Omron LD-60, LD-90 User Manual
LD Mobile Robot Platform
User’s Guide
I611-E-02
Copyright Notice
The information contained herein is the property of Omron Adept Technologies, Inc., and shall
not be reproduced in whole or in part without prior written approval of Omron Adept Technologies, Inc. The information herein is subject to change without notice and should not be construed as a commitment by Omron Adept Technologies, Inc. The documentation is periodically
reviewed and revised.
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: tech-
pubs@adept.com.
Copyright 2013 - 2017 by Omron Adept Technologies, Inc. All rights reserved.
Any trademarks from other companies used in this publication are the property of those
respective companies.
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Copyright 2012 CEPSTRAL LLC http://www.cepstral.com This product may contain copyright
material licensed from CEPSTRAL LLC, all right reserved.
Created in the United States of America
LD Platform User's Guide, 11970-000 Rev E
Page 2 of 142
Table of Contents
Chapter 1: Introduction 9
Definitions 9
1.1 Product Description
Body and Drive 10
What's Included - Basic Components 10
Optional Components (partial list) 11
User-Supplied Components / System Requirements 12
1.2 Software Overview
Mobile Robot Software Suite 12
SetNetGo 14
1.3 How Can I Get Help?
Related Manuals 14
Support 14
Including a Debuginfo File 15
Chapter 2: Safety 17
12
14
9
2.1 Dangers, Warnings, Cautions, and Precautions
2.2 What to Do in an Emergency /Abnormal Situation
Releasing the Brakes 17
Releasing an E-Stop 18
2.3 User's Responsibilities
General Hazards 18
Falling Hazards 19
Electrical Hazards 19
Pinch Hazard 20
Magnetic Field Hazards 20
Qualification of Personnel 20
Payload Movement and Transfer 21
Configurable Warning Buzzer 21
Multi-Vehicle Avoidance 22
2.4 Environment
General Environmental Conditions 22
Public Access 22
Clearance 22
Obstacles 23
2.5 Intended Use
Non-intended Use 23
Robot Modifications 23
2.6 Battery Safety
2.7 Additional Safety Information
17
17
18
22
23
24
24
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Table of Contents
Mobile Robot LDSafety Guide 24
Chapter 3: Setup 25
Battery Safety Information 25
Overview 25
Tasks 25
3.1 Transport and Storage
Platform 26
Battery 26
3.2 Before Unpacking
3.3 Unpacking
Battery 27
Platform 28
Repacking for Relocation 32
Installing the Battery 33
Attaching the Payload Structure and Options 37
Installing the Docking Station 38
26
26
27
Chapter 4: Configuration 45
4.1 Settings and Configuration
Maintenance Ethernet Connection 45
Setting Up Wireless Ethernet 46
4.2 Mapping
4.3 Acceleration, Deceleration, and Rotation Limits
4.4 Supplemental Information
Laser Setup 50
45
48
49
50
Chapter 5: Payload Structures 51
5.1 Safety
Warning Label 51
Warning Lights 51
Warning Buzzer 51
5.2 Considerations
Performance 52
Weight 52
Power Consumption 52
Payload Bay Access 52
Dimensions 52
Center of Gravity 54
5.3 Payload-Related Tradeoffs
5.4 Connections Between Platform and Payload Structure
Operator Panel 58
Option Connections 58
51
52
57
58
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Table of Contents
Chapter 6: Connectivity 59
6.1 Required Connections
6.2 Payload Bay Connections
LD Platform Core Front, Upper 60
LD Platform Core Rear, Upper 66
Internal LD Platform Core Connections 74
Internal Data Pinouts 75
Internal Power Pinouts 77
59
59
Chapter 7: Operation 79
7.1 Operating Environment
Intended Use 79
Clearance 79
Obstacles 79
Environment and Floor 80
Getting Stuck 80
7.2 Typical Operation
7.3 Power and Charging
Battery Indicators and Controls 82
Docking Station 83
Manually Charging the Battery 85
Balancing the Battery 86
7.4 Operator Panel
Screen 87
E-Stop 88
ON Button 89
OFF Button 89
Brake-Release Button 89
Keyswitch 89
