Omron LD-60, LD-90 User Manual

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LD Mobile Robot Platform

User’s Guide

I611-E-02

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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: tech-

pubs@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.

Created in the United States of America

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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

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

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Mobile Robot LDSafety 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

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

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

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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

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

Chapter 8: Maintenance 99

8.1 Safety Aspects While Performing Maintenance

Electrical Hazards 100

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100

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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 ACPower 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 Manager1100, 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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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.

LDPlatform: 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 LDPlatform 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 IPrating 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

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.

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.

One battery

This is shipped separately from the platform, due to air shipping regulations.

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.

Automated docking station

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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.

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 ofAIVs. Once a map is generated, the map can be shared with multiple AIVs working in the same space.

User documentation

Optional Components (partial list)

Refer also to Options on page 133.

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.

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.

Spare battery

A spare battery can be used to keep the AIV in production without stopping to charge.

Cleanroom version

The platform is available in a cleanroom-suitable version.

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.

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.

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

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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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 LDPlatform Peripherals Guide for details on the touchscreen.

User-Supplied Components / System Requirements

PC with Microsoft Windows

Ethernet (wireless preferred)

Wireless is required for an installation with multiple AIVs.

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:

the map that all AIVs use

the configuration that all AIVs use

traffic control of the AIVs

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

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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 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 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. 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 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 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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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:

From the SetNetGo screen, select:

System >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 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

LDSafety 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:

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 must be used, unless no two robots will ever operate in the same area.

Ensuring that anyone working with or near an AIV has been adequately trained, and is following this guide and the Mobile Robot LDSafety Guide for safe robot operation.

Chapter 2: Safety

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.

Do not ride on the platform.

Do not exceed the maximum weight limit.

Payload decreases as slope increases.

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.

Do not drop the robot, 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 Call/Door Box option.

Refer to the LDPlatform Peripherals Guide for details on the Call/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

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Chapter 2: Safety

wound around the platform’s axles, casters, or wheels.

Do not use unauthorized parts.

Do not turn on the robot without the antennas in place

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.

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

Never access the interior of the platform with the charger attached.

Immediately disconnect the battery after opening the battery compartment door.

Avoid shorting the terminals of the battery.

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.

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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:

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 robot, every entrusted person must confirm that they:

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Chapter 2: Safety

Have the necessary qualifications

Have received the guides (both this user’s 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 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.

DriveWarningEnable

NOTE:If this parameter is set to False, the remaining parameters 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.

DoNoWarnDrivingForwards

Default:False

DoNotWarnTurningInPlace

Default:False

DriveWarningLoudMilliseconds

Default:500. If DriveWarningQuietMilliseconds is 0, this parameter is irrelevant.

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:

In hazardous (explosive) atmospheres

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

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:

Cause injury to personnel

Damage the robot or other equipment

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

Batteries must be stored upright at 5° to 60° C (41° to 140° F).

Do not expose batteries to water.

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.

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 LDSafety Guide

The Mobile Robot LDSafety 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

Batteries must be stored upright at 5° to 60° C (41° to 140° F)

Do not expose to water

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..

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

Maintenance

Every six months:

Inspect battery for damage or leaks.

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.

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

Install the battery in the platform. See Installing the Battery on page 33.

Set up the wireless Ethernet for the platform. See Settings and Configuration on page 45.

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.

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.

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 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.

Remove the four Klimp clips from the front panel.

Figure 3-2. Front Panel of Shipping Crate

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

Undo the four spring-loaded latches and remove the front panel of the crate.

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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

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)

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).

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.

Remove the two wing nuts from the top board, which spans the width of the crate, over the platform.

Remove the top board.

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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Ramp/Front Panel of Crate

Taper

Chassis Support Board

Hanger Bolts visible through Holes in Ramp

Figure 3-7. Crate with Ramp Attached

Roll the platform down the ramp and onto the floor.

10.

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 platform, the drive wheels will not touch the ground until you remove the wheel pins.

For each side of the platform:

Remove the platform side cover.

See Removing and Installing Covers on page 127.

Lift the wheel slightly to relieve pressure on the pin, and then remove the pin by pulling the ring that is attached. See the following figures.

These pins can be saved for later service of the wheels or drive assemblies.

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Chapter 3: Setup

Reinstall the two side covers.

11.

Install the battery in the platform.

The platform brakes cannot be released until the battery is installed. Refer to Installing the Battery on page 33.

Repacking for Relocation

Figure 3-8. Wheel Pin Hole

Figure 3-9. Wheel Pin

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

The platform must always be shipped in an upright orientation.

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Chapter 3: Setup

Installing the Battery

Your platform comes fully-assembled, less the battery.

NOTE:Air shipping regulations require that the battery be shipped separately.

Removing the Battery Compartment 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.

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

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Chapter 3: Setup

Figure 3-11. Lowering the Rear Platform Cover

Refer to Removing and Installing Covers in the Maintenance section for cover removal and installation details.

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.

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Figure 3-12. Battery Compartment, Connectors

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.

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Figure 3-13. 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.

Figure 3-14. 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.

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

Attaching the Payload Structure and Options

Payload Structure

You will need to attach the payload structure you designed and built to the platform. Because the payload structure is user-designed, we only provide the hole pattern for how you can attach it. Refer to Dimensions on page 52.

The connections, both power and signal, that are available on the platform are covered in Connectivity on page 59.

Options

You may need to attach any accessories that were shipped separately or detached for safety. See Payload Structures on page 51.

NOTE:Either an E-Stop jumper or a user-supplied E-Stop button needs to be attached to the E-STOP port (User Interface)for the platform to function. The jumper is provided as part number 12730-000L. An E-Stop button would be user-supplied. Refer to User Interface on page 69.

NOTE:See the following figure.

Figure 3-15. E-Stop Jumper on LD Platform Core

Warning Buzzer Option

A warning buzzer is available as an option. This can be driven from the Light Pole connector on the core. You can install it in either the platform or in a location of your choosing in your payload structure. In either case, the buzzer will sound intermitently whenever the AIV is moving in reverse.

If you choose to install the buzzer in the payload structure, the installation procedure will be dependent on that payload design, so it is not covered here. In order to maintain conformity

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Chapter 3: Setup

with applicable standards, it is important that the buzzer be audible in all operating conditions and environments.

Warning Light

Each AIV is required to have a readily visible flashing light, to serve as a warning that the AIV is ready to move or is moving. The exact nature of this light will vary depending on how the payload is designed and built. The warning light can be driven from the Light Pole connector on the core. The warning light is user-supplied.

You should ensure that the light remains visible under all operating conditions, so that, regardless of your payload structure design, any people near the AIV can see it.

Installing the Docking Station

The automated docking station can be used for either manual or automated charging of your platform'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 can sit stand-alone on the floor with the floor plate, all of which will keep the docking station from moving when the AIV docks. Both the wall bracket and floor plate are included with each docking station.

