched in SW)

Digital I/O

Connector type HDB44F

Pin No. Hardware Software Notes

1 INPUT_1.1 Input_1.1 0-30 V Range, Rin= ~3.9 kΩ

2 INPUT_1.2 Input_1.2 0-30 V Range, Rin= ~3.9 kΩ

3 INPUT_1.3 Input_1.3 0-30 V Range, Rin= ~3.9 kΩ

Designation

4 INPUT_1.4 Input_1.4 0-30 V Range, Rin= ~3.9 kΩ

5 BANK1 Common for INPUT_1.X

6 INPUT_2.1 Input_2.1 0-30 V Range, Rin= ~3.9 kΩ

7 INPUT_2.2 Input_2.2 0-30 V Range, Rin= ~3.9 kΩ

88 LD Platform Cart Transporter User's Guide 14766-000 Rev E

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Chapter 6: Connectivity

Designation

Pin No. Hardware Software Notes

8 INPUT_2.3 Input_2.3 0-30 V Range, Rin= ~3.9 kΩ

9 INPUT_2.4 Input_2.4 0-30 V Range, Rin= ~3.9 kΩ

10 BANK2 Common for INPUT_2.X

11 INPUT_3.1 Input_3.1 0-30 V Range, Rin= ~3.9 kΩ

12 INPUT_3.2 Input_3.2 0-30 V Range, Rin= ~3.9 kΩ

13 INPUT_3.3 Input_3.3 0-30 V Range, Rin= ~3.9 kΩ

14 INPUT_3.4 Input_3.4 0-30 V Range, Rin= ~3.9 kΩ

15 BANK3 Common for INPUT_3.X

16 INPUT_4.1 Input_4.1 0-30 V Range, Rin= ~3.9 kΩ

17 INPUT_4.2 Input_4.2 0-30 V Range, Rin= ~3.9 kΩ

18 INPUT_4.3 Input_4.3 0-30 V Range, Rin= ~3.9 kΩ

19 INPUT_4.4 Input_4.4 0-30 V Range, Rin= ~3.9 kΩ

20 BANK4 Common for INPUT_4.X

21 OUTPUT_1 Output_1

22 OUTPUT_2 Output_2

23 OUTPUT_3 Output_3

24 OUTPUT_4 Output_4

25 OUTPUT_5 Output_5

26 OUTPUT_6 Output_6

27 OUTPUT_7 Output_7

28 OUTPUT_8 Output_8

29 OUTPUT_9 Output_9

30 OUTPUT_10 Output_10

31 OUTPUT_11 Output_11

32 OUTPUT_12 Output_12

33 OUTPUT_13 Output_13

34 OUTPUT_14 Output_14

35 OUTPUT_15 Output_15

36 OUTPUT_16 Output_16

37 VBAT_IO_OUT4 VBAT @ 0.5 A Max

(shared with light pole)

14766-000 Rev E LD Platform Cart Transporter User's Guide 89

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6.3 Standard Platform Connections

Designation

Pin No. Hardware Software Notes

38 VBAT_IO_OUT3 VBAT @ 0.5 A Max

39 VBAT_IO_OUT2 VBAT @ 0.5 A Max

40 VBAT_IO_OUT1 VBAT @ 0.5 A Max

41, 42, 43, 44

Digital Input Specifications

GND

Operational voltage range 0 to 30 VDC

OFF state voltage range 0 to 1.3 VDC

ON state voltage range 4 to 30 VDC

Operational current range 0 to 7.5 mA

OFF state current range 0 to 0.5 mA

ON state current range 1.0 to 7.5 mA

Impedance (Vin/Iin) 3.9 kΩ minimum

Current at Vin= +24 VDC Iin≤ 6 mA

NOTE:The input current specifications are provided for reference. Voltage sources are typically used to drive the inputs.

