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Omron HD-1500 Platform, User Manual

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1-9

Coordinate System

AMRs use the X, Y, Z, and Theta coordinate system displayed in the figure below. This information is
relevant for some of the procedures used in this manual, such as identifying which are the left or right
sides of the AMR. For example, the AMR Controller is located near the rear of the AMR, and the +X
direction is the direction of AMR forward travel.
The origin of the AMR coordinate system is the ideal point on the floor exactly half way between the
center of the two drive wheels. The origin of the coordinate system is the AMR's center of rotation.
Coordinates are required for procedures such as installing and configuring options such as lasers, and
also for understanding the center of gravity envelope. The AMR's coordinates are also associated with
the map coordinates.
The rotation value Theta specifies the AMR's angle of rotation, which determines its heading or direc-
tion of travel.
The origin of the vertical coordinate Z is set at ground level (Z=0). The value of Z is required when you
calculate the mount position of optional items such as Side Lasers. Positions of optional items like this
are set in MobilePlanner.

+X

+Y

+Z

Front

Rear

Left

Right

+θ

1 Overview

1-34

HD-1500 Platform User's Manual (I645)

Summary of Contents for HD-1500 Platform

Page 1: ...HD 1500 Platform User s Manual I645 E 03 ...

Page 2: ...mprove its high quality products the information contained in this manual is subject to change without notice Every precaution has been taken in the preparation of this manual Nevertheless OMRON assumes no responsibility for errors or omissions Neither is any liability assumed for damages resulting from the use of the information contained in this publica tion Trademarks Company names and product ...

Page 3: ...d user s responsibility to ensure that all personnel who will work with or around AMRs have attended an appropriate training 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 described in this document you should allow only skilled persons or instructed persons to do cer tain procedures Skille...

Page 4: ...ediately 2 Open the package Ensure not to damage the contents 3 Ensure that all items are present Additional Information Refer to 5 1 2 Items Supplied with the Product for the items supplied Note This illustration is provided as a sample It will not literally appear in this manual Item Explanation Item Explanation A Level 1 heading E Special Information B Level 2 heading F Manual name C Level 3 he...

Page 5: ...at not to do to ensure proper operation and performance Additional Information Additional information to read as required This information is provided to increase understanding or make operation easier Version Information Information on differences in specifications and functionality between different versions Manual Information 3 HD 1500 Platform User s Manual I645 ...

Page 6: ...Manual Information 4 HD 1500 Platform User s Manual I645 ...

Page 7: ...Sections in this Manual Sections in this Manual 5 HD 1500 Platform User s Manual I645 Operation Installation Specifications Overview 1 2 3 4 1 2 3 4 1 5 6 Troubleshooting 5 Maintenance 6 ...

Page 8: ...ns for Correct Use 26 Regulations and Standards 29 Conformance to EU Directives 29 UL Canada Standards 29 Conformance to KC Certification 29 Related Manuals 31 Glossary 32 Revision History 35 Section 1 Overview 1 1 Intended Use 1 3 1 2 Features and Components 1 6 1 2 1 Lasers 1 6 1 2 2 Drive Train and Suspension 1 7 1 2 3 Skins 1 8 1 2 4 AMR Controller 1 9 1 2 5 Battery 1 9 1 2 6 E STOP Buttons 1 ...

Page 9: ...re 1 27 1 7 3 ARAMCentral Software 1 27 1 7 4 MobilePlanner Software 1 28 1 7 5 ARCL Programming Language 1 29 1 7 6 Integration Toolkit 1 29 1 7 7 SetNetGo Software 1 30 1 8 Payload Considerations 1 31 1 8 1 Payload Structures 1 31 1 8 2 Power Consumption 1 33 1 9 Coordinate System 1 34 Section 2 Specifications 2 1 Performance Specifications 2 2 2 2 Physical Specifications 2 3 2 2 1 Dimensions 2 ...

Page 10: ...5 3 6 Attaching the Payload 3 23 3 6 1 Payload Structure Mounting Points 3 23 3 6 2 Overhanging Payloads 3 25 3 7 Relocating the Operator Panel 3 26 3 8 Side Laser Relocation to the Payload Structure 3 27 3 8 1 Side Laser Removal from the AMR 3 27 3 9 HAPS Installation and Configuration 3 30 3 9 1 Tape and Marker Application 3 30 3 9 2 Software Configuration 3 31 3 9 3 Goals and Tasks 3 32 3 10 At...

Page 11: ...isconnect Switch 4 29 4 12 7 Pendant Port 4 29 4 13 Releasing the Brakes 4 30 4 14 Manually Pushing the AMR 4 31 4 15 Emergency Stop 4 32 4 15 1 Emergency Stop Recovery Procedure 4 32 4 16 Protective Stops 4 34 4 16 1 AMR Response During Protective Stops 4 34 4 17 Overspeed Protection 4 35 4 18 Light Discs and Optional Beacon States 4 36 4 18 1 Driving Straight 4 36 4 18 2 Turn Signal 4 36 4 18 3 ...

Page 12: ...ion 6 Maintenance 6 1 Maintenance Introduction 6 2 6 2 AMR Lock out Tag out Procedure 6 4 6 3 Charging Station Lock out Tag out Procedure 6 5 6 4 Lifting the AMR 6 6 6 5 Drive Power Indicator Check Procedure 6 8 6 6 Inspection Intervals 6 9 6 6 1 Mechanical Brake Inspection Procedure 6 9 6 6 2 AMR Charging Contact Inspection 6 10 6 6 3 Docking Target Charging Contacts Inspection 6 10 6 6 4 Safety ...

Page 13: ...Appendices A 1 Unpacking A 2 A 1 1 Power Supply Box Shipping Crate Information A 3 A 1 2 Battery Shipping Crate Information A 4 A 1 3 Docking Target Shipping Crate Information A 5 A 1 4 AMR Shipping Crate Information A 6 A 2 Parts List A 9 A 3 Side Laser Configuration A 11 A 4 Input and Output Control A 13 Index CONTENTS 11 HD 1500 Platform User s Manual I645 ...

Page 14: ...roduct provided that in no event shall Omron be re sponsible for warranty repair indemnity or any other claims or expenses regarding the Products unless Omron s analysis confirms that the Products were properly handled stored installed and maintained and not subject to contamination abuse misuse or inappropriate modification Return of any Products by Buyer must be approved in writing by Omron befo...

Page 15: ...Companies shall not be responsible for the user s programming of a programmable Product or any consequence thereof Omron Companies shall not be responsible for the operation of the user accessible operating sys tem e g Windows Linux or any consequence thereof Disclaimers Performance Data Data presented in Omron Company websites catalogs and other materials is provided as a guide for the user in de...

