OMRON LD-250 User Manual
LD-250 Platform
User's Manual
I642-E-04
Copyright Notice
The information contained herein is the property of OMRON, and shall not be reproduced in whole or in
part without prior written approval of OMRON The information herein is subject to change without
notice and should not be construed as a commitment by OMRON The documentation is periodically
reviewed and revised.
OMRON, assumes no responsibility for any errors or omissions in the documentation.
Copyright 2020 by OMRON Corporation. All rights reserved.
Any trademarks from other companies used in this publication are the property of those respective companies.
MPEG Layer-3 audio coding technology licensed from Fraunhofer IIS and Thomson.
Acapela© voice technology licensed from ACAPELAGROUP(https://www.acapela-group.com) Copy-
right 2003, all rights reserved.
Created in the United States of America
Table of Contents
Chapter 1: Introduction 11
1.1 Definitions
1.2 Product Description
LD-250 Autonomous Navigation 12
LD-250 Localization 13
Acuity Localization Option 13
Custom Payload Structures 13
Chassis and Drive Train 14
What's Included - Basic Components 15
Optional Features and Components (Partial List) 18
Options for Enhancing Your Payload Structures 19
1.3 Software Overview
LD-250 Software 19
SetNetGo 23
1.4 How Can I Get Help?
Related Manuals 24
Support 24
Download a Debuginfo File for Support 24
Configure the Maintenance Network 25
Obtain a DebugInfo File from SetNetGo 26
11
11
19
24
Chapter 2: Safety 29
2.1 General Hazards
2.2 What to Do in an Emergency
Releasing the Brakes to Move the LD-250 Manually 30
Releasing an E-Stop 31
2.3 Dangers, Warnings, and Cautions
Alert Levels 32
Alert Icons 32
Special Information 34
2.4 User's Responsibilities
Understanding Electrical Hazards 34
Magnetic Field Hazards 35
Qualification of Personnel 35
Payload Movement and Transfer 36
Configurable Warning Buzzer 36
Fleet Management 37
2.5 Environment
General Environmental Conditions 37
20472-000 Rev D LD-250 Platform User's Manual 3
29
30
32
34
37
Table of Contents
Public Access 38
Clearances when Operating 38
Obstacles 39
Emergency Stops that are Initiated by AMR Safety Lasers 39
Safety System Overspeed Faults 40
2.6 Intended and Non-intended Use
Intended Use 40
Non-Intended Use 41
LD-250 Modifications 42
2.7 Battery Safety
Battery Safety Precautions 43
Battery Maintenance 43
2.8 Additional Safety Information
Mobile Robot LDSafety Guide (Cat. No. I616) 43
2.9 Disposal
40
42
43
43
Chapter 3: Setup 45
3.1 Overview of LD-250 Setup
Tasks 45
3.2 Transport and Storage
LD-250 Shipping and Storage 46
Battery Shipment 47
3.3 Before Unpacking
3.4 Unpacking Considerations
LD-250 Packaging 48
Battery Carton 53
3.5 Installing the Battery
Access the Battery Compartment 53
Battery Installation Procedure 55
3.6 Attaching the Payload Structure and Options
Attach the Payload Structure 57
Attach LD-250 Options 57
E-Stop Jumper on the LD-250 Core 57
3.7 Installing the Docking Station
Docking Station Features and Parts 59
Docking Station Requirements 60
Required Tools and Fasteners 60
Wall Bracket Mount 61
3.8 Installing Software on your Windows PC
45
46
47
48
53
57
58
65
Chapter 4: Configuration 67
4.1 Settings and Configuration
4 LD-250 Platform User's Manual 20472-000 Rev D
67
Table of Contents
Maintenance Ethernet Connection 67
Setting Up Wireless Ethernet 70
4.2 Create a Workspace Map
Map Creation Overview 72
Mapping Tasks 73
4.3 Acceleration, Deceleration, and Rotation Limits
4.4 Supplemental Information
Laser Setup 75
72
74
75
Chapter 5: Payload Structures 77
5.1 Safety
Warning Label 77
Warning Lights 77
Warning Buzzer 78
5.2 Considerations
Performance 78
Weight Constraints 78
Power Consumption 79
Power Limits 79
Payload Bay Access 79
Payload Dimensions and Design 80
Mounting Locations in the Payload Bay 81
AMR Coordinate System 86
Center of Gravity (CG) 86
5.3 Payload-Related Tradeoffs
5.4 Connections Between the LD-250 and a Payload Structure
Operator Panel (HMI)on the Payload 90
E-Stop Considerations when Removing the Operator Panel 91
Optional Connections 91
77
78
90
90
Chapter 6: Connectivity 93