Parameter Value

90 LD Platform Cart Transporter User's Guide 14766-000 Rev E

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Chapter 6: Connectivity

Figure 6-6. Typical Digital Input Wiring Example

Table 6-1. Digital Output Specifications

Parameter Value

Power supply voltage range 5-30 VDC

Operational current range, per channel I

ON state resistance (I

= 0.5 A) Ron≤ 0.14 Ω @ 85°C

out

Output leakage current I

DC short circuit current limit 0.7 A ≤ I

≤ 500 mA

out

≤ 5 μA

out

LIM

≤ 1.7 A

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6.3 Standard Platform Connections

Standard Equipment User-Supplied Equipment

Outputs 1-16

Typical User Loads

VBAT_IO_OUT1

VBAT_IO_OUT4

OUTPUT_1

OUTPUT_2

OUTPUT_3

OUTPUT_4

OUTPUT_5

OUTPUT_16

GND

Load

GND

Load

(equivalent

circuit)

Wiring Terminal Block

Load

Figure 6-7. Typical Digital Output Wiring Example

Analog I/O

Connector type HDB15M

Pin No. Designation Notes

1 ANALOG_IN1 0-10 V Range

2 ANALOG_IN2 0-10 V Range

3 ANALOG_IN3 0-10 V Range

4 ANALOG_IN4 0-10 V Range

5 ANALOG_IN5 0-30 V Range

6 ANALOG_IN6 0-30 V Range

7 ANALOG_IN7 0-30 V Range

8 ANALOG_IN8 0-30 V Range

9 ANALOG_OUT1 0-20 V Range

10 ANALOG_OUT2 0-20 V Range

92 LD Platform Cart Transporter User's Guide 14766-000 Rev E

The 0-10 V analog inputs have an input impedance of about 35 kΩ.

The 0-30 V analog inputs have an input impedance of about 110 kΩ.

The analog outputs have an output impedance of about 200 Ω.

11 ANALOG_OUT3 0-20 V Range

12 ANALOG_OUT4 0-20 V Range

13, 14, 15 GND

Page 93

Chapter 6: Connectivity

The maximum output current of each analog output is 10 mA. Exceeding the maximum output current will result in damage to the analog output module.

Aux Sensors

Connector type HDB15M

Use Side (vertical) and low sensing (foot)lasers

Designation

Pin No. Hardware Software Notes

1 RS232_VERT1_TXD /dev/ttyUSB5

2 RS232_VERT2_TXD /dev/ttyUSB6

3 RS232_FOOT_TXD /dev/ttyUSB7

4 5V_SW1 USB_1_and_2_Power 5 V @ 1 A (shared with USB port 1)

5, 10 SW_20V_VERT Vertical_Laser_Power 20 V @ 300 mA

6, 7, 8 GND

9 5V_SW2 USB_1_and_2_Power 5 V @ 1 A (shared with USB port 2)

11 RS232_VERT1_RXD /dev/ttyUSB5

12 RS232_VERT2_RXD /dev/ttyUSB6

13 RS232_FOOT_RXD /dev/ttyUSB7

14 5V_SW3 USB_3_Power 5 V @ 1 A (shared with USB port 3)

15 SW_20V_FOOT Foot_Laser_Power 20 V @ 150 mA

RS232 1 & 2

Connector type DB9M

Use Port 1 and 2, General Use

Pin No. Designation Notes

1, 4, 6, 9 No Connection

2 RS232_USR#_RXD #=1 or 2

3 RS232_USR#_TXD #=1 or 2

5 GND

7 RS232_USR#_RTS #=1 or 2

8 RS232_USR#_CTS #=1 or 2

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6.3 Standard Platform Connections

Light Pole User Interface User Bumpers Aux Power User Power

Maint LAN Joystick HMI Panel Sonar 2

LD Platform Core Rear, Upper

NOTE:The connectors in the top row of the Rear Upper Core mate with Molex Mini-Fit Jr™ 5557 series receptacles.

Figure 6-8. Rear Upper Core

Connection Type Description

Light Pole Mini-Fit 2 x 3 Connects to a user-supplied light tower with 3 lights and 1

buzzer, using a default configuration

NOTE:The following four functions are pins on the User Interface connector.

Brakerelease

ON Pins for user-supplied ON button

OFF Pins for user-supplied OFF button

ESTOP Pins for user-supplied E-Stop (must be used or jumpered)

User Bumpers

Aux Power Mini-Fit

User Power Mini-Fit

Maint LAN RJ45,

Joystick DB9F Directly connected to the externally-mounted Joystick port

Mini-Fit 2 x 7 Pins for user-supplied brake release

Mini-Fit 2 x 4

2 x 3

2 x 6

Shielded

This connection is not used with an LD Platform Cart Transporter.

5, 12, and 20 VDC Outputs

Battery and switched battery power

Directly connected to the externally-mounted Maintenance Ethernet, Auto-MDIX.

HMI Panel HDB15F Operator screen, E-Stop, Brake_Rel, ON, OFF

Sonar 2 DB9M This connection is not used with an LD Platform Cart Trans-

porter.