Page 16: ...ted by Omron Companies has been checked and is believed to be accurate how ever no responsibility is assumed for clerical typographical or proofreading errors or omissions Terms and Conditions Agreement 14 HD 1500 Platform User s Manual I645 ...

Page 17: ...age Symbols The circle and slash symbol indicates operations that you must not do The specific opera tion is shown in the circle and explained in text This example indicates prohibiting disassembly The triangle symbol indicates precautions including warnings The specific operation is shown in the triangle and explained in text This example indicates a precaution for electric shock The triangle sym...

Page 18: ... becomes more significant when the payload s center of gravity is increasingly offset from the AMR s center of gravity Dropping driving off a ledge or operating irresponsibly Allowing the AMR to drive through an opening that has an automatic gate or door un less the door and AMR are configured correctly with the Call Door Box option Throwing an object in front of the AMR or suddenly stepping into ...

Page 19: ...tandards and legal requirements It is the end user s responsibility to make sure that the AMR is operated within its specifi cations intended use and intended environments Objects protruding out above or below the AMR lasers scanning planes shall be config ured as restricted zones during workspace map creation This will eliminate possible col lision risk during operation The user is responsible fo...

Page 20: ... a mini mum of 30 cm away from the AMR charging contacts A pallet jack overhead hoist or forklift used to lift the AMR and Power Supply Box ship ping crates must be rated for at least 1100 kg Do not attempt to lift the AMR from the bottom with a forklift or similar devices Doing so could damage the AMR When operating the AMR with the pendant it is the operator s responsibility to make sure that no...

Page 21: ...afe lifting practices when removing or installing the battery The access covers on the Charging Station are not interlocked During maintenance and repair you must turn OFF power to the Charging Station Remove and secure the power cord and all other electrical inputs to prevent unauthorized power application Improper installation or wiring misconfiguration of the Power Supply Box could result in el...

Page 22: ...tacle avoidance Operating Environment Abrupt appearance of objects or persons in the path of the AMR could result in personal injury or property damage You must make sure that the operating environment of the AMR is adequately controlled The AMR is not intended to be operated on ramps or sloped surfaces Using the brake release button while the AMR is positioned on a slope of greater than 3 will ca...

Page 23: ...y as this could result in personal injury or property damage Although the Safety Laser Scanners are integrated with the emergency stop circuit at all times the operator must maintain full control of the pendant functions and the AMR when the pendant is in use Changing buzzer parameter values might make the AMR unsafe and affect its compli ance to safety standards Refer to the applicable safety sta...

Page 24: ... rotating with no forward motion The electronics bay has high current components that are exposed when side skins are removed Avoid contact with electrical terminals to prevent electric shock Safety Precautions 22 HD 1500 Platform User s Manual I645 ...

Page 25: ... for signs of wear and tear or any damages before attaching to the lifting rings and lifting the AMR When placing the AMR back on the floor after lifting you must make sure that all safety precautions have been taken to prevent personal injury or property damage Do not power ON the AMR until you have read the appropriate sections of this document It is the end user s responsibility to provide the ...

Page 26: ...ed in a location that affects operator s safety in order to reach them in an emergency situation You must ensure that the payload structure is properly secured to the AMR The payload or payload structure shall not be positioned in such a way that would put the operator in danger while trying to reach an E STOP button You must perform a complete risk assessment for your payload design and the inten...

Page 27: ...skins you must make sure that the light strips and discs are opera tional once the AMR is powered back ON Physical immobilization might cause motors in the AMR to overheat Precautions for Safe Use 25 HD 1500 Platform User s Manual I645 ...

Page 28: ...sider us ing protective guards to prevent damage Make sure that user installed guards do not block the scanning area or extend outward excessively Map creation is required before normal operation of the AMR The Integration Toolkit only runs on an EM2100 appliance configured as a Fleet Manager Minimize payload power consumption whenever possible to prevent excessive battery drain Vertical orientati...

Page 29: ... that pre vents straining of the connection points It is safe to connect or disconnect the power cord from the Docking Target or battery without power ing OFF the Power Supply Box Always wait until the green OPERATION LED indicator on the Power Supply Box is ON solid before attempting to charge a battery Do not press the Service button on the Power Supply Box if the yellow DC POWER LED indicator i...

Page 30: ...e charging contacts to isopropyl alcohol Do not reduce the charging surface area of the charging contacts while cleaning A smaller charging surface will reduce the charging speed and affect charging operations The operation of the lasers may be affected by substances in the AMR operating environment such as fog smoke steam and other small particulate You must clean the lenses of all lasers periodi...

Page 31: ...ndard for Industrial Environments EN 61000 6 2 EMC Part 6 2 Immunity Emissions Standard for Industrial Environments EN ISO 10218 1 Safety Requirements For Industrial Robots EN 61204 7 used in conjunction with EN 62477 1 low voltage switch mode power supplies Charg ing Station only UL Canada Standards CAN CSA Z434 Industrial Robots and Robot Systems UL 1012 Standards for Safety Power Units other th...

Page 32: ...This product meets the electromagnetic compatibility requirements for business use Regulations and Standards 30 HD 1500 Platform User s Manual I645 ...

Page 33: ... User s Guide Cat No I637 Contains information that is necessary to use the Inte gration Toolkit facilitating integration between the Fleet Manager and the end user s client application Advanced Robotics Command Language Enterprise Manager Integration Guide Cat No I618 Describes how to use the Advanced Robotics Com mand Language ARCL a text based command line operating language Use ARCL to integra...

Page 34: ...a Network that provides a serial communications protocol al lowing electronic control units and devices to communicate with each other CAT5 Twisted pair Ethernet cable that supports 100 Mhz frequency Center of Gravity The average location of weight for an object Center of Rotation The midpoint of a line between the center of the drive wheel hubs about which the AMR will rotate Charging Station Sys...

Page 35: ...nt machines from oper ating unless certain conditions are met IP Internet protocol that provides a set of communication standards for trans mitting data between networked devices An IP address is used as a devi ce s unique network identifier IPXX Ingress protection rating designated for devices to describe the level of protection provided against the intrusion of solid objects dust and water Job A...

Page 36: ...ing for verification of proper function the AMR s on board safety systems using a software wizard Safety Controller A device installed in the AMR that provides all safety functions and opera tions SetNetGo SNG The software operating system that resides on the AMR and the optional EM2100 appliance It is used to configure the AMR s communication pa rameters gather Debug Info Files and upgrade the so...

Page 37: ...ber on the front and back covers of the manual I645 E 03 Cat No Revision code Revision code Date Revised content 03 August 2021 Reformatted and updated 02 August 2020 Minor modifications 01 December 2020 Original production Revision History 35 HD 1500 Platform User s Manual I645 ...

Page 38: ...Revision History 36 HD 1500 Platform User s Manual I645 ...