6.1 Connections Required for Set Up
6.2 Payload Bay Connections - LD-250 Core
LD-250 Core Front, Upper 94
LD-250 Core Rear Upper Connectors 100
LD-250 Core Right, Upper 107
Internal LD-250 Core Connections 107
Internal Data Pinouts 109
Internal Power Pinouts 110
Chapter 7: Operation 113
7.1 Operating Environment
Intended Use 113
20472-000 Rev D LD-250 Platform User's Manual 5
93
93
113
Table of Contents
Side Clearance 114
Obstacles 114
Environment and Floor 115
Avoiding Potential Immobilization Risks 116
7.2 Typical Operation
7.3 Power and Charging
Battery Indicators and Controls 118
Docking Station 119
Manually Charging the Battery 121
Balancing the Battery 122
7.4 Operator Panel
LD-250 Status Screen 124
E-Stop Buttons 125
Positioning an Optional Payload E-Stop 126
ON Button 126
OFF Button 126
Brake Release Button 127
7.5 Other Controls and Indicators
Indications Provided by Light Discs Light Outputs 127
LD-250 Core Status Indicators 132
7.6 Sensors
Lasers 133
Rear Sensor 134
Other Sensors 137
7.7 Start up the LD-250
LD-250 Start Up Procedure 137
Joystick Controls and Description 138
117
118
123
127
133
137
Chapter 8: Maintenance 141
8.1 Considerations During Maintenance
8.2 After Completing Maintenance
8.3 Safety Considerations when Performing Maintenance
Understanding Electrical Hazards 145
Understanding Burn Hazards 145
Understanding Magnetic Field Hazards 145
8.4 Lifting the LD-250 Safely
8.5 Wheel Lift Tool
8.6 Engage and Disengage the Drive Wheel Motors
8.7 Safety Inspection
Warning Devices 149
Warning Labels 150
8.8 Cleaning
6 LD-250 Platform User's Manual 20472-000 Rev D
142
142
144
145
146
148
149
151
Table of Contents
Work Area Maintenance 151
Platform Cleaning 151
Lubricating Casters 153
Cleaning ESDCasters 156
Cleaning the Rear Sensor 157
8.9 Maintaining and Replacing Batteries
Maintaining Batteries 157
Replacing the Battery 157
8.10 Replacing Non-Periodic Parts
Distance Traveled by the AMR 161
Docking Station Roller and Bearing 161
Docking Station ACPower and Internal Fuses 163
Light Discs 163
Operator Panel 164
Replace the Motor Brushes 164
Replace the Drive Wheels 165
Replacing Drive Wheels 166
Replace Front or Rear Casters 167
LD-250 Core 170
E-Stop and Safety Laser Commissioning 173
Accessing the Payload Bay 175
Removing and Installing Skins 175
Restoring the Configuration 183
157
160
Chapter 9: Options 185
9.1 Fleet Manager for Multi-AMR Coordination
Mixed LD-60, LD-90, and LD-250 AMR Fleets 185
9.2 Spare Battery
9.3 Payload Structure Bumpers
9.4 Call Buttons and Door Boxes
9.5 Acuity Localization
9.6 Touchscreen
9.7 Rear-Facing Laser
9.8 Side (Supplemental) Lasers
Install Side Lasers 187
Configure Side Lasers 188
9.9 High-Accuracy Positioning System (HAPS)
9.10 ESDOption
185
185
186
186
186
186
186
187
188
189
Chapter 10: Technical Specifications 191
10.1 Dimension Drawings
Width Measurements 192
Component Weight 192
191
20472-000 Rev D LD-250 Platform User's Manual 7
Table of Contents
Capabilities 193
10.2 LD-250 Specifications
Physical Dimensions 193
Performance 193
Overhanging Payloads and the AMR Swing Radius 194
Sensors 195
ESD Compliance 195
10.3 Docking Station Specifications
193
196
Chapter 11: Modify the Safety Zones 197
11.1 Default Safety Zones
11.2 Relevant AMR Operating Parameters
11.3 Equipment Required to Modify OS32C Safety Zones
197
198
198
Chapter 12: Glossary 201
8 LD-250 Platform User's Manual 20472-000 Rev D
Revision History
Revision Code Date Revised Content
1.0, Rev (A) November 2019 Original Release.
2.0, Rev (B) December 2019 Added missing information and corrected errors.
3.0, Rev (C) July 2020 Added missing information and corrected clerical
errors.
4.0, Rev (D) October 2020 Added LD-250ESD information.
20472-000 Rev D LD-250 Platform User's Manual 9
This manual describes the setup, operation, and user maintenance of an LD-250 Autonomous
Mobile Robot (AMR).
This manual does not describe all configuration steps that you perform using the software supplied with an LD-250. The Fleet Operations Workspace Core User's Manual (Cat. No. I635)
describes configuration, operation, and use of the LD-250.