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

For all mounting methods:

Locate the docking station near an AC outlet with 1 - 2 meters (3.25 - 6.5 ft)of clear space in front to ease the AIV’s maneuvers, especially automated ones, onto the docking station.

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

Attach the docking station mounting bracket to a wall, with the bottom edge of the bracket 98 ± 20 mm (3.8 ± 0.8 in.) 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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Chapter 3: Setup

89 [3.5]

114 [4.5]

267 [10.5]

247 [9.7]

123 [4.9]

121 [4.8]

356 [14.0]

315 [12.4]

369 [14.5]

384 [15.1]

Wall Mount

and Floor Mount

Units are mm [in.]

Wall Mount Bracket

98 ± 20 [3.8 ± 0.8]

3x Ø6 [0.25]

8x 25 [1.0]

18x Ø6 [0.25]

Figure 3-16. 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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Figure 3-17. Rear View of Docking Station with Wall Bracket

Lower the docking station down, so the two 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

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 3-16. We recommend M5 self-tapping or M4 sheet rock 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 platform, right behind the docking station.

Attaching the Floor Plate

Refer to the following figures.

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Chapter 3: Setup

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 AIV on the floor plate will keep the docking station from moving.

Figure 3-18. 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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406 [16.0]

495 [19.5]

Units are mm [in.]

Figure 3-19. Docking Station, Mounted on Floor Plate

Figure 3-20. Docking Station Floor Plate Dimensions

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All mounting methods

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’s foot against the base 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 in.) 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 3-21. Docking Station Contact Adjusting Pull-Knob

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Chapter 4: Configuration

The LD platform comes with firmware and onboard software installed.

This chapter describes how to configure your new platform.

The platform navigates using a map, generated with the MobilePlanner software. The map must be generated and downloaded to the platform before you can perform the steps covered in the Operation chapter of this manual.

The configuration of parameters is also performed with the MobilePlanner software.

The platform is autonomous, but can be monitored and manually controlled through the MobilePlanner software.

The operation of this software, as well as the downloading of the map to the platform, is covered 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 with 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.

4.1 Settings and Configuration

Maintenance Ethernet Connection

To prepare your platform 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 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 plugs into 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 8-1. This is internally connected to the Ethernet port located on the rear side of the LD platform 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. Access to the SetNetGo OS is

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always enabled on this interface, and does not require a password or a license. 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 wireless Ethernet, among other things. Refer to the Mobile Robot Software Suite User's Guide for details.

NOTE:The AIV is capable of working without wireless Ethernet. If there are no other AIVs that it needs to know about (and to avoid), you can have an installation in which the AIV simply uses its map, knows its patrol route, and performs without human intervention.

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 LD platform.

Access the SetNetGo OS through the MobilePlanner software:

MobilePlanner >SetNetGo >Networking

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.

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

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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.

Security Settings

Encryption:

Disabled

WEP 64-bit

WEP 128-bit

TKIP/RC4

Chapter 4: Configuration

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.

Wireless Coverage

The LD platform 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.

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We do 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, 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.

Also, other factors will affect the bandwidth requirements, such as if the AIV supports a camera on top and streams the video through the AIV’s WiFiinterface. Based on such possibilities, the bandwidth usage will vary by application.

4.2 Mapping

Chapter 4: Configuration

Out-of-the-box, the platform does not have a working map, nor are its wired or wireless network settings likely to match your network. Consequently, it will not do anything autonomously. In order to have your platform perform autonomous mobile activities, you need to make a map of its operating space. Use the MobilePlanner application to make maps. Refer to the Mobile Robot Software Suite User's Guide.

The tasks involved are:

Use the platform, while driving with the joystick, to make a floor plan scan.

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

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

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, or back to the platform, if you have only one AIV, 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.

Save map collections and deploy your AIV 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.

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Chapter 4: Configuration

You can drive the platform with the joystick. We recommend that you drive it to and position it onto its automated docking station in preparation for the next steps. (Installation of the automated docking station was covered in the previous chapter.)

Maps are developed with the MobilePlanner software. You can add a variety of virtual elements that 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.

4.3 Acceleration, Deceleration, and Rotation Limits

CAUTION: If you change AbsoluteMaxTransVel, you should commission the robot before putting it into service.

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, our Field Service department can work with your system designer to input your needs into our models.

Contact Omron Adept Technologies, Inc. for details. See Support on page 14.

If your payload’s center of gravity is not within the guidelines given in the Center of Gravity on page 54, you will need to adjust the Absolute Movement Maximums parameters in the MobilePlanner software.

From the MobilePlanner software, Config:

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-60) 1800 1 2500

AbsoluteMaxTransVel (LD-90) 1300 1 2500

AbsoluteMaxTransNegVel -250 -2500 -1

AbsoluteMaxTransAccel 500 1 2000

AbsoluteMaxTransDecel 500 1 2000

AbsoluteMaxRotVel 100 1 180

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Chapter 4: Configuration

Parameter Default Min Max

AbsoluteMaxRotAccel 180 1 360

AbsoluteMaxRotDecel 180 1 360

4.4 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).

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Everything that you attach to the LD platform is referred to as the payload structure.

In some custom cases, we design and build the payload structure. In most cases, you will need to design a payload structure that suits your application. This chapter discusses considerations to be aware of when you design a payload structure for your platform.

The platform provides the mobility and navigation you will need, as well as power and I/O connections between the platform and your payload structure, so the two can work effectively together.

5.1 Safety

Warning Label

A No Riding label is shipped, unattached, with each platform. It is the user’s responsibility to place this in a prominent location on the payload, so Operators will see it.

Chapter 5: Payload Structures

Other warning labels will have been applied at the factory.

Warning Lights

An AIV is required for CE compliance to have a readily-visible warning device, such as a flashing light, when it is either ready to move or is moving. The platform comes with light discs on each side that do this. 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 side light discs not always visible.

The core has a Light Pole connector, which is covered in Rear Upper Core on page 66. This can be used to drive a warning device in a more prominent location for taller AIVs.

Warning Buzzer

The core provides an output for driving a warning buzzer. The default behavior of the buzzer is to sound when the AIV is moving in reverse, or when the safety systems are off. Its behavior is configurable by the user, so it can be used to sound, for example, whenever the AIV is moving.

A buzzer kit, with buzzer and harness, is available as an option. See Warning Buzzer on page

134.

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5.2 Considerations

Performance

The main performance factors to consider in designing a payload structure are the size, weight, and center of gravity of the payload structure, and power requirements. Adding weight to the platform tends to have less effect on run-time than adding electrical power requirements. Operating your AIV on carpet will have a significantly shorter run-time than on hard surfaces.

Weight

On a hard surface, a certain amount of extra weight will not shorten the AIV's run-time very much. When adding a payload structure with substantial weight, the center of gravity of the entire AIV needs to be considered. This is particularly important if you intend to equip the platform with a robot arm, which would be lifting items off-center from the platform.