Page 39: ...reless Antennas 1 14 1 2 16 Localization Sensors 1 14 1 2 17 Interlock Switches 1 14 1 2 18 Electronics Bay 1 15 1 2 19 Payload Mounting Surface 1 15 1 3 Autonomous Navigation 1 16 1 4 Information Labels 1 17 1 4 1 AMR Information Label 1 17 1 4 2 Docking Target Information Label 1 17 1 4 3 Power Supply Box Information Label 1 18 1 5 Model Numbers 1 20 1 6 Optional Items 1 21 1 6 1 EM2100 Fleet Ma...

Page 40: ... MobilePlanner Software 1 28 1 7 5 ARCL Programming Language 1 29 1 7 6 Integration Toolkit 1 29 1 7 7 SetNetGo Software 1 30 1 8 Payload Considerations 1 31 1 8 1 Payload Structures 1 31 1 8 2 Power Consumption 1 33 1 9 Coordinate System 1 34 1 Overview 1 2 HD 1500 Platform User s Manual I645 ...

Page 41: ... advanced safety systems it must be deployed in a manner that takes into account potential risks to personnel and equipment OMRON does not provide the method of loading the payload on or off the AMR It is the end user s responsibility to perform a complete task based risk assessment in accordance with EN ISO 12100 and ensure safe transfer of the payload The AMR shall be commissioned as instructed ...

Page 42: ...horized parts to repair the AMR Powering ON the AMR without its wireless antennas in place Operating the AMR in hazardous environments where there is explosive gas an oil mist or a corrosive atmosphere Operating the AMR in an environment that contains ionizing radiation Using non approved batteries or charging systems WARNING Any modifications made to the AMR can lead to loss of safety or function...

Page 43: ...more AMRs are used in the same environment and are not confined to separate workspaces Refer to the Fleet Operations Workspace Core User s Manual Cat No I635 for more information Make sure that any person working with or near an AMR is trained and has read and under stands this document and the Mobile Robot HD Safety Manual Cat No I647 Mechanically maintain and service AMRs for proper operation of...

Page 44: ...de Skin J User Access Panel E E STOP Button 1 K Wireless Antennas F Operator Panel L Payload Mounting Surface Top Plate shown 1 Additional E STOP buttons are provided on the Operator Panel and the Pendant 1 2 1 Lasers Several laser sensors are provided on the AMR for navigation and safety The Safety Laser Scanner optional Side Lasers and Low Lasers are Class 1 type that use invisible laser radiati...

Page 45: ... planes shall be configured as forbidden areas during workspace map creation This will minimize possible collision risk during operation Low Lasers Two Low Lasers detect obstacles below the scanning plane of the Safety Laser Scanner such as an empty pallet or fork truck blades which are too low for the Safety Laser Scanner s detection plane The Low Lasers are positioned near the floor and can dete...

Page 46: ...round and therefore cannot discharge This can be hazardous to electrostatic sensi tive devices Always keep electrostatic sensitive devices at least 30 cm away from the AMR skins Removal of the front skin provides access to the following items Battery compartment Light strip front Side Laser front Speakers HAPS sensor optional Charging contacts Removal of the rear skin provides access to the follow...

Page 47: ...cs Automation Management ARAM software It also runs a variant of the Mobile Autonomous Robot Controller MARC called Polo The AMR Controller is housed inside the electronics bay as displayed in the fol lowing figure Refer to the AMR Controller User s Guide Cat No I650 for more information 1 2 5 Battery A rechargeable lithium ion battery consisting of 8 modules provides power to the entire AMR and a...

Page 48: ...ttons can be added to the system when required 1 2 7 Operator Panel The Operator Panel features are described below You can relocate the operator panel to any preferred position on your payload structure Precautions for Safe Use Consider all safety factors related to the location of the integrated E STOP button when relocat ing the operator panel Screen A high resolution high brightness screen pro...

Page 49: ...ntenance Ethernet Port A Maintenance Ethernet Port is available for configuration and troubleshooting with a PC that is direct ly connected with a pass through or cross over CAT5 or better Ethernet cable Main Disconnect Switch The main disconnect switch completely removes all battery power from the AMR for maintenance or other abnormal situations 1 2 8 Pendant Connect a Pendant to manually drive t...

Page 50: ...rs audio as the AMR navigates the workspace Refer to Fleet Operations Workspace Core User s Manual Cat No I635 for more information Precautions for Correct Use When speakers are used as a means of notifying personnel of an approaching AMR you must routinely verify that they are still functioning normally Verify that the speakers are audible and the sound level is at the same level as needed during...

Page 51: ...Rs that are approaching and leaving the charging area Docking Target Power Supply Box Electrical Access Panel Charging Paddle Service Button Main Disconnect Switch LED Indicators 1 2 12 Charging Contacts Charging contacts are used to mate with the Docking Target to transfer power to the battery during autonomous recharging 1 2 13 User Access Panel Connections for power communications safety device...

Page 52: ...lization Sensors Each drive wheel is equipped with an encoder that sends information to the navigation system about distance traveled and direction The AMR Controller has gyroscopic inertial sensing to track the AMR s rotation There are also sensors on each motor that are used by the safety system to collect redundant speed information This sensor data is combined with information from the Safety ...

Page 53: ...ectronics bay compartment from the right or left side of the AMR if the skins are removed 1 2 19 Payload Mounting Surface Payloads are mounted directly to the top of the AMR chassis Several mounting points are available for various payload designs 1 Overview 1 15 HD 1500 Platform User s Manual I645 1 2 Features and Components 1 1 2 18 Electronics Bay ...

Page 54: ...ce Ethernet Port on the AMR is also possible The AMR uses range data from Safety Scanning Lasers as its primary means of detecting obstacles and of maintaining an accurate understanding of its location in the environment Additionally it uses data from the following sensors Two Low Lasers at the opposing corners of the AMR to detect objects below the plane of the Safety Scanning Lasers Encoders one...

Page 55: ...Information The following information is provided M N indicates the model number and revision level SN indicates the serial number Lot No indicates the lot number in the format of DDMMYYFF Month number 1 to 9 for January to Septem ber X for October Y for November and Z for December FF is reserved for internal use 5 Product Origin Information Product origin information is provided 6 Alerts and Comp...

Page 56: ...level SN indicates the serial number Lot No indicates the lot number in the format of DDMMYYFF Month number 1 to 9 for January to Septem ber X for October Y for November and Z for December FF is reserved for internal use 5 Product Origin Information Product origin information is provided 6 Alerts and Compliance General alerts and compliance information is provided 1 4 3 Power Supply Box Informatio...