1.1 Definitions
This document uses the following terms to describe the LD-250:
l
AMR (Autonomous Mobile Robot)—This term describes the LD-250 with an attached
payload structure, creating a complete mobile robot.
l
Fleet Manager—A rack-mount computing appliance that you use to manage a fleet of
AMRs. The appliance consists of the EM2100 appliance (EM2100) and the FLOW Core
software.
l
Fleet—Two or more AMRs operating in the same workspace.
l
LD-250—This is the model name of the platform. This document uses the model name
LD-250 when describing the setup, configuration, and connections.
Chapter 1: Introduction
l
Mobile Robot—An alternate industry term for AMR.
l
Payload Structure—Any passive or dynamic device attached to and possibly powered
by the LD-250. This could be as simple as a crate for carrying objects such as factory
parts or as complicated as a robotic arm that picks up and manipulates factory parts.
l
Platform—The base LD-250, including:
o
The chassis, drive motors, suspension, wheels and light discs, casters, battery,
lasers, and rear sensors.
o
An on-board LD-250 Core with a built-in gyroscope, navigation software, and
data and power connectors for a payload structure.
o
An Operator panel otherwise known as the Human-Machine Interface (HMI).
o
The LD-250 skins (external covers) and a payload bay for attaching a payload
structure.
1.2 Product Description
The LD-250 is a general-purpose mobile robot, designed to work in an indoor industrial environment and around trained personnel. It is self-guided and self-charging, with an automated
docking station. It has a maximum capacity of 250kg (551 lbs). Capacity includes the payload
structure and any load carried by that structure.
20472-000 Rev D LD-250 Platform User's Manual 11
1.2 Product Description
Figure 1-1 LD-250 Features.
Callout Description Callout Description
A LD-250 Core I Light discs (one each side)
B Operator panel with E-Stop but-
ton
C Payload attachment bars (X-pro-
file)
D Dual wireless antenna L Rear Sensor
E E-Stop button on the Operator
Panel (HMI)
F Low front (toe) laser N Drive wheel (2)
G Navigation and safety laser O Front caster (2)
H E-Stop button (one each side)
J Joystick and communications panel
K Battery access panel and door
M Rear caster (2)
LD-250 Autonomous Navigation
The LD-250 combines hardware and mobile-robotics software to provide an adaptive, mobile
platform to transport your payload. After it scans physical features in its environment, the LD250 navigates safely and autonomously to any accessible destination. It moves continuously
and without human intervention, autonomously recharging itself as necessary.
12 LD-250 Platform User's Manual 20472-000 Rev D
Chapter 1: Introduction
The LD-250 uses range data from a Safety Scanning Laser as its primary means of detecting
obstacles and of maintaining an accurate understanding of its location in the environment.
Additionally, it uses data from the following sensors:
l
A low front or toe laser to detect objects below the plane of the main laser.
l
A rear sensor that detects and stops the LD-250 if it senses objects close behind the
AMR.
l
A gyroscope in the LD-250 Core to detect and report LD-250 rotational velocity.
l
An encoder on each drive motor that provides odometry data for the distance traveled
by each drive wheel.
LD-250 Localization
Wheel encoders provide the navigation system with odometry information (how far each
wheel has traveled, and in which direction.) In addition, the LD-250 Core contains an internal
gyroscope to track the LD-250's rotational velocity.
The LD-250 analyzes this odometry data together with LIDARdata from its navigation laser to
calculate its position. This process is called localization.
Acuity Localization Option
For dynamic work environments that are difficult for laserlocalization, OMRON offers Acuity
Localization. Acuity Localization uses a camera to detect overhead lights, enabling the AMR to
localize itself in environments where laser localization alone is not an optimal solution. Laser
localization is tolerant of changing environments. However, it becomes difficult if changing features exceed 80% of the objects detected by the laser. This includes workspaces such as warehouses, where objects such as shipping pallets or rolling carts either change locations often, or
block the laser’s view of mapped features. Acuity is also useful when wide-open spaces do not
provide enough features to map for laser localization.
The LDPlatform Peripherals User's Guide (Cat. No. I613) describes how to install and configure
the Acuity option.
Custom Payload Structures
LD-250 users typically add attachments (a payload structure) to the LD-250 base platform to
customize it for use in specific applications. The LD-250 provides a payload bay that includes
aluminum extruded load bars. T-slots in the load bars provide a strong and adaptable method
of attaching payload structures to the Platform.
A payload structure can be as simple as a crate that contains manufacturing parts or a more
complicated device such as a conveyor or robot arm. The LD-250 Core provides power, logic,
data communication, and safety connections for the payload structure. This includes user connections for warning lights and additional lasers. For more information, see:
l
Payload Structures on page 77 for information about designing a payload.
l
Connectivity on page 93, for information about available user connectors on the LD-250
Core.
20472-000 Rev D LD-250 Platform User's Manual 13
1.2 Product Description
!