7.5 Other Controls and Indicators
Light Discs and Beacon 90
LD Platform Core Indicators 94
Battery and Docking Station Indicators 95
7.6 Sensors
Safety Scanning Laser 95
Sonar 95
Other Sensors 96
7.7 Startup
Procedure 96
Joystick 96
79
81
82
87
89
95
96
Chapter 8: Maintenance 99
8.1 Safety Aspects While Performing Maintenance
Electrical Hazards 100
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100
Table of Contents
Pinch Hazard 100
Magnetic Field Hazards 100
8.2 Lifting the Platform Safely
Front Lifting Points 101
Rear Lifting Area 102
8.3 Safety Inspection
Warning Devices 102
Warning Labels 103
8.4 Cleaning
Work Area Maintenance 104
Platform Cleaning 104
8.5 Maintaining and Replacing Batteries
Maintaining Batteries 105
Replacing the Battery 105
8.6 Replacing Non-Periodic Parts
Docking Station Roller and Bearing 110
Docking Station ACPower Fuse 111
Docking Station Internal Fuse 112
Rear Sonar Units 113
Sonar Controller 113
Light Discs 114
Operator Panel 115
Wheels and Tires 115
Drive Assemblies 117
Front or Rear Casters 120
Safety Scanning Laser 121
Low Front Laser 123
LD Platform Core 124
E-Stop and Safety Laser Commissioning 125
8.7 Accessing the Payload Bay
8.8 Removing and Installing Covers
Cover Removal 127
Cover Installation 130
101
102
104
105
110
126
127
Chapter 9: Options 133
Enterprise Manager1100, for multi-AIV coordination 133
MobilePlanner Software (licensed) 133
Joystick 133
Spare Battery 133
Payload Structure Bumpers 133
Call Buttons/Door Boxes 133
Cleanroom Version 134
Acuity Localization 134
Touchscreen 134
Side-mount Lasers 134
High-Accuracy Positioning System 134
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Table of Contents
Warning Buzzer 134
Chapter 10: Technical Specifications 135
10.1 Dimension Drawings
10.2 Platform Specifications
Physical 136
Performance 137
Sensors 138
Battery Outputs 139
10.3 Docking Station Specifications
135
136
140
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Chapter 1: Introduction
This manual covers the setup, operation, and user maintenance of an LD Platform.
Other than the basics, this manual does not cover configuration performed using the software
that comes with the platform. That is 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, lasers, sonar, an on-board LD platform core with a built-in gyroscope,
software needed to navigate, connectors for interfacing with and powering the payload structure, and the platform covers.
Payload Structure: Anything you attach to the platform. This could be as simple as a box for
holding parts or documents that you want transported, or as complicated as a robotic arm that
will be used to pick up parts to transport.
LDPlatform: Either the LD-60 or LD-90 platform for 60 or 90 kg payloads.
AIV (Autonomous Intelligent Vehicle):An Omron Adept mobile robot with a payload structure
attached to it. This is your complete mobile robot, which will transport your products, parts, or
data.
When referring to the initial setup, configuration, and connections, we will refer to the platform.
When talking about controlling or monitoring the full mobile robot, with a payload structure
attached, we will refer to the AIV.
Fleet:Two or more AIVs operating in the same workspace.
Enterprise Manager 1100:A system that manages a fleet of AIVs. This includes the Enterprise
Manager appliance and the software that runs on it.
1.1 Product Description
The LD platform is a general-purpose, mobile robot platform, designed for working indoors
and around people. It is self-guided and self-charging, with an automated docking station. The
LD platform is available in two versions, designed to carry loads up to 60 kg (132 lb)for the
LD-60 and 90 kg (198 lb) for the LD-90 platform. Where appropriate, differences between the
models are called out. Otherwise, this manual applies to both platforms.