A heavy payload structure, with most of its weight concentrated just above the platform, will be much more stable than the same weight payload structure in which the weight is either offcenter or high above the top of the platform.

NOTE:The weight of your payload structure added to the weight of the parts it is carrying must not exceed the rated capacity of your platform.

Chapter 5: Payload Structures

Power Consumption

Using devices on your payload structure that consume significant power will noticeably shorten the run-time of the AIV. You should try to minimize such power consumption whenever possible. The battery is rated at 1500 W*hr (1.5 kWh).

Examples of power-consuming payload structures would be one with a robot arm attached, or any motorized fixture, such as a conveyor, as part of the payload structure. The standard Operator screen and light discs consume some power, but are not significant compared to the rest of the platform.

Payload Bay Access

The area between the platform and your payload structure is the payload bay. You will occasionally need to access the platform and the connectors in the payload bay. This is where you can access all of the platform power and I/O connectors. It's a good idea to provide for access to this when designing your payload structure.

If the payload structure is small and light enough, it can just be lifted off of the platform to access the connectors in the payload bay. Care should always be taken not to damage any wiring between your payload structure and the platform.

A larger, heavier payload structure may need some form of hinge, so that the payload structure can be tilted out of the way while you access the payload bay. Consideration should be given to harness length and position so that this can be accomplished without disconnecting or damaging any connectors or harnesses.

Dimensions

You must keep your payload structure no wider and no longer than the platform. Add whatever features are needed by your application above the platform itself.

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Chapter 5: Payload Structures

0 (0.0)

15.4 (0.61)

112.9 (4.44)

161 (6.34)

234 (9.21)

307 (12.09)

370.9 (14.60)

380 (14.96)

453 (17.83)

501.9 (19.76)

599.4 (23.60)

0 (0.0)

59 (2.32)

109 (4.29)

145.9 (5.74)

132.8 (5.23)

304.2 (11.98)

328 (12.91)

378 (14.88)

421.4 (16.59)

291.9 (11.49)

16.4 (0.65)

‘A’

‘A’‘A’

‘A’

Upper Mounting Surface

Lower Mounting Surface

40.7 (1.60) Below Upper Surface

24x M6 Threads Marked ‘A’

Units are mm (in.)

Keep all of the payload structure higher than the top of the platform. If any of the platform's sensors get blocked, it won't be able to function correctly. This is critical in the case of the lasers.

If you have the optional side-mount lasers for your payload structure ensure that the payload structure will not interfere with the beams of those lasers. Typically, the side lasers are mounted on the sides of the payload structure so that they protrude enough to miss the payload structure itself with their laser beams. Many customers have found it prudent to build a protective guard over the side lasers, to protect the lasers from impact. Ensure that any such guard does not block the laser beam.

In the preceding figure, all of the M6 PEM nuts (A)have a torque limit of 3 N-m (26.6 in-lbf).

Figure 5-1. Platform Deck Dimensions, with M6-threaded Holes

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Chapter 5: Payload Structures

0 (0.0)

169.9 (6.69)

244.9 (9.64)

0 (0.0)

33.5 (1.32)

83.5 (3.29)

353.5 (13.92)

403.5 (15.89)

‘B’

‘B’ ‘B’

‘B’‘B’

8x M5 Threads Marked ‘B’ Lower Mounting Surface

40.7 (1.60) Below Upper Surface

Units are

mm (in.)

CAUTION: Do not exceed this torque when attaching your payload structure to these PEM nuts. See NOTE that follows.

In the preceding figure, all of the M5 PEM nuts (A)have a torque limit of 14 N-m (124 in-lbf).

Center of Gravity

As much as possible, you should keep the payload structure 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 crossing thresholds or irregularities in the floor.

Figure 5-2. Platform Deck Dimensions, with M5-threaded Holes

NOTE:The M6 PEMnuts are inserted differently than the M5 PEMnuts, to increase the usable thread length. This also decreases the torque that can be applied to them, so the M5s have a much higher torque limit than the M6s in this application.

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Chapter 5: Payload Structures

380

(15.0)

188.7 (7.43)

16.5 (0.65)

Units are mm (in.)

Wheel

Axis

697 (27.4)

345.3 (13.59)

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

The following figure shows the center of gravity of the platform, without payload structure.

Figure 5-3. Center of Gravity of Platform

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

NOTE:These figures show the limits of where the payload structure center of gravity can be placed. You should try to keep your CG as close to the center of these figures as possible.

In the following three figures, light blue represents the payload structure, while dark blue represents the platform.

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10 kg

1500

1400

1300

1200

1100

1000

900

800

700

600

500

400

200

1000-100

-200

-300

-200

-1000100

200

300

1500

1000

500

400

2000-200

-400

300

200

1000-100

-200

-300

Side View

Front View

Isometric View

5000-500

1500

1000

500

300

200

1000-100

-200

-300

1500

1400

1300

1200

1100

1000

900

800

700

600

500

400

-300

-200

-1000100

200

300

200

1000-100

-200

Side View

Front View

Isometric View

Chapter 5: Payload Structures

30 kg

Figure 5-4. Center of Gravity Graphs, 10 kg

Figure 5-5. Center of Gravity Graphs, 30 kg

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60 kg

1500

1000

500

-500

300

200

100

-100

-200

-300

1500

1400

1300

1200

1100

1000

900

800

700

600

500

400

-300

-200

-1000100

200

300

Side View

Front View

Isometric View

200

1000-100

-200

Chapter 5: Payload Structures

Figure 5-6. Center of Gravity Graphs, 60 kg

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 robot provider 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 49.

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Chapter 5: Payload Structures

5.4 Connections Between Platform and Payload Structure

The platform provides a variety of I/O and power connections, which you can use to make your AIV more effective.

Operator Panel

The Operator screen, E-Stop, Brake-release, ON, and OFF can be "moved" using a single connector (the HMI Panel connector). This allows you to put many of the more common operator controls somewhere on your payload structure with just one cable.

Figure 5-7. Standard Operator Panel

A larger Operator panel, with a touchscreen, is available as an option. See Touchscreen on page 134.

Many other connections are available. Details and specifications of the connections available are covered in Connectivity on page 59.

Option Connections

The platform provides connectors for user-supplied payload bumpers that can be placed on the payload structure.

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Most of the connections that are available to the user are in the payload bay, which is the space between the platform and any payload structure placed on top of it. These include I/O and power connections. Some are required, others are available if needed.

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 have a second, connected port inside the payload bay. See Figure 8-1.

6.1 Required Connections

Joystick port In order to generate maps with the platform, you need to connect a joy-

stick 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.

This is internally connected to another Joystick port in the payload bay.

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

Chapter 6: Connectivity

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. Access to the SetNetGo OS is always enabled on this interface, and does not require a password or a license. 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.