Chassis and Drive Train
Each LD-250 uses a two-wheel, differential-drive, with passive casters front and rear for balance. The drive-wheels have independent spring suspension, with solid, polyurethane tread.
The wheel axles are located near its center line, making the LD-250 highly maneuverable and
able to rotate in place.
You can disengage the drive wheels by turning a cam lever on the gearbox. This is required for
some set up and maintenance operations. See: Engage and Disengage the Drive Wheel Motors on
page 148.
CAUTION: BRAKES DISABLED. When the drive wheels are disengaged, the
AMR brakes are inoperable. Take care when you move the LD-250 on inclined
surfaces.
Figure 1-2 Drive Assembly in LD-250 (skins removed).
Callout Description
A Drive Train assembly (wheel, suspension and motor).
B Drive motor assembly, containing the gears, encoders, and electric brake.
C Rear caster.
D Drive wheel, aluminum with polyurethane tread.
E Front caster.
F Suspension springs.
14 LD-250 Platform User's Manual 20472-000 Rev D
What's Included - Basic Components
l
One fully-assembled LD-250 model platform that includes the following:
o
OMRON OS32CSafety and Navigation Laser (main laser).
o
Low Front Laser.
o
Rear sensor.
o
Differential drive train.
l
LD-250 Core housed inside the LD-250 which consists of:
o
A computing appliancethat runs the SetNetGo operating system and the
Advanced Robotics Automation Management (ARAM) software.
o
A microcontroller that runs the Mobile Autonomous Robot Controller (MARC)
firmware.
o
Other sensor components such as a gyroscope and accelerometer.
o
The amplifiers that supply power to the drive wheels.
Chapter 1: Introduction
Figure 1-3 LD-250 Core Location (A) in the LD-250,Secured by Two Vented Brackets (B)
l
One battery.
Shipped separately from the LD-250 to comply with dangerous goods shipping regulations.
l Three emergency stop (E-Stop) buttons:
l
One on the Operator panel.
l
One on each side of the chassis.
l
Operator Panel
20472-000 Rev D LD-250 Platform User's Manual 15
1.2 Product Description
You can move the operator panel to any preferred position on your payload structure.
However, because the operator panel contains one of the three E-Stop buttons, there are
important safety considerations when relocating or removing this panel. See: Positioning
an Optional Payload E-Stop on page 126 and Operator Panel (HMI)on the Payload on page
90 for more information. The standard Operator Panel includes:
o
6-line status and message display screen.
o
E-Stop button.
o
Vehicle power ON and OFF buttons.
o
Brake release button.
o
2-position key switch for access control. Lock the key switch to disable the off button and prevent accidental or unauthorized shutdowns.
Figure 1-4 Operator Panel
Also available is an optional touch screen that shows more AMR status information
and provides additional functions. See Touchscreen on page 186.
l
Automated docking station
The docking station enables the LD-250 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 58.
When the docking station is not occupied, a manual charging cord enables you to
charge a battery outside the LD-250.
l
A USBflash drive containing software and documentation.
In addition to the items included with every LD-250, you need at least one joystick per robot
fleet. Use this joystick to manually drive the LD-250 and to create a digitized map of the work
environment.
For a fleet of AMRs, the Fleet Operations Workspace Core (FLOW Core) software (running on a
Fleet Manager appliance) shares the map between all AMRs in the fleet. This provides a common frame of reference for navigation and localization, preventing contention between AMRs.
Figure 1-5 shows the joystick and Ethernet port, located on the left rear skin.
16 LD-250 Platform User's Manual 20472-000 Rev D
Figure 1-5 Joystick Connection Point
Chapter 1: Introduction
Callout Feature
A Joystick port.
B Direct Ethernet connection that enables you to connect a PC to
the SetNetGo OS. See: Maintenance Ethernet Connection on
page 67.
C Push latch.
Figure 1-6 Joystick Controls
Callout Control Function
A AMR speed control.
B AMR steering and direction of travel.
C Map goal creation button.
D Movement trigger.
20472-000 Rev D LD-250 Platform User's Manual 17
1.2 Product Description
Optional Features and Components (Partial List)
Several additional options and features are available for the LD-250. See also: Options on page
185.
l
Fleet Manager—Use an EM2100 appliance and the Fleet Operations Workspace software to operate a fleet of AMRs, for multi-AMR coordination and job management. A
second Fleet Manager provides redundancy and automatic switchover for fleet operations.
l
Acuity Localization—Acuity uses an upward-facing camera to enable AMR localization.