Page 57: ... and revision level SN indicates the serial number Lot No indicates the lot number in the format of DDMMYYFF Month number 1 to 9 for January to Septem ber X for October Y for November and Z for December FF is reserved for internal use 5 Product Origin Information Product origin information is provided 6 Alerts and Compliance General alerts and compliance information is provided 1 Overview 1 19 HD ...

Page 58: ...1500 AMR Dual HAPS sensors factory installed Side Lasers factory installed 37480 10004 HD 1500 AMR Charging Station Pendant Top Plate factory installed 37480 10104 HD 1500 AMR Charging Station Single HAPS sensor factory installed Pendant Top Plate factory installed 37480 10204 HD 1500 AMR Charging Station Dual HAPS sensor factory installed Pendant Top Plate factory installed 37480 10114 HD 1500 AM...

Page 59: ...is will not present a problem however in close proximity each AMR will plan its motion more accurately with in formation from the Fleet Manager about the position of the other AMR The EM2100 appliance can be configured for the following operating modes Standalone Fleet Manager This has the ability to connect to communicate with and control the AMR fleet Paired Primary Fleet Manager This is similar...

Page 60: ... WARNING If you are using a user supplied E STOP you must perform safety commissioning to verify the emergency stop functionality before putting the AMR into service CAUTION All E STOP buttons must be located in areas that are easy to reach and within 600 mm of personnel It is the end user s responsibility to ensure that any additional E STOP buttons are placed in a location where the operator can...

Page 61: ...ed on your payload structure so that the buzzer can be heard over the ambient noise level It is the end us er s responsibility to verify this requirement The LIGHTS port in the User Access Panel can support a user supplied warning buzzer You can in stall it in either the AMR or in a location of your choice in your payload structure Refer to 3 5 2 User Access Panel Connections on page 3 15 for more...

Page 62: ...needs to be installed when applying the magnetic tape to the floor to prevent damage from the AMR traffic OMRON does not provide the protective coverings with the HAPS op tion The protective covering must be supplied by the user The factory supplied component is the HAPS sensor itself The standard AMR includes all wiring if a HAPS sensor needs to be added One sensor allows accurate positioning dri...

Page 63: ...e An optional Top Plate is available that can be attached to the AMR chassis This Top Plate is used to protect the AMR but it is not required The AMR can be ordered with or without a Top Plate depending on the application requirements 1 Overview 1 25 HD 1500 Platform User s Manual I645 1 6 Optional Items 1 1 6 8 Top Plate ...

Page 64: ...equired for each device if applicable AMR administration includes both configuring and operating an AMR and also using the AMR or a fleet of AMRs to perform useful work The FLOW Core software that enables you to perform these functions consists of the following items MobilePlanner MobilePlanner Tablet Edition ARCL protocol Integration Toolkit SetNetGo ARAM Polo Fleet Manager Appliance ARAMCentral ...

Page 65: ...nteraction with on board sensors such as the Safety Laser Scanner Low Lasers and optional Side Lasers High level autonomous robotics functions such as Obstacle avoidance Path planning Localization Navigation Motion commands to the Polo firmware Battery management ARAM provides the AMR with an interface to external entities by managing the following Wired and wireless Ethernet communications with e...

Page 66: ...Line feature on the map Be aware that the AMR will deviate from the PreferredLine if an obstacle enters its path MobilePlanner is also used to configure ARAM operating parameters that control the AMR s operation in the mapped workspace For example you might assign a preferred Docking Target to the AMR or the Fleet Manager by specifying the unique map identifier for that Docking Target This configu...

Page 67: ... using the onboard NX102 control ler or some other user supplied controller Additional Information Refer to the Mobile Robots Advanced Robotics Command Language Reference Guide Cat No I617 for more information 1 7 6 Integration Toolkit The Integration Toolkit is an interface application enabling the integration of Fleet Manager with the end user s client application such as a Manufacturing Executi...

Page 68: ...ough a direct RJ 45 Ethernet cable connection to the AMRs Maintenance Ethernet Port or with a wireless connection if configured properly The SetNetGo operating system runs on the AMR Controller and the EM2100 appliance It is the host operating system in which the FLOW components ARAM and ARAMCentral run Additional Information Refer to the Fleet Operations Workspace Core User s Manual Cat No I635 f...

Page 69: ...rating environment The total weight of your payload structure plus any objects carried by the structure must not exceed the maximum payload capacity of the AMR If the AMR transports containers of liquid or other non solid material consider the effect on the AMR s stability if their contents can shift It is the end user s responsi bility to ensure that the payload is properly secured to the AMR and...

Page 70: ...ollowing considerations Contact your OMRON representative to change the size of the Safety Laser Scanners safety zones Repeat the safety commissioning procedure Modify parameters to change the AMR s Width LengthFront LengthRear and potentially its Radius When making these modifications ensure that the modi fied parameters are used during path planning and obstacle avoidance Wireless Antennas You m...

Page 71: ...Examples of power consuming payload structures are robotic arms or a motorized conveyor Momentary current spikes that are over the thresholds specified below will activate current limiting pro tection and cause power loss at the USER power connector Simultaneous inrush loads might trip the over current protection at the battery You should use external current limiting devices to prevent tran sient...

Page 72: ...of the coordinate system is the AMR s center of rotation Coordinates are required for procedures such as installing and configuring options such as lasers and also for understanding the center of gravity envelope The AMR s coordinates are also associated with the map coordinates The rotation value Theta specifies the AMR s angle of rotation which determines its heading or direc tion of travel The ...

Page 73: ...3 3 Battery Environmental Specifications 2 9 2 3 4 Pendant Environmental Specifications 2 10 2 4 Laser Specifications 2 11 2 5 Battery Specifications 2 12 2 6 HAPS Specifications 2 13 2 7 Charging Station Specifications 2 14 2 8 Other Specifications 2 15 2 8 1 Safety Functions 2 15 2 8 2 Drive Train 2 17 2 8 3 Operator Panel Screen 2 17 2 8 4 USER PWR Connector 2 18 2 8 5 REG PWR Connector 2 18 2 ...

Page 74: ...n 900 mm s2 Maximum rotational speed 60 degrees s Maximum rotational acceleration deceleration 150 degrees s2 Maximum moment of inertia 490 kg m s2 Stop position repeatability single AMR To a position 50 mm To standard target 25 mm 2 With HAPS 8 mm 0 4 With CAPS 8 mm 0 5 Stop position repeatability fleet To a position 70 mm To standard target 35 mm 2 With HAPS 10 mm 0 75 With CAPS 16 mm 0 5 2 Spec...

Page 75: ...ation A B A Rear caster pivot point to Center of Rotation B Front caster pivot point to Center of Rotation Front Rear 1195 359 5 318 300 359 5 318 300 A A B B C C A Rear caster pivot point to Center of Gravity B Front caster pivot point to Center of Gravity C Drive wheel to Center of Gravity Center of Gravity Power Supply Box Dimensions Physical dimensions of the Power Supply Box are provided belo...