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 Payload Bay Connections

These connections are available for use with standard and user-supplied accessories. The antennas and joystick come with the platform.

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

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Chapter 6: Connectivity

Digital

Ant1

Ant2

Audio In

Audio Out

CAN Bus B Digital I/O

Analog I/O

User LANRS232-1RS232-2Aux Sensors

Figure 6-1. Right Side of the Core

LD Platform Core Front, Upper

Figure 6-2. Front Upper Core

Connection Type Description

User LAN RJ45 General Ethernet, Auto-MDIX, shielded

Aux Sensors HDB15M Low front and optional side lasers

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

CAN Bus B DB9F Consult Omron Adept Technologies, Inc. for use.

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. 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.

Analog I/O HDB15M General use

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CAN Bus B

Connector type DB9F

Use CAN Bus

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

Chapter 6: Connectivity

Designation

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

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

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

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Chapter 6: Connectivity

Designation

Pin No. Hardware Software Notes

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

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 - 44 GND

Digital Input Specifications

(shared with light pole)

Parameter Value

Operational voltage range 0 to 30 VDC

OFF state voltage range 0 to 1.3 VDC

ON state voltage range 4 to 30 VDC

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Chapter 6: Connectivity

Supplied Equipment

User-Supplied Equipment

Input_1.1

Part Present Sensor

Input_1.2

Input_1.3

Input_1.4

VBAT_IO_OUT1

GND

Bank 1

Common

Bank 4

Common

4041Input_4.1

Input_4.2

Input_4.3

Input_4.4

192042

GND

VBAT_IO_OUT4

Wiring

Terminal

Block

Typical User

Input Signal

Note: all Input signals

can be used for either

sinking or sourcing

configurations.

Bank 1 configured for

Sinking (NPN) Inputs

Bank 4 configured for

Sourcing (PNP) Inputs

(equivalent circuit)

Input Bank 4

Input Bank 1

Input Bank 3

Input Bank 2

Parameter Value

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.

Figure 6-3. Typical Digital Input Wiring Example

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Chapter 6: Connectivity

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

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

≤ 500 mA

out

≤ 5 μA

out

DC short circuit current limit 0.7 A ≤ I

LIM

≤ 1.7 A

Figure 6-4. 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

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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.

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

Chapter 6: Connectivity

Pin No. Designation Notes

8 ANALOG_IN8 0 – 30 V Range

9 ANALOG_OUT1 0 – 20 V Range

10 ANALOG_OUT2 0 – 20 V Range

11 ANALOG_OUT3 0 – 20 V Range

12 ANALOG_OUT4 0 – 20 V Range

13, 14, 15 GND

Connector type HDB15M

Use Low Front Laser, optional Side Lasers

Designation

Pin No. Hardware Software Notes

1 RS232_VERT1_TXD /dev/ttyUSB5 (side lasers)

2 RS232_VERT2_TXD /dev/ttyUSB6 (side lasers)

3 RS232_FOOT_TXD /dev/ttyUSB7 (low front laser)

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 (side lasers)

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 (side lasers)

12 RS232_VERT2_RXD /dev/ttyUSB6 (side lasers)

13 RS232_FOOT_RXD /dev/ttyUSB7 (low front laser)

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 (low front laser)

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Chapter 6: Connectivity

Light Pole User Interface User Bumpers Aux Power User Power

Maint LAN Joystick HMI Panel Sonar 2

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

LD Platform Core Rear, Upper

Figure 6-5. Rear Upper Core

NOTE:The connectors in the top row of the rear upper core mate with Molex MiniFit Jr™ 5557 series receptacles.

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; same function as Operator

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

Panel ON

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Chapter 6: Connectivity

Connection Type Description

OFF Pins for user-supplied OFF button; same function as Operator

Panel OFF

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

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

Sonar 2 DB9M Not used

Power Connections

Mini-Fit 2 x 4

2 x 3

2 x 6

Shielded

Payload structure bumpers, user-supplied, connected between ESTOP_SRC and USER_BMP# (for each of the 6 inputs). Contacts 1 - 3 are for a front bumper, 4 - 6 for rear. Contacts should be 12 V @ 10 mA.

5, 12, and 20 VDC Outputs

Battery and switched battery power

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

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 core and laser LIDAR (Light Detection And Ranging).

All power connectors are Mini-Fit®.

Nominal Qty Actual

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

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

20 VDC 1 20 VDC ±5% 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 94.

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

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Chapter 6: Connectivity

VBAT_IO_OUT4

LIGHT_P1_N

LIGHT_P2_N

LIGHT_P3_N

LIGHT_P4_N

GND

(equivalent

circuit)

Typical user load

Wiring terminal block

Standard Equipment User-Supplied Equipment

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

Figure 6-6. Sample Light Pole Diagram

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User Interface

Connector type Mini-Fit®7 x 2

Use Brake release, ON, OFF, E-Stop

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

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 robot into service.

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Figure 6-7. E-Stop Chain Diagram

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User Bumper

NOTE:Pins 1 through 3 are for a front-mounted bumper, 4 through 6 are for a rearmounted bumper.

Connector type Mini-Fit®4 x 2

Use Optional bumper for payload structure

Pin No. Designation Notes

1 USER_BUMPER_1 Short to ESTOP_SRC to signal bumper hit

Front left bumper sensor.

2 USER_BUMPER_2 Short to ESTOP_SRC to signal bumper hit

Front center bumper sensor.

3 USER_BUMPER_3 Short to ESTOP_SRC to signal bumper hit

Front right bumper sensor.

4 USER_BUMPER_4 Short to ESTOP_SRC to signal bumper hit

Rear right bumper sensor.

5 USER_BUMPER_5 Short to ESTOP_SRC to signal bumper hit

6 USER_BUMPER_6 Short to ESTOP_SRC to signal bumper hit

7, 8 ESTOP_SRC 12 V ESTOP Source Output @ 10 mA

Aux Power

Connector type Mini-Fit®3 x 2

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

Rear center bumper sensor.

Rear left bumper sensor.

Designation

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User Power

Connector type Mini-Fit®6 x 2

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

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

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HMI Panel

Connector type HDB15F

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

Designation

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

Connector type DB9M

Use platform (rear) sonar

NOTE:Sonar 1 is part of the Internal LD platform core connections.

Connections to HMI Panel

If the optional touchscreen is used, rather than the HMI panel, the RS422_HMI connectors are not needed, but the user will have to provide buttons for ON (Start), OFF, Brake Release, and E-Stop functions.

Designation

Pin No. Hardware Software Notes

1, 4, 8 No Connection

2 RS422_SNR_RX+

3 RS422_SNR_TX+

5 GND

6 RS422_SNR_RX-

7 RS422_SNR_TX-

9 SW_12V_SNR Sonar_1_Power

Connections to Sonar Module

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VGA

Debug Wheel Lights Sonar 1

Charge Contacts

Battery Power

USB1

USB2USB3

Bumper Speakers Batt Comm.