It detects unique patterns in the illumination fixtures (overhead lighting) used in your
workspace.
l
Spare battery—You might require one or more spare batteries to increase AMR productivity by eliminating the time spent recharging. Using the cable provided, you
charge this battery outside the AMR and quickly exchange it with a discharged battery
when necessary.
l
Call Box or Door Box—A call box or door box is a signal device that:
o
Enables you to request an AMR from a remote location.
o
Controls an automated doorway, enabling an AMR to pass through it.
l
High-Accuracy Positioning System (HAPS)— HAPS uses single or double under-body
magnetic sensors on the AMR to detect magnetic tape strips adhered to the workspace
floor. This enables an AMR to achieve highly accurate placement and alignment at a
specific location in the workspace. For example, if an AMR pickup goal is a conveyor
belt where it receives a crate of parts, use HAPS alignment to make sure that the AMR
and the conveyor are aligned precisely.
l
ESD Model -- The skins of a non-ESD AMR can accumulate an electrical charge which,
if discharged into ESD sensitive components, could damage those components.
The optional ESD skins encase the AMR in an electro-conductive surface that provides
a skin-to-chassis-to-caster grounding path that drains off any charge that the AMR
might accumulate during operation.
Figure 1-7 LD-250 ESD AMR
18 LD-250 Platform User's Manual 20472-000 Rev D
Options for Enhancing Your Payload Structures
l
Rear Lasers—A rear-facing obstacle-detection laser that scans the horizontal plane to
the rear of the AMR.
l
Side Lasers—Side-mount obstacle-detection lasers that scan the vertical plane on each
side of the AMR. These lasers detect obstacles that are outside the scanning plane of the
main safety laser. You might use side lasers on your payload structure to avoid
obstacles that the main safety and navigation laser cannot detect.
l
Touchscreen—The Touchscreen complements the standard Operator panel, enabling
operators to interact with the AMR and the FLOW Core software directly from the payload structure.
Operators can observe AMR status, select a goal, or do other operations. The Touchscreen does not provide manual operation buttons or an E-Stop. If you remove the Operator panel you must install alternate manual switches and an E-Stop. Otherwise, use a
jumper (part number 13387-000) to bypass the operator panel E-Stop circuit. You must
physically remove any bypassed E-Stop buttons to avoid operator confusion.
Be aware that if you remove the operator panel you might need to add an E-Stop button
elsewhere on the AMR to comply with safety requirements. See: Positioning an Optional
Payload E-Stop on page 126.
Chapter 1: Introduction
See the LDPlatform Peripherals User's Guide (Cat. No. I613) for more information about
the Touchscreen.
1.3 Software Overview
Your LD-250 requires the licensed software described in this section. Software is factoryinstalled on its LD-250 Core.
Access to software features is permitted by use of a USB license dongle that contains secure,
encrypted electronic copies of the operating licenses. Some licenses might have a restricted
term and expire after a specific date. You will receive several warning alerts before the license
expires.
LD-250 Software
The minimal operating configuration for an LD-250 consists of the AMR managed by a
human Operator using a Microsoft Windows PC and optionally from an Android or iOS tablet.
If you have more than one AMR, you must install and configure a Fleet Manager appliance
running the Fleet Operations Workspace software to manage multiple AMRs as a fleet. Fleet
management prevents job contention or collisions between AMRs and provides efficient processing of all tasks that you assign to the AMR fleet.
See the following documents for detailed information:
l
EM2100 Installation Guide (Cat. No. I634)
l
Fleet Operations Workspace Core User's Manual (Cat. No. I635)
Figure 1-8 shows the devices that you might use to manage one or more AMRs and the software components required for each device, if applicable.
20472-000 Rev D LD-250 Platform User's Manual 19
1.3 Software Overview
Figure 1-8 Devices and Software in the AMR's Operating Configuration
AMR administration includes both configuring and operating an AMR and also using the
AMR (or fleet) to perform useful work. The software that enables you to do this management
consists of:
l
The FLOW Core, an integrated set of programs that run on different devices in the environment. You use the MobilePlanner and MobilePlanner Tablet graphical interfaces to
manage individual AMRs or fleets of AMRs. You can also access lower-level functions
through a command-line interface.
l
The SetNetGo OS, a host operating system (OS) which provides a Web interface that
enables Operator access to the AMRs, enabling configuration tasks and tasks such as
upgrading software or obtaining a debugging file.
User-Supplied Components and System Requirements
To configure and manage LD-250 you require a personal computer (PC) running a supported
version of Microsoft Windows
l
Ethernet connection. OMRON recommends that you use a high-speed wireless con-
®. The PC requires:
nection.
Wireless is a requirement for managing multiple AMRs as a fleet. See Fleet Operations
Workspace Core User's Manual (Cat. No. I635).
l
200 megabytes of available hard-disk storage.
Optionally, an Android or iOStablet to run the MobilePlanner Tablet software.
20 LD-250 Platform User's Manual 20472-000 Rev D
Chapter 1: Introduction
ARAM
The Advanced Robotics Automation Management software (ARAM) runs on the LD-250 Core.