Page 76: ...sical dimensions of the Docking Target are provided below 503 255 100 1315 4X 9 325 297 175 1306 175 74 1256 4X 9 User Access Panel Dimensions Physical dimensions for the User Access Panel are provided below User supplied DIN rail is shown in the following figure for reference 2 Specifications 2 4 HD 1500 Platform User s Manual I645 ...

Page 77: ...ons of the Operator Panel are provided below 470 443 114 109 135 495 4X Ø 4 8 THRU 66 2 2 2 Weights Weights are provided in the table below Item Weight AMR no battery or accessories 437 kg Battery 69 5 kg Power Supply Box 108 kg Docking Target 27 5 kg 2 Specifications 2 5 HD 1500 Platform User s Manual I645 2 2 Physical Specifications 2 2 2 2 Weights ...

Page 78: ...MR movement consider its effect on the AMR s center of gravity If the AMR s center of gravity is offset from the payload s center of gravity due to uneven load distri bution the maximum stable speed of the AMR may need to be reduced from default settings It is the end user s responsibility to ensure that the AMR is configured for safe operation under these op erating conditions If the payload is t...

Page 79: ...payload center of gravity is shown below A front view of the recommended payload center of gravity is shown below 2 Specifications 2 7 HD 1500 Platform User s Manual I645 2 2 Physical Specifications 2 2 2 3 Payload Center of Gravity ...

Page 80: ...A side view of the recommended payload center of gravity is shown below 2 Specifications 2 8 HD 1500 Platform User s Manual I645 ...

Page 81: ...0 mm maximum Gap traversal 20 mm maximum Flatness FF25 per ACI 117 standard Levelness FL25 per ACI 117 standard Weight rating 2 1 MPa 2 3 2 Charging Station Environmental Specifications Environmental specifications for the Power Supply Box and Docking Target are provided below Item Specification Ambient operating temperature 5 to 40 C Storage temperature 20 to 60 C Humidity 5 to 95 non condensing ...

Page 82: ...r more information 2 3 4 Pendant Environmental Specifications Environmental specifications for the pendant are provided below Item Specification Ambient operating temperature 0 to 40 C Storage temperature 20 to 65 C Humidity 5 to 95 non condensing Altitude 2000 m Pollution degree 2 Ingress protection class IP30 2 Specifications 2 10 HD 1500 Platform User s Manual I645 ...

Page 83: ...zontal plane 175 mm from floor surface Low Laser Scanning plane Horizontal plane 65 mm from floor surface Side Laser Scanning plane Vertical plane Laser class Class 1 in accordance with the following standards IEC 60825 1 CDRH 21 CFR 1040 10 1040 11 2 Specifications 2 11 HD 1500 Platform User s Manual I645 2 4 Laser Specifications 2 ...

Page 84: ... approximately 9 hours With no payload approximately 12 5 hours Duty cycle depth of discharge 80 Voltage 48 56 VDC 52 8 VDC nominal Capacity 70 Ah nominal Energy 3 7 kWh nominal Recharge time 40 minutes from empty to full Life span Approximately 9000 cycles 2 Specifications 2 12 HD 1500 Platform User s Manual I645 ...

Page 85: ...30 mm x 165 mm Magnetic tape width x length 25 mm x 300 mm Magnetic tape orientation South up markers north up Separation from tape 20 to 30 mm Protective covering tape recommended Mighty Line Safety Floor Tape Solid 102 mm width 2 Specifications 2 13 HD 1500 Platform User s Manual I645 2 6 HAPS Specifications 2 ...

Page 86: ...50 60 Hz Delta Wye 380 to 415 VAC 50 60 Hz Wye Output voltage Power Supply Box Docking Target 40 to 57 VDC Power consumption 7 75 kW Maximum output power 6 84 kW Input protection method 25 A branch rated circuit breaker Short circuit current rating SCCR 5 kA Material Aluminum and Mild steel User supplied conductor type Copper Grounding class Class 1 1 Fused at 150 A 2 Specifications 2 14 HD 1500 P...

Page 87: ... to the AMR motors remains ON in order to achieve a controlled stop Once the controlled stop is ach ieved the power to the motors is disconnected d 3 5 67E 07 Emergency stop connection on User Access Pan el 2 Emergency Stop Manual Reset User supplied E STOP button s can be attached to the SCPU connection located in the User Ac cess Panel Pressing the user supplied E STOP button s results in an eme...

Page 88: ...ation after a delay of two seconds d 3 6 50E 07 Enabling device on Pendant Protective Stop Auto matic Reset Releasing the enabling device or compressing it beyond the center posi tion will cause a Category 1 Stop 1 on the AMR This is a protective stop and the AMR resumes its operation automatically after a two second delay and when the pendant en abling device is held in the center enable posi tio...

Page 89: ... A This function is used to ensure that the AMR is properly connected to the Docking Target before the charging contacts are ac tivated b 1 7 13E 06 1 Stop Categories according to IEC 60204 1 NFPA79 2 The SCPU connector on the User Access Panel is provided for use with a user supplied external E STOP along with a user supplied protective device The user is responsible for calculating the overall P...

Page 90: ...ectrical and other specifications for the REG PWR connector are provided below Item Specification AMR connector type Molex Mini Fit Jr 2 x 2 User supplied mating connector Molex Mini Fit Jr receptacle part number 0469920410 User supplied mating connector pins Molex 18 24 AWG part number 0039000074 Voltage range 1 23 0 to 25 2 VDC Current limits REG and USER power combined 2 Continuous 50 A 1 ms 20...

Page 91: ...cing Rated output voltage 24 VDC 20 4 to 28 8 VDC Maximum output current 500 mA 2 8 8 IO 1 Connector Electrical and other specifications for the IO 1 connector are provided below Additional Information The IO 1 connector is connected to the NX ID4442 and NX AD3603 units in the AMR Refer to the NX series Digital I O Unit User s Manual Cat No W521 and the NX series Analog I O Units User s Manual for...

Page 92: ...User supplied mating connector pins TE Connectivity AMP connectors 20 to 24 AWG part number 1 794610 2 I O type 8 digital PNP sourcing outputs 4 Analog outputs 10 VDC Operating load voltage Digital outputs 15 to 28 8 VDC Analog outputs 10 to 10 VDC Output load current Digital outputs 0 5 A signal Analog outputs 5 kΩ min allowable load resistance Leakage current Digital outputs 0 1 mA max Residual ...