LIDAR R. Motor L. Motor

Internal LD Platform Core Connections

The following connections are internal (under the platform's top deck), and not normally available for the user. They are listed here so that you can reconnect them in the event that they need to be disconnected for parts replacement.

Figure 6-8. Internal Connectors on the LD Platform Core (Front)

NOTE:The Bumper, Speakers, and Batt Comm. connectors on the internal core mate with Molex Mini-Fit Jr™ 5557 series receptacles.

NOTE:The Charge Contacts and Battery Power connectors on the internal core mate with Molex Mini-Fit Jr™ 42818 series receptacles.

Connection Type Description

Debug RS-232 DB9M Reserved

Wheel Lights DB9F Motion and status indicator

Sonar 1, RS-422

DB9M Connection to Sonar Module

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light disc on the platform sides

(Rear sonar sensors)

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Connection Type Description

Charge Contacts Mini-Fit Sr., 2-pin

VGA HDB15F Reserved

USB x 3 USB Type A Reserved

LIDAR HDB26M Safety Scanning Laser

Right Motor HDB26F NOTE:The Right and Left Motor connectors use

Left Motor HDB26F

Battery Power Mini-Fit Sr., 3-pin Battery VDC; connects to battery

Bumper Switches Mini-Fit 2 x 4 Connect to standard bumper contacts

Speakers Mini-Fit 2 x 2 Drives built-in speakers

Battery Comm. Mini-Fit 2 x 3 Battery communication/control

the same type of plug. Take care not to reverse them.

Internal Data Pinouts

Wheel Lights (Light Discs)

Connector type DB9F

Use Motion and status indicator light disc on the platform sides

Designation

Pin No. Hardware Software Notes

1, 2 CANL_A CAN Communication differential pair

3, 4 GND Direct GND

5 SHIELD GND Bead filter to GND

6, 7 CANH_A CAN Communication differential pair

8, 9 SW_12V_WHEEL WheelLight_Power 12 V @ 1 A Max (switched in SW)

NOTE:Sonar 1 is covered at the end of See "LD Platform Core Rear, Upper".

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LIDAR (Light Detection And Ranging)

Connector type DB26M

Use Front navigation laser

Designation

Pin No. Hardware Software Notes

1 RS422_LIDAR_RX+

2 RS422_LIDAR_RX-

3 OSSD1

4 OSSD2

5 WF_OUT

6 O3_OUT

7 STANDBY

8 EDM

9 No Connection

10, 18 SW_20V_LIDAR Main_Laser_Power

11 thru 17 GND

19 RS422_LIDAR_TX+

20 RS422_LIDAR_TX-

21 IN_A1

22 IN_A2

23 IN_B1

24 IN_B2

25 IN_C1

26 IN_C2

Pin 10 +18:Current < 600 mA

Connections to LIDAR

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Internal Power Pinouts

Bumper

Connection Mini-Fit®4 x 2

Connector type DB9F

Use Front bumpers

NOTE:The single front bumper uses four sensors for operation.

Pin No. Designation Notes

1 BUMPER_R2L Right, Channel 2, Low

2 BUMPER_R1L Right, Channel 1, Low

3 BUMPER_L2L Left, Channel 2, Low

4 BUMPER_L1L Left, Channel 1, Low

5 BUMPER_R2H Right, Channel 2, High

Chapter 6: Connectivity

Speakers

Connector type Mini-Fit®2 x 2

Use Speakers

6 BUMPER_R1H Right, Channel 1, High

7 BUMPER_L2H Left, Channel 2, High

8 BUMPER_L1H Left, Channel 1, High

Pin No. Designation Notes

1 RIGHT+

Right Speaker

2 RIGHT-

3 LEFT+

Left Speaker

4 LEFT-

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Batt Comm.

Connector type Mini-Fit®3 x 2

Use Battery control

Pin No. Designation Notes

1 GND

2 RS232_BATT_RXD

Chapter 6: Connectivity

3 RS232_BATT_TXD

4 FBAT_ALWAYS

5 START_BUTTON

6 OFF_BUTTON

Connections to the Battery

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Before proceeding, you need to have performed the steps covered in the Setup and Getting Started chapters, so your platform has a map to work from.

7.1 Operating Environment

Intended Use

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.

Chapter 7: Operation

WARNING: Do not allow the platform to drive through an opening that has an automatic gate/door unless the door and platform are configured correctly with the Call/Door Box option.

Refer to the Call/Door Box Installation Guide for details on the Call/Door Box.

Obstacles

Care must be taken to avoid:

l glass doors and walls

l pits without railings or low bumpers

l floors with access panels removed

l loose cables, hoses, etc.

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l large, highly-reflective objects

Environment and Floor

Floors must provide good traction, typical of good walking conditions.

l Slope

Up to 60 kg,up to 1:12 slope

Slope must provide adequate traction.

l Temperature

l Humidity

l Altitude

5° to 40° C (41° to 104° F)

5 to 95%, non-condensing

Up to 1000 m above mean sea level

NOTE:Read the warning that follows step and gap traversal. Any steps must have a smooth, rounded profile.

l Step traversal, LD-60

l Step traversal, LD-90

l Gap traversal

Up to 15 mm (0.6 in.) at 250 - 300 mm/sec

Up to 10 mm (0.4 in.) at 250 mm/sec only

Up to 15 mm (0.6 in.)

WARNING: The LD platform is designed and intended for smooth, level floors. While it is capable of driving over a step or gap as listed, frequent or high-speed driving over steps or gaps will shorten the lifespan of the drivetrain components.

NOTE:At less than the recommended speeds, the AIV may not be able to traverse the step height listed.

The LD platform is not intended for use in hazardous environments (explosive gas, water, dust, oil mist). It has an IP rating of IP40.

The LD platform is not intended for use in the presence of ionizing or non-ionizing radiation.

Getting Stuck

It is possible, though not likely, for the robot to get into a position from which it cannot move without Operator assistance.

Some examples are shown in the following figure.

If the platform has to be lifted to be free to drive again, refer to Lifting the Platform Safely on page 101.

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Driven off Ledge Driven Over Excessive Gap

Platform Stuck Under Overhang AIV Option Stuck Under Overhang

Figure 7-1. Examples of the Robot or AIV Getting Stuck

7.2 Typical Operation

During normal startup, your platform powers all its onboard systems1and runs its onboard software and your integrated processes automatically to provide an application-ready AIV. If it has been given a map of its workspace and knows where it is within that environment (localized), your AIV is ready to perform on startup and will operate autonomously, without human intervention.

Paths are not pre-programmed, but instead are generated dynamically onboard the platform. Paths are updated many times per second to maintain a smooth trajectory and to account for any obstacles that are detected by the onboard sensors. Navigational parameters are stored onboard the platform, and can be viewed and modified using the MobilePlanner software, which is covered in the Mobile Robot Software Suite User's Guide.