It is software included with your FLOW Core license. ARAM is responsible for the following
AMR functions and features:
l
Interaction with on-board sensors such as the safety scanning laser, optional side laser
or included rear sensor.
l High-level, autonomous robotics functions such as:
o
Obstacle avoidance
o
Path planning
o
Localization
o
Navigation
l
Motion commands to the MARC firmware.
l
Battery management.
l
Digital I/O ports in the core that enable you to integrate application-specific sensors and
effectors into your payload structure.
ARAM also provides the AMR with an interface to external entities:
l
Manages wired and wireless Ethernet communications with external software for
external monitoring, development, and systems coordination.
l
Provides coordination of a fleet of AMRs through the optional Fleet Manager appliance.
l
Manages integration with other systems, in addition to external monitoring, setup, and
control via the MobilePlanner graphical interface.
ARAMCentral
ARAMCentral runs on the Fleet Manager as part of the Fleet Operations Workspace software.
When managing a fleet, the ARAMCentral software does the following:
l
Stores and distributes:
o
The shared workspace map used by all fleet AMRs.
o
The common AMR configuration.
l
Controls AMR traffic, including:
o
Multi-AMR avoidance
o
AMR Destinations
o
AMR Standby
o
Charging dock access
l
Queuing of jobs
l
Remote I/O (if used)
20472-000 Rev D LD-250 Platform User's Manual 21
1.3 Software Overview
MobilePlanner Administrator Mode
MobilePlanner is part of the Fleet Operations Workspace software and runs on the user's PC,
or as a portable tablet version (on Android and iOS tablets). It provides a tabbed graphical
user interface on the PC and a touchscreen interface on tablets. Depending on your level of
access (controlled by your account) the graphical interface provides many options, including:
l
Manage AMR fleet jobs.
l
Create and edit workspace maps.
l
Access the AMR through the SetNetGo Web interface.
l
Commission and configure an AMR and modify its configuration by changing ARAM
parameters.
l
Run custom ARCL commands (See ARCL Protocol on page 23).
l
Manually drive an AMR.
Operator access or View access restricts the tasks that you can do when using MobilePlanner.
Before you assign tasks to an AMR, you use MobilePlanner to create and edit a digitized map
of its work space. During this procedure, you use the joystick to drive the AMR around the
workspace. In mapping mode, the main navigation laser scans features of the workspace, such
as walls, columns, doorways and corners. After you create the map, you open it in MobilePlanner and edit it to add or remove features. For example, if there is an area of the map where you
want the AMR to follow a specific path, you can draw a PreferredLine feature on the map.
You then use MobilePlanner to configure ARAM operating parameters that control the AMR's
operation in the mapped workspace. For example, you might assign a preferred charging dock
to the AMR by specifying the unique map identifier for that docking station. If you have more
than one AMR, you share the map and configuration with identically-equipped AMRs in your
fleet.
Refer to the separate Fleet Operations Workspace Core User's Manual (Cat. No. I635) for instructions about mapping a workspace and preparing the virtual elements, goals, routes, and tasks
for your application. In particular, refer to the descriptions of the following software options:
l
Working With Map Files - Editing a Map File
l
Using the Drawing Tools - Adding Goals and Docks
MobilePlanner Operator Mode
MobilePlanner also operates in a restricted Operator mode that permits only limited access to
user interface features and functions.
MobilePlanner’s Operator Mode allows you to monitor one or more AMR's activities and
assign tasks in the mapped space. For more information, see: Fleet Operations Workspace Core
User's Manual (Cat. No. I635).
Mobile Autonomous Robot Controller (MARC)
The LD-250 Core contains a digital signal processor (DSP)that runs the MARC firmware. This
firmware controls low-level AMR functions, including:
22 LD-250 Platform User's Manual 20472-000 Rev D
Chapter 1: Introduction
l
Maintaining the AMR’s driving speed and heading (direction of travel).
l
Acquiring sensor data from the wheel encoders, rear sensors, and internal gyroscope.
l
Reading emergency stop (E-Stop) status to enable and disable the drive motors.
l Joystick input.
l
Computing and reporting the AMR's odometry (the change in X, Y coordinates and the
heading) and other low-level operating conditions to the ARAM software.
ARCL Protocol
The Advanced Robotics Command Language (ARCL) is a programming language integrated
into ARAM and ARAMCentral. Its operating format is a text-based command and response
server. Use ARCL to integrate an AMR (or fleet of AMRs) into an external automation system.
You do not require access to MobilePlanner to use ARCL.
Typical uses of ARCL are:
l
Operating and monitoring the AMR.
l
Operating accessories and peripherals.
l
Sending commands to your payload structure.
For more information, See: Advanced Robotics Command Language Reference Guide (Cat. No. I617).