The platform combines hardware and mobile-robotics software to provide an intelligent,
mobile platform to transport your payload. The platform comes complete with the ability to
know where it is within a workspace, and to navigate safely and autonomously to any accessible destination within that workspace, continuously and without human intervention.
Its primary guidance uses a laser to navigate, comparing the laser readings to a digital map
stored on the platform. The laser is backed up by a low front laser, two rear-facing sonar pairs,
a front bumper, a gyroscope mounted on the LD platform core, and encoders and Hall sensors
on each drive wheel.
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Chapter 1: Introduction
For situations that are so dynamic that laser localization becomes difficult, we offer the Acuity
Localization option, which localizes the platform using an upward-facing camera to recognize
overhead lighting patterns. This is covered in detail in the LDPlatform Peripherals Guide. 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 the mapped features.
For most applications, you will want to customize the platform with a payload structure,
attached to the top of the platform, for some combination of picking up, transporting, and dropping off your parts, samples, or documents. Refer to Payload Structures on page 51 for
guidelines on designing a payload structure.
The platform provides a variety of interfaces and power connections to support your application-specific sensors and accessories, mounted on your payload structure. Refer to Connectivity on page 59, for information on the available connectors on the platform.
Body and Drive
The LD platforms are relatively small, lightweight, and highly maneuverable. They have a
strong aluminum chassis and solid construction that make them very durable. They have an
IPrating of IP40.
Each platform is a two-wheel, differential-drive vehicle, with spring-loaded passive casters
front and rear, and independent drive-wheel spring-suspension for balance. Its solid, foamfilled wheels are at the mid-line of the platform, so that the platform can turn in place.
What's Included - Basic Components
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One fully-assembled LD platform
The platform includes a navigation laser, front bumper with low front laser, and two
rear-facing sonar pairs. Each pair is one transmitter and one receiver.
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LD Platform Core, which includes an integrated computer, running Advanced Robotics
Automation Management (ARAM) and a microcontroller with MARC firmware. It also
runs the SetNetGo OS. The core is housed inside the platform.
ARAM and MARC firmware and the SetNetGo OS are pre-loaded on the LD platform
core.
A gyroscope is mounted on the core, and each drive wheel has an encoder and a Hall
sensor to complement the navigation laser.
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One battery
This is shipped separately from the platform, due to air shipping regulations.
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Operator Panel
This includes a screen, 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. This will
usually be mounted on the user-designed and -built payload structure.
An optional touchscreen is available. See Touchscreen on page 134.
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Automated docking station
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Chapter 1: Introduction
This allows the platform to charge itself, without user intervention. It includes a wallmount bracket and a floor plate, for a choice of installation methods. See Installing the
Docking Station on page 38.
A manual charging cord is included, so you can charge the battery or a spare battery
outside of the platform.
l
Joystick (option)
This is used for manually controlling the platform, mostly when making a scan to be
used for generating a map.
At least one joystick is needed for each fleet ofAIVs. Once a map is generated, the map
can be shared with multiple AIVs working in the same space.
l
User documentation
Optional Components (partial list)
Refer also to Options on page 133.
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Enterprise Manager 1100 system
This is a system that manages a fleet of AIVs, for multi-AIV coordination and job management. It includes the Enterprise Manager appliance running the Mobile Robot Software Suite.
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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.
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Spare battery
A spare battery can be used to keep the AIV in production without stopping to charge.
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Cleanroom version
The platform is available in a cleanroom-suitable version.
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Call/Door Box
This allows an AIV to be requested from a remote location, or allows the system to control an automated door, so the AIV can pass through it.
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High-Accuracy Positioning System
Allows an AIV to achieve accurate alignment at a specific location, such as a fixed conveyor, using a sensor to detect magnetic tape at that location.
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Warning Buzzer
The platform can drive a buzzer to warn of its movement. The type of movement and
circumstances when the buzzer sounds can be configured by the user.