The MobilePlanner application, running on your computer, is used to configure the many high-level operating characteristics of the platform, including speeds and accelerations, sensor safety zones, minimum battery level allowed before docking for recharging, which map to use, and many other parameters. The MobilePlanner software typically communicates with the platform over the wireless network. A direct connection, through the Maintenance Ethernet port on the platform, is also possible.

As configured either by the factory or through your own parameter changes.

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CAUTION: The Operator Mode of the MobilePlanner software should be protected with user ID and password access, to prevent unauthorized operation of an AIV.

7.3 Power and Charging

The platform battery is sealed. It supplies ample power for the motors, electronics, and accessories.

The platform ships separately from the battery. You should have fully-charged and installed the battery in the platform in Installing the Battery on page 33.

Battery recharging is typically managed by the platform. With the power provided by the automated docking station, all onboard systems function continuously while the battery recharges.

The Operator screen shows % state-of-charge (SOC)remaining for battery.

Run-time, with no load, is approximately 13 hours. This will vary significantly depending on use and accessory power consumption.

Recharge time is approximately 3.5 hours.

Chapter 7: Operation

Battery Indicators and Controls

The battery has one push-button and four LEDs. From left to right, they indicate:

LED Color Meaning

1 Red Error condition

Green 25% state of charge

2 Green 50% state of charge

3 Green 75% state of charge

4 Green 100% state of charge

a: If the red light blinks when the push-button is pressed, the battery is depleted and

should be charged.

If the red light blinks constantly, the battery needs service. Connecting the battery to a platform will write an error code to the log, which will allow Service to better solve the problem.

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Figure 7-2. Battery LEDs, Push-Button, Power Cable, and Data Cable

The push-button "wakes up" the battery, so it displays its state of charge. This can be useful when a battery is in storage, and you want to know its state of charge.

Docking Station

The automated docking station provides both a manual and an automated means for recharging your platform battery.

Autonomous Charging

During normal, autonomous operation of the AIV in the workspace, the AIV manages charging automatically through the automated docking station. The AIV will approach the docking station frontward, and then turn around and back onto the docking station to charge. There is about a 10-second delay between when an AIV docks and when the charging LED turns on.

Connecting and disconnecting the AIV with network and onboard clients will not disturb the charging state. (Moving the AIV will, of course.) The station supplies ample power for all onboard systems while charging its battery, so you can continue operating those systems while charging.

If the AIV is powered off, it will turn on automatically when it is pushed onto the docking station. An AIV cannot be turned off while on the docking station.

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Figure 7-3. Docking Station

Indicators, Controls, and Connections

The docking station has a power switch and two LEDs:

blue indicates that power is available.

yellow indicates that a charge is in progress.

The power switch, located on the right side of the dock, has an integrated thermal fuse, which can shut down the dock if it becomes too hot. If this happens, you have to wait for the fuse to cool down, turn the switch to off (0) and then back to on (1).

Legacy versions of the dock used two fuses in a fuse drawer to protect the dock. Their replacement is covered in Docking Station ACPower Fuse on page 111.

The power plug for AC supply is next to the power switch. Power requirements are 100 - 240 VAC, 50 - 60 Hz, and 8 A.

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The plug for connecting the manual charging cable is on the left side of the station, as viewed from the front.

Environmental Requirements

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

Humidity:5 to 95% non-condensing

Maintenance

The docking station contacts should be cleaned quarterly with isopropyl alcohol. See Docking Station Contacts on page 105.

The guide roller can be replaced in the field. See Docking Station Roller and Bearing on page

110.

If necessary, the height of the docking station contacts can be adjusted. See Docking Station Contact Adjustment on page 43.

Manually Charging the Battery

Battery in Platform

To manually charge a battery inside the platform, push the AIV backwards, with E-Stop engaged, so that the rear of the platform slides over the contacts of the docking station.

NOTE:You will need to press and hold the brake-release button before moving the platform.

NOTE:If you push the platform too far onto the docking station, it will not charge. Make sure that the yellow charge light comes on and stays on.

Standalone Battery

The battery can be charged, outside of the platform, by using the connector on the left side of the docking station (viewed from the front)with the provided charging cable. This will most likely to be used for charging a spare battery, while the second battery is still in the platform, and the AIV is in use.

There is about a 10-second delay between when you connect the battery cable and when the charging LED turns on.

NOTE:The docking station cannot charge a platform and a separate battery at the same time. If a platform is on the station, the power to the manual charge connector is cut off.

Some users choose to manually charge a spare battery, and swap that for the battery inside the platform. This is often done at the start of each workshift, so the AIV is available for the entire shift without recharging.

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Balancing the Battery

The battery is composed of multiple cells, which need to stay balanced in order to maintain maximum run-time.

There are three ways for managing battery balancing:

Set the AIV‘s DockUntilDoneCharging parameter to True. In this case, the battery will balance before saying it's done charging, so the battery will get balanced every time the AIV docks. You do not have to do anything extra to balance the battery.

In this mode, the battery will typically take about 10 minutes to balance after charging.

NOTE:This is the mode that we recommend for installations that aren't doing battery swapping.

Exchange the in-service battery, periodically, with a fully-charged spare battery.

A spare battery that remains plugged into a docking station will be balanced. In this mode, you don’t have to worry about battery balancing, although it does add the task of manually swapping batteries.

The interval between battery swaps depends on how the AIV is used. This includes the weight it carries, the electrical load of any accessories, and what percent of the time it is in service. You will need to determine the best interval for your situation. Swapping the battery at every shift change is a commonly-used interval.

NOTE:This is the mode that we recommend for battery swapping, if you are not charging the battery while it is inside the AIV.

Set the AIV’s DockUntilDoneCharging parameter to False, to let the AIV get a partial charge by docking. The StateOfChargeToChargeTo and MinutesToChargeFor parameters need to be set to appropriate (non-zero) values. You would then do a battery swap with a fully-charged and balanced battery periodically, such as once a week.

StateOfChargeToChargeTo determines the state of charge the battery needs to attain before the AIV can stop charging.

A 90% value here would get the battery mostly charged, but not balanced.

MinutesToChargeFor determines the number of minutes the battery needs to charge before the AIV can stop charging.

The AIV will stop charging when the battery reaches either of these parameter values.

CAUTION: If both of these parameters are left at the default of 0, and DockUntilDoneCharging is set to False, the AIV will dock, and never undock.

In this mode of charging, we recommend that you do a battery swap weekly, at a minimum. If you see a reduction in run-time, you should do a swap more often than that.

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NOTE:The longer you wait to balance a battery, the longer it will take to balance. A battery that is badly out of balance can take well over 10 hours to balance after charging.