Touchscreen Support
The FLOW Core suite includes support software for the optional graphical touchscreen.
Support for Call Boxes and Door Boxes
Call boxes and Door boxes require:
l
A software component installed on the box itself.
l
A second software component installed either on the Enterprise Manager, or on a single
AMR.
SetNetGo
The SetNetGo OS runs on the LD-250 Core and EM2100 appliance. It is the host OS in which
the FLOW components ARAM and ARAMCentral run. SetNetGo has a Web graphical user
interface that you access either from a Web browser or from within MobilePlanner as a tab.
Configuring wireless Ethernet access enables wireless access to SetNetGo.
At a minimum, you require:
l
A hardwired connection to the LD-250 Ethernet maintenance port.
l
A LANconnection or direct Ethernet port connection to the EM2100 appliance.
ITdepartment can use SetNetGo to configure network settings without the need to run
MobilePlanner.
Use SetNetGo to configure Ethernet settings, upgrade software, or perform diagnostics such as
retrieving log files.
20472-000 Rev D LD-250 Platform User's Manual 23
1.4 How Can I Get Help?
1.4 How Can I Get Help?
Refer to the OMRON corporate website: http://www.ia.omron.com.
Related Manuals
This manual describes the installation, setup, operation, and maintenance of an LD-250. There
are additional manuals that describe configuring the LD-250. See the following table. These
manuals are available on the software media delivered with your LD-250.
Manual Title Description
Table 1-1 Related Manuals
Mobile Robot LDSafety
Guide (Cat. No. I616)
Fleet Operations Workspace Core User's Manual
(Cat. No. I635)
EM2100 Installation
Guide (Cat. No. I634)
Advanced Robotics Command Language Reference Guide (Cat. No.
I617)
LDPlatform Peripherals
User's Guide (Cat. No.
I613)
Safety Laser Scanner
OS23C Series User's
Manual (Cat. No. Z296)
Contains general safety information for all OMRON AMRs.
Describes Fleet management, MobilePlanner software, the
SetNetGo OS, and most of the configuration procedures for an
LD-250.
Describes the installation of an EM 2100 appliance, as a Fleet
Manager, which runs the Fleet Operations Workspace software
to manage a fleet of AMRs.
Describes how to use the Advanced Robotics Command Language (ARCL) a text-based, command line operating language
Use ARCL to integrate a fleet of AMRs with an external automation system.
Describes optional peripherals (Touchscreen, Call box or Door
box, Acuity Localization, HAPS, and rear-facing laser.)
Describes safety features and operational standards for the
OS32C laser scanner.
Support
Contact your local OMRON Support if you have problems with your LD-250 that are not
described in this manual.
When you contact support, it is useful to provide a DebugInfo file. This is a collection of configuration, log, and system status files that support personnel can use for debugging and
troubleshooting. Refer to: Download a Debuginfo File for Support on page 24.
Visit the OMRON website for your locale to obtain local support telephone numbers and
information.
Download a Debuginfo File for Support
You can download a debuginfo file for troubleshooting problems or if you need to contact your
local OMRON Support.
24 LD-250 Platform User's Manual 20472-000 Rev D
Chapter 1: Introduction
NOTE: The AMR's clock must be properly set to ensure accurate timestamps in
the debug file. Contact your local OMRON Supportfor more information.
If your LD-250 is already configured to use a wireless network:
1.
Open MobilePlanner and connect to the AMR's IP address.
2.
Click the SetNetGo tab to open its Web UI.
3.
Click Status and select Debug Info from the left pane.
4.
Click Download Debug Info and then specify a location to save the file.
Otherwise, you must first create a TCP/IP connection to the AMR's maintenance Ethernet port
as described in: Configure the Maintenance Network on page 25.
Configure the Maintenance Network
Use this procedure only if you have not configured your LD-250 for access over a wireless network. Instead, you use a hardwired connection to the LD-250 maintenance port. (See: Main-
tenance Ethernet Connection on page 67.)
1.
Connect a Cat-5 (minimum) Ethernet cable from the maintenance Ethernet port on the
LD-250 to an Ethernet port on your Windows PC.
2.
In the Windows Open or Search box (or at a command prompt) type the following command and press Enter:
ncpa.cpl
This command opens the Network Connections screen, which might look different
depending on your version of Windows.
Figure 1-9 Network Connections Screen.
3.
Right-click on the Ethernet N or LAN Connection.
4.
Click Properties, and then double-click the Internet Protocol Version 4 connection item
to open its Properties window.
20472-000 Rev D LD-250 Platform User's Manual 25
1.4 How Can I Get Help?
5.
Click the radio button next to Use the following IP address.
6.
Enter 1.2.3.5 as the IP address and 255.255.255.0 as the Subnet mask.
7.
Click OK twice to exit both Properties dialogs, and then close the Network Connections
screen.