For Payload Structure Development
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Side-mount obstacle-detection lasers
Two lasers that scan the vertical plane on each side of the AIV. These are used to detect
obstacles that are at heights the navigation laser can’t see.
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Chapter 1: Introduction
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Touchscreen
Allows an Operator to interact with an AIV at the AIV‘s location, select the AIV’s next
goals, check status, etc.
Refer to the LDPlatform Peripherals Guide for details on the touchscreen.
User-Supplied Components / System Requirements
PC with Microsoft Windows
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Ethernet (wireless preferred)
Wireless is required for an installation with multiple AIVs.
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100 megabytes of available hard-disk storage
1.2 Software Overview
A fair amount of software is involved in setting up and running an LD platform.
The platform comes with the following software:
Mobile Robot Software Suite
The Mobile Robot Software Suite includes all of the software used for LD platforms and the
Enterprise Manager appliance. The SetNetGo OS is not part of the suite, but is included.
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:
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the map that all AIVs use
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the configuration that all AIVs use
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traffic control of the AIVs
This includes multi-robot avoidance, destination, standby, and dock control.
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Chapter 1: Introduction
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queuing of jobs for the AIVs
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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 or for a single AIV installation. 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 a
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 LD 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 boxes and another on either the Enterprise Manager 1100 or on the single robot, when there is no Enterprise Manager 1100.
ARCL Protocol
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 OSon 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.
There are additional manuals that cover configuring the platform. See the following table.
These manuals are available on the software media delivered with your system.
Table 1-1. Related Manuals
Manual Title Description
Mobile Robot LDSafety
Guide
Mobile Robot Software
Suite User's Guide
Enterprise Manager
1100 User's Guide
LDPlatform Peripherals
Guide
Contains general safety information for all Omron Adept Technologies, Inc. LD Platform-based robots.
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 platform, contact Omron
Adept Technologies, Inc.
Tell us when and how we can best contact you. We will assume e-mail is the best format,
unless otherwise notified. We will try to resolve the problem through communication. If the
platform must be returned to the factory for repair, obtain a Repair Authorization Code and
shipping details from us first.
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Chapter 1: Introduction
Including a Debuginfo File
If the platform has been set up on a wireless network, skip to SetNetGo Access.
Network Setup
If the platform 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 platform 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 on the Platform on page 99.
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:
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Chapter 1: Introduction
You will be requested to confirm security certificates.
Regardless of how you accessed SetNetGo, you should now have a window similar to the following:
1.
From the SetNetGo screen, select:
System >Debug Info
This will display the “Download debug info” button.
2.
Click Download debug info.
3.
Save the downloaded file, and attach it to your support request.
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Chapter 2: Safety
2.1 Dangers, Warnings, Cautions, and Precautions
There are six levels of special alert notation used in our manuals. 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 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 AIV can be manually moved. However,
only qualified personnel who have read and understood this manual and the Mobile Robot
LDSafety Guide should manually move the platform. The brakes on the drive wheels can be
released with the brake release button. This requires battery power, and an E-Stop must be
pressed on the AIV.
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Releasing an E-Stop
WARNING: If the robot’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.
2.3 User's Responsibilities
It is the end-user’s responsibility to ensure that the mobile robots are used safely. This
includes:
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Reading the installation and operation instructions, as well as the Mobile Robot
LDSafety Guide, before using the equipment.
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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 must be used, unless
no two robots will ever operate in the same area.
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Ensuring that anyone working with or near an AIV has been adequately trained, and is
following this guide and the Mobile Robot LDSafety Guide for safe robot operation.
Chapter 2: Safety
l
Ensuring that the AIVs are maintained, 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.
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Do not ride on the platform.
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Do not exceed the maximum weight limit.
Payload decreases as slope increases.
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Do not exceed the maximum recommended speed, acceleration, deceleration, or rotation
limits. See Center of Gravity on page 54 and Acceleration, Deceleration, and Rotation
Limits on page 49.
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.