Page 93: ...rical Connections 3 14 3 5 1 Wireless Antenna Connections 3 14 3 5 2 User Access Panel Connections 3 15 3 6 Attaching the Payload 3 23 3 6 1 Payload Structure Mounting Points 3 23 3 6 2 Overhanging Payloads 3 25 3 7 Relocating the Operator Panel 3 26 3 8 Side Laser Relocation to the Payload Structure 3 27 3 8 1 Side Laser Removal from the AMR 3 27 3 9 HAPS Installation and Configuration 3 30 3 9 1...

Page 94: ...the battery Refer to 3 3 Battery Installation Procedure on page 3 9 and 2 7 Charging Station Specifica tions on page 2 14 for more information 3 Configure the network connections Refer to 3 4 Network Connections on page 3 11 for more information 4 Install the payload structure and make all electrical connections Refer to 3 6 Attaching the Payload on page 3 23 and 3 5 Electrical Connections on page...

Page 95: ...R during docking The Power Supply Box must only be installed vertically using floor mount holes to anchor to the floor or wall mount holes to secure to the wall The Power Supply Box has cooling vents at the top and bottom of the unit Do not block these areas The power cord between the Power Supply Box and the Docking Target is 4 m long Provide at least 90 clearance for the electrical access panel ...

Page 96: ...that the power connector mounting holes are aligned with the Docking Target mounting holes and the spacer is in place 4 Once the power connector mounting holes and spacer are aligned with the Docking Target mounting holes place the power connector cover over the power connector and fasten it to the Docking Target using the M6 screws that were previously removed Tighten to a torque of 6 8 N m to co...

Page 97: ...s The Docking Target charging paddle can be adjusted if alignment issues with the AMR charging con tacts occur The vertical height and angle of the charging paddle can be adjusted with the following setting screws Vertical Height Adjustment Angle Adjustment Use a 6 mm hex key to adjust the charging paddle in the following manner Turn the vertical height adjustment screw clockwise to increase the h...

Page 98: ...th barriers or covers WARNING Improper installation or wiring misconfiguration of the Power Supply Box could result in electrical shock hazard You must ensure the safe and proper installation of the Power Supply box in accordance with the applicable rules and regulations and by qualified personnel Other important electrical considerations are listed below The minimum wire rating for user supplied ...

Page 99: ...nnect switch located on the electrical access panel is in the OFF horizontal position 4 Wire the facility power to the electrical access panel as detailed in 3 2 3 Electrical Considera tions on page 3 6 You must make sure to adjust the jumpers as required for the voltage range 5 Once the wiring is complete and the facility power cable is connected to the electrical access panel properly you can en...

Page 100: ...electrical access panel to ON position vertical This will allow the facility AC power to energize the Power Supply Box ON OFF 8 Confirm that the blue LED on the Power Supply Box turns ON to complete this procedure 3 Installation 3 8 HD 1500 Platform User s Manual I645 ...

Page 101: ...ow these steps to install a battery 1 Remove the AMR front skin to access the battery compartment Refer to 6 9 1 Removing and Replacing Skins on page 6 18 for more information 2 Unlatch and open the battery door The battery door pivots downward and rests on the floor This allows you to use the battery door as a ramp 3 Use the extended handle to push the battery into the AMR As the battery gets pus...

Page 102: ... the battery all the way into the AMR and then close the battery door The battery door secures the battery in place and prevents it from shifting inside the compart ment 7 Install the AMR front skin to complete the procedure 3 Installation 3 10 HD 1500 Platform User s Manual I645 ...

Page 103: ...ways enabled and accessible with the Maintenance Ethernet Port and does not require a password or a software license The AMR s network has the following default configuration Your network administrator should review this information for compatibility with your existing network Item Setting Network Class Class C Netmask for all ports 255 255 255 0 Permanent Maintenance Ethernet Port IP address 169 ...

Page 104: ...MR contact your network administrator to confirm the IP radio and security settings Additional Information A workspace with a single AMR can operate without a wireless network Use the SetNetGo tab in the MobilePlanner software Open a Web browser on your PC and enter the URL https 169 254 10 15 to connect directly to the SetNetGo Web Interface on the AMR After accessing the SetNetGo interface acces...

Page 105: ...ey Download or Create New Private key length 1024 or 2048 bit Hostname Upload certificate Certificate password if needed Validate Server Certificate EAP TLS Username Password Private key Download or Create New Private key length 1024 or 2048 bit Hostname Upload certificate Certificate password if needed Validate Server Certificate 3 Installation 3 13 HD 1500 Platform User s Manual I645 3 4 Network...

Page 106: ...ditional Information Contact your local OMRON representative if longer extension cables or different antennas are required The AMR Controller provides two connections for wireless antennas Refer to 1 2 Features and Components on page 1 6 for more information Wireless Antenna Relocation Procedure Use the following procedure to relocate the wireless antennas This procedure details the relocation of ...

Page 107: ... this procedure 3 5 2 User Access Panel Connections Use the following information to make all necessary User Access Panel connections Additional Information Refer to 2 8 Other Specifications on page 2 15 for more information on User Access Panel con nector and electrical specifications The User Access Panel can be reached from the top of the AMR by removing the cover This requires a 3 mm hex key t...

Page 108: ... on page 2 18 for connector type and specifications 0 VDC 48 to 56 VDC REG PWR The REG PWR connector on the User Access Panel provides regulated 24 VDC power and is typically used for payload structure control devices Use the information below to understand all REG PWR connections Additional Information Refer to 2 8 5 REG PWR Connector on page 2 18 for connector type and specifications 3 Installat...

Page 109: ... access them in an emergency situation If you are using a user supplied E STOP you must perform safety commissioning to verify the emergency stop functionality before putting the AMR into service Precautions for Safe Use The emergency stop or other protective stop devices you install on the AMR must have a dual channel circuit to ensure the same performance level as the other safety devices of the...

Page 110: ...of these will trigger a stop An SCPU circuit diagram is provided below User supplied Emergency Stop Devices PIN 1 PIN 2 PIN 8 PIN 7 24 VDC PIN 6 PIN 12 PIN 10 PIN 4 Load Load SCPU Connector Internal circuits PIN 3 PIN 9 PIN 5 PIN 11 User supplied Protective Stop Devices Safety Outputs Refer to the following sections for information about the behavior of the emergency stop protective stop and safet...

Page 111: ... 5 Ground 6 Buzzer 1 1 The buzzer signal will turn ON when the AMR warning buzzer turns ON Refer to the following sections for information about the behavior of the LIGHT signals 4 18 Light Discs and Optional Beacon States on page 4 36 2 8 7 LIGHTS Connector on page 2 19 IO 1 The IO 1 connector on the User Access Panel provides analog and digital inputs for user supplied de vices that are typicall...