Figure 1-10 Dialogs for the Ethernet Properties
You can now use this TCP/IP port connection to access the SetNetGo Web UI:
1.
Open a Web browser on the PC and enter https://1.2.3.4 as the URL.
2.
If prompted to accept security certificates, confirm that you accept them.
To access the DebugInfo file, see: Obtain a DebugInfo File from SetNetGo on page 26.
Obtain a DebugInfo File from SetNetGo
After you access SetNetGo as described in the preceding sections, you will see the following
screen:
Figure 1-11 SetNetGo Status Tab
26 LD-250 Platform User's Manual 20472-000 Rev D
1.
In the SetNetGo screen, click the Status tab and then select Debug Info to activate the
Download debug info button.
2.
Click Download debug info.
3.
When prompted, save the downloaded file, and attach it to your support request email.
See: Support on page 24.
Chapter 1: Introduction
20472-000 Rev D LD-250 Platform User's Manual 27
This chapter describes important personal safety considerations. All persons that operate an
!
LD-250 or work in the vicinity of an LD-250 must read and understand this information.
2.1 General Hazards
This section describes potentially hazardous situations and conditions.
WARNING: The following situations could result in injury or damage to the
equipment.
l
Do not ride on the AMR.
l
Do not exceed the maximum weight limit. Be aware that the maximum payload
decreases as the floor's incline increases.
l
Do not exceed the maximum recommended speed, acceleration, deceleration, or rotation
limits. Refer to Center of Gravity (CG) on page 86 and Acceleration, Deceleration, and Rota-
tion Limits on page 74.
Chapter 2: Safety
Rotational speed becomes more significant when the payload’s center of gravity is
increasingly offset from the AMR's center of gravity.
l
At speeds of less than 225 mm/second, the safety laser is not active. There is a risk of
injury or property damage.
l
Do not disconnect the drive motor encoder cables unless required to do so as part of a
maintenance procedure. Refer to Maintenance on page 141.
l
Do not drop the AMR, run it off a ledge, or otherwise operate it irresponsibly.
l
Do not allow the AMR to drive through an opening that has an automatic gate or door
unless the door and AMR are configured correctly with the Call Box or Door Box option.
Refer to the LDPlatform Peripherals User's Guide (Cat. No. I613) for details on the Call Box
or Door Box.
l
Do not expose the AMR to rain or moisture.
l
Do not continue to run the AMR if hair, yarn, string, or any other items have become
wound around its axles, casters, or wheels.
l
Do not use unauthorized parts to repair the AMR.
l
Do not power on the AMR without its wireless antennas in place.
l
Although the lasers used are Class 1 (eye-safe), OMRON recommends that you not look
into the laser light.
l
Sunlight and reflective surfaces can affect the AMR's laser operation.
l Do not operate the AMR in a flammable gas environment.
20472-000 Rev D LD-250 Platform User's Manual 29
2.2 What to Do in an Emergency
!
2.2 What to Do in an Emergency
In case of an emergency such as a fire or collision, you should stop the AMR quickly and
safely.
CAUTION: Combustible LithiumBattery. For AMR fire suppression, use
either a type ABC or BC dry chemical extinguisher.
The LD-250 has two E-Stop buttons, one on either side of the chassis (a red push-lock button
on a yellow background). The Operator Panel (if used) provides an additional E-Stop button.
Use the User Interface port to add E-Stop buttons to your payload structure, if required. See
User Interface (Brake and E-Stop) on page 103
Figure 2-1 E-Stop Button
A user-initiated E-Stop differs from a laser-initiated emergency stop. The latter occurs when the
AMR's safety scanning laser detects an object within its protected zone. In such cases, the
AMR safely stops autonomously and then resumes operation after a two second delay. See:
Emergency Stops that are Initiated by AMR Safety Lasers on page 39.
To use an E-Stop button:
1. Push firmly on the red button until it locks:
l
The AMR uses motor power to come to a controlled stop then engages its motor
brakes and cuts power to its drives.
l
Indicator lights on the AMR show the E-Stop state.
2.
Follow your site-specific emergency and safety procedures.
After correcting the emergency condition, press and hold the brake button to manually move
the AMR. You can also use the joystick to drive the AMR manually, if it is safe to do so.
To enable the AMR's drive motors and put it back into service, follow the procedure described
in: Releasing an E-Stop.
Releasing the Brakes to Move the LD-250 Manually
You can move the LD-250 manually when required. For example, if the battery is too depleted
to power the LD-250 or any other urgent condition. For safety reasons, only qualified persons
should move an LD-250 manually.
NOTE: You should move the LD-250 manually only when absolutely necessary
during an emergency, for safety, or if it is lost or deadlocked. If you find that you
30 LD-250 Platform User's Manual 20472-000 Rev D
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