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Do not drop the robot, run it off a ledge, or otherwise operate it in an irresponsible manner.
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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 Call/Door Box option.
Refer to the LDPlatform Peripherals Guide for details on the Call/Door Box.
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Do not get the AIV wet. Do not expose the AIV to rain or moisture.
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Do not continue to run the AIV after hair, yarn, string, or any other items have become
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Chapter 2: Safety
wound around the platform’s axles, casters, or wheels.
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Do not use unauthorized parts.
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Do not turn on the robot without the antennas in place
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Although the lasers used are Class 1 (eye-safe), we recommend you not look into them
Falling Hazards
WARNING: The robot 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 robot’s expected operating area should be physically marked so that the
robot’s navigation laser will see the barrier, and stop before reaching it. The robot’s navigation
laser scans at 203 mm (8 in.), so the barrier must cover at least that height.
This needs to be continuous at the site, so that the robot 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 the the robot will not try to drive there.
These need to be continuous at the site, so that the robot 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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Do not use power extension cords with the docking station unless properly rated.
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Never access the interior of the platform with the charger attached.
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Immediately disconnect the battery after opening the battery compartment door.
Avoid shorting the terminals of the battery.
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Do not use any charger not supplied by Omron Adept Technologies, Inc.
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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.
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Pinch Hazard
Robot 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.
Magnetic Field Hazards
Robot Covers
WARNING: Magnetic fields can be hazardous to pacemaker wearers. Pacemaker wearers stay back 30 cm (12 in.) from the platform covers, which are
held in place with strong magnets.
Docking Funnel
Chapter 2: Safety
WARNING: Magnetic fields can be hazardous to pacemaker wearers. Pacemaker wearers stay back 30 cm (12 in.) from the underside of the platform,
which is exposed during certain maintenance procedures for which the platform is tipped on its side.
Qualification of Personnel
It is the end-user’s responsibility to ensure that all personnel who will work with or around
mobile robots have attended an appropriate Omron training course and have a working knowledge of the system. The user must provide the necessary additional training for all personnel
who will be working with the system.
As noted in this and the robot user guides, certain procedures should be performed only by
skilled or instructed persons. For a description of the level of qualification, we use the standard
terms:
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Skilled persons have technical knowledge or sufficient experience to enable them to
avoid the dangers, electrical and/or mechanical
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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 robot, every entrusted person must confirm that they:
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Chapter 2: Safety
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Have the necessary qualifications
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Have received the guides (both this user’s guide, and the Mobile Robot LDSafety Guide)
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Have read the guides
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Understand the guides
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Will work in the manner specified by the guides
Payload Movement and Transfer
Monitoring and confirmation of the status of robot payload movement and transfer to or from
facility equipment is the end-user’s responsibility.
Payload transfer problems must trigger a robot E-Stop, preventing the robot 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 robot and facility equipment is the user’s responsibility.
Configurable Warning Buzzer
The LD platforms have a configurable warning buzzer. It is the user’s responsibility to configure this buzzer as appropriate for the facility in which the robot will be operating. The
buzzer will sound whenever the robot 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.
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DriveWarningEnable
NOTE:If this parameter is set to False, the remaining parameters will not be
displayed.
WARNING: Disabling the DriveWarningEnable parameter violates the
JIS D6802 standard. It is strongly recommended that you leave this set
to True.
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DoNoWarnDrivingForwards
Default:False
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DoNotWarnTurningInPlace
Default:False
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DriveWarningLoudMilliseconds
Default:500. If DriveWarningQuietMilliseconds is 0, this parameter is irrelevant.
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DriveWarningQuietMilliseconds
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Default:500. This is the length of time between warnings that the buzzer is silent. Setting this to 0 will cause a continuous warning.
Multi-Vehicle Avoidance
When multiple vehicles 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
vehicles’ dynamic X, Y, Theta, size, and path-planning information with each other. Vehicles
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 robots are approaching each other, neither will not see the other
because the incoming laser beams are detected as reflected beams. Because of this,
any installation with more than one robot working in the same operating space
must be managed by the same Enterprise Manager 1100.