Page 112: ...ption 1 NX ID4442 IN0 24 VDC sourcing PNP digital input 2 IN1 3 IN2 4 IN3 5 to 7 IOG Ground 8 NX AD3603 Input1 10 to 10 VDC analog in put 9 Input2 10 IOG Ground 11 NX ID4442 IN4 24 VDC sourcing PNP digital input 12 IN5 13 IN6 14 IN7 15 to 17 IOG Ground 18 NX AD3603 Input3 10 to 10 VDC analog in put 19 Input4 20 Connected to chassis for shielding A circuit diagram is provided below for the digital ...

Page 113: ...r NX series Unit NX series Unit Terminal Description 1 NX OD4256 OUT0 24 VDC sourcing PNP digital output 2 OUT1 3 OUT2 4 OUT3 5 and 6 IOG Ground 7 NX DA3603 V1 10 to 10 VDC analog output 8 V2 9 and 10 IOG Ground 11 NX OD4256 OUT4 24 VDC sourcing PNP digital output 12 IOG Ground 13 NX OD4256 OUT5 24 VDC sourcing PNP digital output 14 OUT6 15 OUT7 16 and 17 IOG Ground 18 NX DA3603 V3 10 to 10 VDC an...

Page 114: ...ccess Panel is reserved for future use INT LAN1 The INT LAN1 connector on the User Access Panel is reserved for future use INT LAN2 The INT LAN2 connector on the User Access Panel is reserved for future use USER LAN The USER LAN connector on the User Access Panel is used to access the internally mounted NX102 unit Use this connector to transfer user defined programs to the NX102 unit for applicati...

Page 115: ... conveniently accessible There are four AMR lifting points that can also be used as payload structure mounting points The payload structure may need to be removed to lift the AMR if these are not accessible These lifting points have M16 x 2 0 threaded holes with a maximum thread depth of 35 mm Fastener torque for these mounting points is 270 N m If a Top Plate is not present the chassis mounting s...

Page 116: ...tructure When a Top Plate is not present the payload should be designed to rest on top of the rivet nuts and make contact with its flange If the payload structure is designed incorrectly and does not make con tact with these rivet nut flanges the rivet nuts could spin in place and prevent proper fastener torque The rivet nut flanges are 1 19 mm tall Thread engagement for fasteners should be from 1...

Page 117: ...he safety zones WARNING You need to modify the safety zones if your payload overhangs the AMR s default di mensions and if operating on a floor surface that has poor traction to the extent that the AMR cannot stop reliably within the default zones OMRON is not responsible for any risks incurred by modifying safety zone sizes or other Safety Laser Scanner set tings 3 Installation 3 25 HD 1500 Platf...

Page 118: ...moved and relocated to a convenient location typically on the payload struc ture Refer to 6 9 4 Operator Panel Replacement Removal Procedure on page 6 25 for information about removing the Operator Panel Refer to Operator Panel Dimensions on page 2 5 for more information about Operator Panel dimen sions 3 Installation 3 26 HD 1500 Platform User s Manual I645 ...

Page 119: ... Lasers must be mounted in an orientation so that their scanning planes are vertical and parallel to the AMR X axis They must be in the same orientation that is used on the default AMR mounting location rotation and X Y axis orientation The Side Lasers must be mounted far enough away from physical objects on the AMR system so that the scanning plane is not impeded by part of the AMR or structure i...

Page 120: ...Remove three M6 screws and then remove the laser cover protective fin 4 Remove three mounting screws that secure the Side Laser bracket to the AMR Take care to prevent the Side Laser from falling when removing these screws If the Side Laser falls it could scratch the lens and damage the unit The other three screws are used for alignment purposes Avoid altering the position of these screws 5 Remove...

Page 121: ...Apply Loctite 243 or equivalent and tighten to a torque of 7 5 N m 7 Install the previously removed AMR skins to complete this procedure 3 Installation 3 29 HD 1500 Platform User s Manual I645 3 8 Side Laser Relocation to the Payload Structure 3 3 8 1 Side Laser Removal from the AMR ...

Page 122: ...f HAPS magnetic tape and markers The recommended length of magnetic tape is 250 to 350 mm 300 mm is optimal The distance from one end of one marker to the end of the next marker must be at least 500 mm The standard tape used is South facing up with adhesive on North The markers always have the opposite polarity of the tape If the tape is South up the markers must be North up To determine the dista...

Page 123: ...or with the front of the marker Each marker needs its own goal placed near the start of the tape The AMR needs at least 2000 mm of tape for alignment A suggested goal location is 825 mm from the tape near the start of the tape with an orientation of 30 from the angle of the tape This allows the AMR to approach the tape at nor mal speed without overshooting it Refer to the previous figure for more ...

Page 124: ...ng configuration items accessible Adjust the following parameters in the FollowGuide area according to your application requirements ApproachSpeed FollowingSpeed ReverseFollowingSpeed SlowCaptureSpeed followingAccel followingDecel FrontClearance SideClearance AvoidLocationDependentObstacles 3 9 3 Goals and Tasks There are two tasks associated with the HAPS option FollowGuide and Engage Information...

Page 125: ...he next goal assigned to that AMR is at the same location as the previous goal and it has an En gage task the AMR will not drive back to the goal when the Engage macro finishes It will instead exe cute the Engage macro associated with the new goal The parameters associated with the Engage task are provided below EngageMacro A macro generally containing the FollowGuide task that instructs how to ar...

Page 126: ...e goal driving so that the AMR does not drive back to the goal location be tween goals Do not set this to suppress macros as they are needed to use the Engage macro of each succes sive goal 3 Installation 3 34 HD 1500 Platform User s Manual I645 ...

Page 127: ...ast two op posing sides of the AMR Additional Information All other warning labels are attached at the factory When replacing the payload structure you must place the provided labels on the new pay load structure surface and follow the instructions noted above Any additionally required safety labels for the payload structure or specific to the end use ap plication shall be evaluated by the user as...

Page 128: ...nism Changing the shape or size of the Safety Laser Scanner zones Adding user supplied E STOP During regular preventative maintenance procedures 3 11 1 Safety Commissioning Procedure This procedure verifies that the Safety Laser Scanners report the MovementParametersSectors infor mation correctly and that the protective stop circuitry activates when an obstacle is detected in a safe ty zone It als...

Page 129: ...h finish ed goods do not provide useful mapping data Erase such objects from the map after you create it If the workspace has open stairwells docks ledges or other vertical drops make sure that you sur round such areas with physical barriers Barriers must be detectable by the Safety Laser Scanners scanning plane which are at a height of 175 mm from the floor Install the barriers before mapping a w...

Page 130: ...e AMR with the pendant to make a floor plan scan It is recommended that you drive the AMR near the Docking Target so the Docking Target can be placed in the correct location of the map Drive the AMR around the workspace multiple times and from various directions Also begin and end your mapping process at the same location for the most accurate results Load the scan into the MobilePlanner software ...