7.4 Operator Panel

The Operator panel comprises a screen, an E-Stop button, ON and OFF buttons, a brake-release button, and a keyswitch. The panel will typically be mounted on the payload structure, so that it is easily reached by an Operator.

Chapter 7: Operation

Figure 7-4. Operator Panel

Screen

The screen is a color TFT, 320 x 240 pixels, 3.5 in. diagonal. It can display 256K colors, and is backlit.

NOTE:Tapping lightly on the screen will turn on the backlight, in case it has timed out.

NOTE:This is not the same as the Touchscreen option.

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Default/Sample Screen Contents

The first screen, during boot-up, will be the following:

Figure 7-5. Initial Boot Screen

Once the platform has booted, you will see the main screen:

Figure 7-6. Fields of the Main Screen

Up to six messages will be displayed in the main screen, in order of importance.

Only one fault at a time will be displayed.

Any event or condition that causes an ARAM restart or AIV shutdown will be displayed, giving the cause of the restart or shutdown.

E-Stop

When pressed, the red, latching push-button removes power from the platform’s motors and from the E-Stop power port after a 1 second delay, giving the software time to stop the platform safely. To reset the E-Stop, twist the button slightly, so it pops up.

The motors must also be explicitly enabled, either with the dialog box that will pop up or with the ON button. (This is not the case if the AIV is docked or experienced a critical driving fault.)

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This can be done either with the MobilePlanner (with Map >Show Robot on) software, or with an ARCL command. See the following figure:

Figure 7-7. Motor Enable Pop-up Dialog

ON Button

The ON button is used for restoring power after the OFF button has been pressed, and the software has finished shutting down the AIV.

It can also be used to restore power after an E-Stop has been pressed.

OFF Button

The red OFF button removes power from all systems except the charging hardware circuits. The platform's software systems prevent loss of data on shutdown, and save the platform’s last known location so it automatically localizes when it is next powered on.

NOTE:The OFF button can be disabled by the keyswitch, which can be locked and the key removed.

Brake-Release Button

The brake release is used when you need to manually move the AIV.

Battery power is required and an E-Stop must be pressed to release the brakes. The brakerelease button must be held in for the brakes to remain released.

Keyswitch

The keyswitch can be used to disable the OFF button. The key can be removed in either the locked or unlocked positions.

7.5 Other Controls and Indicators

When sold by itself, the platform does not come with a beacon or light tower. This would need to be user-supplied. Factory-supplied LD platform-based AIVs often include a beacon. The core has a Light Pole port that supports the beacon behavior described here.

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Slow pulse:

Light Discs and Beacon

Circular lights on the sides of the platform are used to indicate motion, turns, and several other states.

A user-supplied beacon, usually on the AIV dome, can be used for extra signaling. A beacon is used to indicate movement and to signal an Operator that the AIV is waiting for assistance.

Their states are described here, and summarized in the following tables.

Driving Straight

Blue arcs on each side of the platform will appear to rotate in the direction of the platform's travel, to let nearby people know that it is moving (or about to move). Beacon blinks green.

Turn Signal (for turns >30 degrees)

The blue drive indicators will include a blinking orange segment at the front of one light disc to indicate that the platform is about to turn in the direction of the signal. Beacon blinks green.

Stopped, no errors (ready)

Entire light disc on each side pulses blue slowly (0.25 Hz). Beacon is steady green.

Driving with Warning (doesn't prevent driving, such as low battery)

The light disc will be orange instead of blue for Stopped, Driving, and Turn Signals.

Beacon alternates green then yellow.

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Slow pulse:

Turn Signal with Warning (doesn't prevent driving, such as low battery)

Same as Turn Signals, but both the blue rotating arc and blinking segment are orange. The moving arc and the blinking segment have independent timing.

Driving Slowly, Safety Inactive

Under 300 mm/sec, the platform stops safety checking. The pattern is essentially the same as driving, except the background blinks orange. The moving arc and the blinking segment have independent timing.

Stopped with Warning (such as low battery)

The light discs will be orange instead of blue for Stopped with Warning. Beacon alternates long green with short yellow.

Obstacle Detected

The light disc will blink yellow if the AIV is stopped for an object in its safety zone. Beacon blinks yellow.

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75% 100%25% 50%

Lost

When the AIV is lost, the light discs will each display two orange arcs, traveling from the 6 o'clock to the 12 o'clock position and back, in opposite directions. Beacon blinks yellow.

Charging

When docked, a green arc will indicate the current state of charge (SOC), showing steady green from the top of the disc to the current SOC. A small white arc travels back and forth between the two ends of the green arc. Beacon blinks green (red if E-Stopped).

Platform Left

Side

0 to 90 cw 0 to 270 ccw 25%

0 to 180 cw 0 to 180 ccw 50%

0 to 270 cw 0 to 90 ccw 75%

full circle full circle 100%

Platform Right

Side

State of Charge

NOTE:The state of charge displayed is continuous, not limited to 25% increments.

E-Stop

The light discs will blink red in an E-Stop condition. Beacon blinks red.

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Booting

When booting, the light discs will display two blue arcs, traveling from the 6 o'clock to the 12 o'clock position and back, in opposite directions. Beacon alternates green, yellow, then red.

In the following table:

Blink indicates that a disc or light is on for a period, then off for a period.

Pulse indicates a 0.25 Hz fade on and off.

Circle indicates that the lights appear to be going in a circle.

Half-circles indicates two arcs, moving opposite each other between the top and bottom.

Solid indicates that a light is on continuously.

Alt indicates that the beacon switches between different lights, with no pause. Two lights with Alt means one light is always on, but not two at once.

Table 7-1. Indicator Meanings

Light Disc Beacon Meaning

Color Pattern Color Pattern

Blue Moving

Circle

Blue/ Orange @front

Moving Circle/ Blinking signal

Green Blink Driving straight,

all ok

Green Blink Turning > 30 degrees

in direction of orange turn signal, all ok

Blue Pulse Green Solid Stopped, all ok

Orange Moving

Circle

Green /Yellow

Alt Drive with warning,

doesn't prevent driving e.g. low battery

Orange/Orange @front

Moving Circle/

Green /Yellow

Alt Turn with warning

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Light Disc Beacon Meaning

Color Pattern Color Pattern

Blinking signal

Blue/ Orange

Orange Pulse Green/Green/Green

Yellow Blink Yellow Blink Object detected in

Orange Left+Right

Green/White arc

Red Blink Red Blink E-Stop, stops driving

Blue Left+Right

Moving Circle/ Blinking signal

Half-circles

Partial Circle/moving small arc

Half-circles

Green Blink Driving slowly, <300

mm/sec

Alt Stopped with warning

/Yellow

safety zone

Yellow Blink Lost

Green normally, Red if E-Stopped

Green/Yellow/Red Alt Booting

Blink Charging

LD Platform Core Indicators

Figure 7-8. LD Platform Core Indicators

The left end of the platform core has 12 indicator lights. The following table gives their meanings:

Indicator Meaning

Left Column

LOGIC The microcontroller has power

PC The core and the servo controller are communicating

DRIVE The drive wheels are under servo control

ESTOP An E-Stop has been activated

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Chapter 7: Operation

Indicator Meaning

Middle Column

20V 20 V power is available

12V 12 V power is available

5V 5 V power is available

VBAT Raw battery power is available

Right Column

LANMAINT The Maintenance Ethernet connector is showing activity

LANUSER The USER LAN connector is showing activity

WLAN The WiFi is showing activity

HD The hard drive is showing activity

Battery and Docking Station Indicators

See Battery Indicators and Controls on page 82 and Docking Station on page 83.