2.4 Environment
General Environmental Conditions
Chapter 2: Safety
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 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 is designed to operate in an environment that is generally level and has no
doors or other restricted areas too narrow for the AIV. 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 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 is forward. When the LD Platform 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 robot should not stand
close to the robot when it is turning in place (with no forward motion).
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Obstacles
If the AIV will be entering high-traffic areas, the user must take appropriate precautions to
alert people in those areas that a robot 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.
2.5 Intended Use
The LD Platform-based mobile robots are not intended for use in any of the following situations:
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In hazardous (explosive) atmospheres
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In the presence of ionizing or non-ionizing radiation
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In life-support systems
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In residential installations
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Where the equipment will be subject to extremes of heat or humidity
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In mobile, portable, marine, or aircraft systems
Chapter 2: Safety
NOTE:The gyroscope used to assist in navigation in LD Platforms 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 robot user’s guide must be strictly
observed.
Non-intended Use
Non-intended use of LD Platforms can:
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Cause injury to personnel
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Damage the robot or other equipment
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Reduce system reliability and performance
LD Platforms are intended for use on generally level floors, in wheelchair-accessible areas.
The body of the robot must not come into contact with liquids. The drive wheels can tolerate
damp floors, but the body of the robot must remain dry.
If there is any doubt concerning the application, ask Omron Adept Technologies, Inc. to determine if it is an intended use or not.
Robot Modifications
If the user or integrator makes any changes to the LD platform, it is their responsibility to
ensure that there are no sharp edges, corners, or protrusions.
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Chapter 2: Safety
Note that any change to the platform 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
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Batteries must be stored upright at 5° to 60° C (41° to 140° F).
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Do not expose batteries to water.
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If a battery is found to be leaking, do not expose it to water. If possible, submerge it in
mineral oil and contact Omron Adept Technologies, Inc.
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In case of a fire, use a type D extinguisher: foam, dry chemical, or CO2.
2.7 Additional Safety Information
Omron Adept Technologies, Inc. provides other sources for more safety information:
Mobile Robot LDSafety Guide
The Mobile Robot LDSafety Guide provides detailed information on safety for LD Platformbased mobile robots. It also gives resources for information on relevant standards. It ships
with each mobile robot.
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Chapter 3: Setup
Battery Safety Information
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 (UN 3480, PI 965) require that air-shipped lithium ion
batteries must be transported at a state of charge not exceeding 30%. To avoid total discharge,
fully charge the battery immediately upon receipt.
NOTE:If the battery was not sent by air, it may be fully-charged.
Safety Precautions
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Batteries must be stored upright at 5° to 60° C (41° to 140° F)
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Do not expose to water
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If the battery is found to be leaking, do not expose to water. If possible, submerge in mineral oil and contact Omron Adept Technologies, Inc..
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In case of fire, use a type D extinguisher: foam, dry chemical, or CO2.
Maintenance
Every six months:
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Inspect battery for damage or leaks.
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Place battery on a charger and allow to fully charge.
Overview
In general, setup is the physical and logical preparation of the platform, configuration of the
wireless network, and the installation of the docking station. The physical preparation of the
platform includes attaching your payload structure to the platform.
Setup also includes generation of the map that the platform will use for navigation. This
manual provides an overview of that process, which is covered in detail in the Mobile Robot
Software Suite User's Guide.
Tasks
Most of the steps in setting up a platform are straightforward. The design and construction of
the payload structure needs to be tailored to your application.
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Install the docking station. See Installing the Docking Station on page 38.
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Fully charge the battery, either outside of or inside the platform.
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Install the battery in the platform. See Installing the Battery on page 33.
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Set up the wireless Ethernet for the platform. See Settings and Configuration on page 45.
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Design, build, and install a payload structure, to suit your application. See Payload
Structures on page 51.
This is the most involved task in getting your AIV working the way you want.