94 LD Platform Cart Transporter User's Guide 14766-000 Rev E

Page 95

Chapter 6: Connectivity

Power Connections

The platform provides conditioned 5, 12, and 20 VDC, and raw (battery) 22 - 30 VDC power to the platform’s and accessory electronics, including the onboard LD Platform core and safety scanning laser LIDAR (Light Detection And Ranging).

All power connectors are Mini-Fit®.

Nominal Qty Actual

5 VDC 1 5±5% VDC 1 A Switched Aux power

12 VDC 1 12±5% VDC 1 A Switched Aux power

20 VDC 1 20±5% VDC 1 A Switched Aux power

22 – 30 VDC 2 battery 4 A Switched

22 – 30 VDC 1* battery 10 A Switched

22 – 30 VDC 1* battery 10 A Safe, Switched

* 10 A Switched and 10 ASafe, Switched share the 10 A of current.

Maximum

Current

Description

Each supply has an associated LED, which, when lit, indicates that the port is actively powered. See LD Platform Core Indicators on page 124.

The Safe 22 - 30 VDC supply automatically gets disconnected when the E-Stop button is pressed or an obstacle is detected.

Light Pole

Connector type Mini-Fit®3 x 2

Use Light tower (user-supplied)

Pin No. Designation Notes

1 GND Cable shield

2 LIGHT_P1 Red

3 LIGHT_P2 Yellow or orange

4 VBAT_IO_OUT4 VBAT @ 0.5A Max (shared with DIO)

5 LIGHT_P3 Green

6 LIGHT_P4 Buzzer

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6.3 Standard Platform Connections

VBAT_IO_OUT4

LIGHT_P1_N

LIGHT_P2_N

LIGHT_P3_N

LIGHT_P4_N

GND

(equivalent

circuit)

Typical user

load

Wiring

terminal

block

Factory-

Supplied Equipment

User-Supplied Equipment

User Interface

Connector type Mini-Fit®7 x 2

Use Brake release, ON, OFF, E-Stop

Figure 6-9. Sample Light Pole Diagram

Pin No. Designation Notes

1, 2, 3 FBAT_ALWAYS Fused VBAT @ 500 mA

4 ESTOP_USR_1L Short 4 & 11 to close ESTOP_USR_1

5 ESTOP_USR_2L Short 5 & 12 to close ESTOP_USR_2

6 ESTOP_OUT_1L Pins 6 & 13 short when ESTOP_CH1 is closed

7 ESTOP_OUT_2L Pins 7 & 14 short when ESTOP_CH2 is closed

8 OFF_BUTTON Short to FBAT_ALWAYS to signal OFF (min 1 s pulse)

9 START_BUTTON Short to FBAT_ALWAYS to signal ON (min 1 s pulse)

10 MOTOR_BRAKE Short to FBAT_ALWAYS for manual brake release

11 ESTOP_USR_1H Short 4 & 11 to close ESTOP_USR_1

12 ESTOP_USR_2H Short 5 & 12 to close ESTOP_USR_2

13 ESTOP_OUT_1H Pins 6 & 13 short when ESTOP_CH1 is closed

14 ESTOP_OUT_2H Pins 7 & 14 short when ESTOP_CH2 is closed

96 LD Platform Cart Transporter User's Guide 14766-000 Rev E

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Chapter 6: Connectivity

NOTE:An E-Stop jumper or a user-supplied E-Stop button needs to be attached to the E-STOP port on the User Interfaceconnector for the platform to function. The jumper is provided as part number 12730-000L. An E-Stop button would be usersupplied.

CAUTION: If you are using a user-supplied E-Stop, you must run the Safety Commissioning to verify the E-Stop’s functionality before putting the AIV into service.

NOTE:See the following figure.

Figure 6-10. E-Stop Jumper on Platform Core

14766-000 Rev E LD Platform Cart Transporter User's Guide 97

Page 98

6.3 Standard Platform Connections

Figure 6-11. E-Stop Chain Diagram

98 LD Platform Cart Transporter User's Guide 14766-000 Rev E

Page 99

User Bumper

This connection is not used with an LD Platform Cart Transporter.