7.6 Sensors

Safety Scanning Laser

The onboard navigation laser is a very precise scanning sensor. The laser provides 500 readings in a 250 degree field of view, with a typical maximum range of 15 m (50 ft). The laser operates in a single plane, positioned at 203 mm (8 in.) 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 platform in areas that have these types of objects. If the platform 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 platform knows to plan paths safely around these objects.

Sonar

Each sonar pair consists of one emitter and one receiver. The sonar emitters and receivers are identical physically, but the platform uses them differently. The range is up to 5 m (16 ft), though the typical accurate range is only about 2 m (10 ft).

The platform’s two rear-facing sonar pairs are for obstacle-sensing while backing up.

The only two times the platform will back up is when docking on the docking station, or when the bumper has hit an obstacle. In the latter case, the platform will back up just enough so that it can rotate without touching the obstacle.

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Chapter 7: Operation

Other Sensors

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 core has a gyroscope mounted on it, to track the platform's rotation.

The combination of rotation and distance traveled are used by the platform to back up the navigation laser during localization. These limit the area on the platform's map that the platform needs to search.

Bumper

One bumper, with a low-sensing laser, is mounted at the front of the platform, should the obstacle-avoidance systems fail to detect an obstacle.

Optional user (payload structure) bumpers can be added using the User Bumper connector on the rear upper core, in the payload bay. There are six pins for front left, center, and right sensors, and rear right, center, and left sensors. The core connector is provided, but the payload bumpers are user-supplied.

7.7 Startup

Procedure

Press and hold the power ON button for half a second, then release. It takes about a minute for all the systems to start up and make their various interconnections. If the platform doesn't start up, try power OFF, check your connections, and then power ON.

Startup is complete when the light discs stop indicating boot (two blue light segments, moving in opposite directions from 6 o'clock to 12 o'clock and back).

By default, the core, navigation laser, and some auxiliary power start automatically when you press ON. To change that behavior, or to assign AUX power to your own accessories, modify their related parameters from the MobilePlanner software. You can also control power from a client connected with the core.

Joystick

The joystick plugs into the left side of the platform, under the small access panel at the upperright corner of the platform. See Location of Parts on the Platform on page 99. This is internally connected to the joystick port located on the rear side of the core in the payload bay.

CAUTION: The joystick should be locked up when not in use, to prevent unauthorized operation of an AIV.

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Chapter 7: Operation

Goal Button

Speed Button

Trigger

Drive Button

Joystick Use

Figure 7-9. Joystick Buttons and Trigger

Use the joystick to drive the AIV manually and for creating the scan used to make a map. Squeeze the trigger to enable the drive button.

Push the drive button forward or back to make the platform move in that direction. Push the drive button to the side to make the platform rotate in that direction. Diagonal positions of the drive button move the platform in an arc.

The AIV slows to a stop when you release the trigger. To stop more quickly, continue to squeeze the trigger and pull or push the drive button to its limit in the opposite direction of the platform’s travel.

The joystick’s GOAL button is for marking positions while making a map scan.

CAUTION: The safety scanning laser is not tied into the E-Stop chain when driven using the joystick. The platform will still avoid obstacles detected by the laser. The sonar, on the other hand, are disabled entirely when driving with the joystick.

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Chapter 8: Maintenance

Platform Core

Platform Sonar Controller

Safety

Scanning

Laser

Bumper

Front Laser

Light Disc

Drive Wheel x2Front Caster x2 Rear Caster x2

Rear

Sonar

Joystick/Ethernet

Access Panel

Battery Access Door

Payload

Bay

Core Mounting Bracket

This chapter covers periodic maintenance and user-serviceable parts replacement for the LD platforms and the docking station. It does not cover maintenance of the payload structure, which is the user's responsibility.

Figure 8-1. Location of Parts on the Platform

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Chapter 8: Maintenance

8.1 Safety Aspects While Performing Maintenance

Electrical Hazards

DANGER: During maintenance and repair, the power to the docking dock must be turned off. Remove and lock up the power cord to prevent unauthorized third parties from turning on power. The access covers on the docking dock are not interlocked.

DANGER: There are no user-serviceable parts inside the docking station. Do not remove the covers of the docking station. There is high voltage inside, and the covers are not interlocked.

DANGER: Only skilled or instructed persons, as defined in the Mobile Robot

LDSafety Guide, should perform the procedures and replacement of parts

covered in this section.

DANGER: During maintenance and repair of the platform, turn off the platform and disconnect the battery as soon as possible. Avoid shorting the terminals of the battery.

WARNING: Parts of the drivetrain can get hot during operation. Allow the robot to cool down before servicing.

Pinch Hazard

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.

Magnetic Field Hazards

Platform 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.

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Omron LD-60, LD-90 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Chapter 1: Introduction

Definitions

1.1 Product Description

Body and Drive

What's Included - Basic Components

Optional Components (partial list)

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 Hazard

Magnetic Field Hazards

Qualification of Personnel

Payload Movement and Transfer

Configurable Warning Buzzer

Multi-Vehicle Avoidance

2.4 Environment

General Environmental Conditions

Public Access

Clearance

Obstacles

2.5 Intended Use

Non-intended Use

Robot Modifications

2.6 Battery Safety

2.7 Additional Safety Information

Chapter 3: Setup

Battery Safety Information

Overview

Tasks

3.1 Transport And Storage

Platform

Battery

3.2 Before Unpacking

3.3 Unpacking

Battery

Platform

Repacking for Relocation

Installing the Battery

Attaching the Payload Structure and Options

Installing the Docking Station

Chapter 4: Configuration

4.1 Settings and Configuration

Maintenance Ethernet Connection

Setting Up Wireless Ethernet

4.2 Mapping

4.3 Acceleration, Deceleration, and Rotation Limits

4.4 Supplemental Information

Laser Setup

5.1 Safety

Warning Label

Chapter 5: Payload Structures

Warning Lights

Warning Buzzer

5.2 Considerations

Performance

Weight

Power Consumption

Payload Bay Access

Dimensions

Center of Gravity

5.3 Payload-Related Tradeoffs

5.4 Connections Between Platform and Payload Structure