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Configure the AIV for your environment, so it can perform useful tasks.
This includes generating the map that the AIV will use for its navigation. Configuration
is covered briefly in Configuration on page 45 and in detail in the Mobile Robot Software
Suite User's Guide.
3.1 Transport And Storage
Platform
Chapter 3: Setup
The LD platform 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.
Use a forklift, pallet jack, or similar device to move the shipping crate.
The platform must always be stored and shipped in an upright position in a clean, dry area
that is free from condensation. Do not lay the crate on its side or any other non-upright position. This could damage the platform.
The crate with pallet for the platform measures 1441 x 787 x 762 mm (56.75 x 31 x 30 in.), and
weighs 70 kg (152 lb).
Battery
NOTE:If you purchased a spare battery, this section applies to it, also.
If the battery needs to be stored, the manufacturer recommends 5° to 60° C (41° to 140° F). The
battery should start storage fully-charged. If the battery will be stored for an extended period, it
should be recharged periodically to avoid total discharge, which would damage the battery.
Fully recharging a battery every six months is sufficient to keep it charged enough to avoid
damage.
Batteries must be stored upright.
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 container is unpacked.
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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.
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If the items received do not match the packing slip, or are damaged, do not sign the
receipt.
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If the items received do not match your order, please contact Omron Adept Technologies, Inc. immediately.
Retain the containers and packaging materials. These items may be necessary to settle claims
or, at a later date, to relocate the equipment.
Battery
The battery is shipped in a separate container, not inside the platform. The battery box measures 311 x 540 x 457 mm (12.25 x 21.25 x 18 in.). Locate the carton that contains the battery
before continuing. Refer to the following figure.
Chapter 3: Setup
Figure 3-1. Battery Shipping Carton
The battery is shipped in a cardboard carton. Remove the battery from the carton. The battery
has recessed hand grips at the ends of the battery, for lifting.
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Chapter 3: Setup
Front Panel/Ramp
Top Klimp Clips
Bottom Klimp Clips
Platform
The platform comes packed in a wooden crate, mounted on a pallet, with wooden covers. See
the following figure.
The docking station, joystick, and platform are shipped in the same crate.
Retain all parts and fasteners removed for possible repacking.
1.
Remove the four Klimp clips from the front panel.
Figure 3-2. Front Panel of Shipping Crate
2.
Remove the two lag screws at the bottom of each end of the crate cover.
Figure 3-3. Lag Screw at Bottom of Crate End
3.
Undo the four spring-loaded latches and remove the front panel of the crate.
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Chapter 3: Setup
Figure 3-4. Two of Four Spring Latches Holding the Front Panel
Set the front panel aside. It will be used as a ramp later in this procedure.
Figure 3-5. Crate with Front Panel Removed
4.
Slide off the crate cover to reveal the crate, pallet, and contents.
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Chapter 3: Setup
Docking
Station
Accessories,
Cables, etc.
Front Brace,
Wing Nut
(1 of 2)
Eyebolt (1 of 2)
To p
Board
Wing Nut (1 of 2)
5.
Unscrew both eyebolts that screw down through the front and rear braces and into the
chassis support board. There is one brace and eyebolt at each end of the platform.
This will lower the platform body so its full weight is on its casters.
The chassis support board runs between the two platform drive wheels, and is used to
support the platform during transit.
Completely remove the eyebolt at the front brace (battery end).
6.
Remove the two wing nuts and washers holding the front brace to the crate.
The front brace is on the end of the crate that houses the platform, rather than the docking station and accessories.
7.
Remove the two wing nuts from the top board, which spans the width of the crate, over
the platform.
Remove the top board.
8.
Place the front panel/ramp in front of the platform, to serve as a ramp.
Two holes in one end of the ramp go over hanger bolts that stick up from the crate base.
The other end of the ramp has a short taper at its end.
Figure 3-6. Removing Front Brace of Crate
NOTE:This is the rear of the LD platform, but the front of the crate.
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