Aux Power

Connector type Mini-Fit®3 x 2

Designation

Pin No. Hardware Software Notes

1, 2, 3 GND

4 AUX_5V_OUT Aux_5V 5 V @ 1 A max

5 AUX_12V_OUT Aux_12V 12 V @ 1 A max

6 AUX_20V_OUT Aux_20V 20 V @ 1 A max

User Power

Connector type Mini-Fit®6 x 2

Chapter 6: Connectivity

Designation

Pin No. Hardware Software Notes

1, 2, 3, 4, 5, 6

7 SW_VBAT_OUT1 Battery_Out_1 VBAT @ 4 A max (switched in SW)

8 SW_VBAT_OUT2 Battery_Out_2 VBAT @ 4 A max (switched in SW)

9, 10* SW_VBAT_OUT34 Battery_Out_3_and_4 VBAT @ 10 A max (switched in SW).

11, 12* SAFE_VBAT_OUT SW_VBAT_OUT34 gated by

*9,10 and 11,12 share the 10 A of current.

Joystick

Connector type DB9F

Use Joystick

GND Limit to < 5 A per pin

Limit to < 5 A per pin.

dual-channel ESTOP relays.

Pin No. Designation Notes

1 JOY_XAXIS Analog X input

2 JOY_YAXIS Analog Y input

3 JOY_SPEED Analog SPEED input

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6.3 Standard Platform Connections

Pin No. Designation Notes

4 JOY_GOAL Goal Button Input

5 JOY_EN_1H Enable channel 1

6 JOY_EN_2L Enable channel 2

7 No Connection

8 GND

9 5V 5 V @ 100 mA

HMI Panel

Connector type HDB15F

Use Operator screen, E-Stop, Brake_Rel, ON, OFF

NOTE:The HMIpanel that this connects to is not the touchscreen used for the LD Platform Cart Transporter. The HMI panel is not used with the LD Platform Cart Transporter, so this connector is not used.

Pin No. Hardware Software Notes

1 RS422_HMI_TX+

2 RS422_HMI_TX-

3 MOTOR_BRAKE

4, 5 ESTOP_FP_1H, _2H

6 RS422_HMI_RX+

7 RS422_HMI_RX-

8 START_BUTTON

9, 10 ESTOP_FP_1L, _2L

11 HMI_5V_SW HMI_Power

12, 14 GND

13 OFF_BUTTON

15 FBAT_ALWAYS

Sonar 1 & 2

Designation

Connections to HMI Panel

NOTE:This is not the touchscreen.

This connection is not used with a cart.

NOTE:Sonar 1 is part of the Internal Core connections.

100 LD Platform Cart Transporter User's Guide 14766-000 Rev E

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

Specifications and Main Features

Frequently Asked Questions

User Manual

Chapter 1: Introduction

Definitions

1.1 Product Description

LD Platform Cart Transporter

Cart

Coupling

Optional Components

User-Supplied Components / System Requirements

1.2 Software Overview

Mobile Robot Software Suite

SetNetGo

1.3 How Can I Get Help?

Related Manuals

Support

Including a DebugInfo File

Chapter 2: Safety

2.1 Dangers, Warnings, Cautions, and Precautions

2.2 What to Do in an Emergency /Abnormal Situation

Releasing the Brakes

Releasing an E-Stop

2.3 User's Responsibilities

General Hazards

Falling Hazards

Electrical Hazards

Pinch Hazards

Magnetic Field Hazards

Qualification of Personnel

Payload Movement and Transfer

Configurable Warning Buzzer

Multi-AIV Avoidance

Traffic Control

Passing Lanes

2.4 Environment

General Environmental Conditions

Public Access

Clearance

Obstacles

Safety Scanning Laser Emergency Stop

2.5 Intended Use

Non-Intended Use

Platform Modifications

2.6 Battery Safety

2.7 Additional Safety Information

Accidental Cart Separation

Chapter 3: Setup

Overview

Tasks

3.1 Transport and Storage

LD Platform Cart Transporter

Battery

Standalone Cart

3.2 Before Unpacking

3.3 Unpacking

Battery

LD Platform Cart Transporter

Repacking for Relocation

3.4 Setting Up an LD Platform Cart Transporter

Rolling the LD Platform Cart Transporter off of the Crate Base

Installing the Battery

Installing the Docking Station

3.5 Installing the Cart Brake Release

Installation

Adjustment

Chapter 4: Configuration

4.1 Settings and Configuration

Maintenance Ethernet Connection

Setting Up Wireless Ethernet

4.2 Mapping

Setting Up Cart-Parking Goals

Marking Cart-Parking Goals on Floor

4.3 Configuring a Touchscreen

Touchscreen Ethernet Setup

Operating Modes

Localization Goals

Screen Logo

Screensaver