Page 131: ...onal Clearances 4 11 4 6 2 Docking Clearances 4 11 4 7 Narrow Passageway Behavior Linear 4 13 4 8 Narrow Passageway Behavior Non linear 4 14 4 8 1 U Turn in a Narrow Passageway 4 14 4 8 2 U Turn Through a Narrow Doorway 4 14 4 9 Minimum Lane Width 4 16 4 10 Immobilization 4 17 4 11 Battery and Charging 4 18 4 11 1 Battery Indicators and Controls 4 18 4 11 2 Removing the Battery 4 19 4 11 3 Chargin...

Page 132: ... 37 4 18 7 Obstacle Detected 4 37 4 18 8 Charging 4 37 4 19 Light Strips and Optional Beacon States 4 39 4 19 1 Driving Straight 4 39 4 19 2 Turn Signal 4 39 4 19 3 Emergency Stop 4 39 4 19 4 Lost 4 40 4 19 5 Stopped or Booting 4 40 4 19 6 Stopped with Warning 4 40 4 19 7 Obstacle Detected 4 40 4 19 8 Charging 4 41 4 20 Pendant Operation 4 42 4 20 1 Driving with the Pendant 4 42 4 21 Warning Buzze...

Page 133: ... or arm during the AMR movement is prohibited It is the end user s responsibility to design an appropriate interlock to prevent this During movement and transfer you must actively monitor and confirm the transfer operation to make sure that it completes successfully If any operation fails a fail safe interlock must trigger an AMR emergency stop condition This emergency stop condition prevents the ...

Page 134: ... and the AMR is localized you need to press the ON button a second time to enable motor power for autonomous operation start up Ab sent localization you need to plug in a pendant in order to move the unit After the initial localized start up is complete the AMR will be capable of operating autonomously Refer to Fleet Operations Workspace Core User s Manual Cat No I635 for information on map creati...

Page 135: ...ds of AMR shut down use the OFF button and then turn OFF the main disconnect switch to prevent battery drain Precautions for Correct Use The main disconnect switch should not be used as a frequent means of turning OFF the AMR Use the OFF button to turn OFF the AMR with a controlled shut down method Avoid moving the AMR while it is powered OFF If you manually move the AMR while it is powered OFF it...

Page 136: ...12 indicator LEDs that give a visual overview about its status The following figure displays the AMR controller LED indicator lights Refer to the AMR Controller User s Guide Cat No I650 for more information 4 Operation 4 6 HD 1500 Platform User s Manual I645 ...

Page 137: ...ow Lasers Any steps in the AMR s path must have a smooth rounded profile Avoid steps or ledges taller than the AMR s specified step traversal ability that do not have adequate physical barriers The AMR might not be able to traverse the step height specified when traveling at less than the recommended speeds Make the following considerations when traversing steps or gaps A maximum speed of 500 mm s...

Page 138: ...ped permanent features of the workspace such as walls col umns and doors can interfere with navigation causing the AMR to be less efficient Clean the floor at goal locations such as Docking Targets or pick up and dropoff points Accumulat ed dust debris or grease can affect AMR traction which reduces positioning accuracy and repeata bility potentially wasting battery power If the HAPS option is ins...

Page 139: ...st the AMR and the other machines parameters to reduce the risk of a collision Positive obstacles are those which would block the AMR s path Detecting positive obstacles is the pri mary and recommended use for Side Lasers Negative obstacles are voids in the driving area of the AMR such as downward stairs loading docks or missing floor tiles Negative obstacle detection with Side Lasers should not b...

Page 140: ...e that would not leave sufficient room for a person to escape and avoid getting crushed These are areas of inadequate clearance less than 500 mm between the sides or front rear of the AMR and an obstacle It can also be an area which cannot be protected by the AMR detection devices 4 5 7 Confined Zones Confined zones are areas of inadequate clearance where the AMR detection devices may be omitted a...

Page 141: ...nsfer locations Additional Information Refer to Fleet Operations Workspace Core User s Manual Cat No I635 for information about software parameters that you can use to control the AMRs front and side clearance zones These settings can help to prevent the AMR from closely approaching obstacles 4 6 1 Rotational Clearances The AMR travels in forward and backward directions and can rotate on its cente...

Page 142: ... AMR and its surroundings is 500 mm or less are considered hazard zones You must make these areas visually distinct Personnel that will work near these zones must be trained and informed about your chosen method used to make docking area hazard zones visually distinct An example of this is shown below utilizing floor markings to draw attention to the docking area hazard zones 500 500 500 500 4 Ope...

Page 143: ...geway is 1 5 m In or der for the AMR to pass through these narrow spaces you may need to use specific map features or change the AMR s configuration to reduce the speed These widths are practical for linear speeds of less than 300 mm sec Additional Information Use the Door Goals feature on the map for pre alignment when the AMR travels through narrow passageways 4 Operation 4 13 HD 1500 Platform U...

Page 144: ...rn in a narrow passageway with a 2000 mm width and with the U Turn clearance of 3500 mm Make AMR tasks and configuration changes to optimize operation during U Turns in narrow passage ways Start Goal End Goal U Turn Clearance 3500 2000 10000 3000 2000 4 8 2 U Turn Through a Narrow Doorway The following figure displays the AMR U Turn behavior at a narrow doorway As displayed in the following figure...

Page 145: ... 3000 2000 250 3000 2000 9000 Start Goal End Goal Doorway U Turn Clearance 4 Operation 4 15 HD 1500 Platform User s Manual I645 4 8 Narrow Passageway Behavior Non linear 4 4 8 2 U Turn Through a Narrow Doorway ...

Page 146: ...nimum Lane Width The minimum lane width for two AMRs passing each other in a linear passageway is 2500 mm Start Goal End Goal End Goal Start Goal 2500 2500 4 Operation 4 16 HD 1500 Platform User s Manual I645 ...

Page 147: ...or obstacles Refer to 1 6 5 Side Lasers on page 1 23 for additional information Some examples of physical immobilization are shown in the following figure AMR Immobilized by Overhanging Object AMR Immobilized by Excessive Ledge AMR Immobilized by Excessive Gap Refer to the following sections for information about recovering from immobilization 6 4 Lifting the AMR on page 6 6 4 13 Releasing the Bra...

Page 148: ...the battery in a waste stream that might result in incineration or crushing Safely dispose of the battery through a designated facility according to all local and national environmental regulations regarding lithium battery disposal WARNING Risk of Fire No User Serviceable Parts AVERTISSEMENT Risque d incendie Aucune des pièces ne peut être Precautions for Safe Use You can contribute to resource c...

Page 149: ...button will illumi nate the LED indicators to display the state of charge LED State Meaning 1 ON 0 state of charge 1 and 2 ON 20 state of charge 1 to 3 ON 40 state of charge 1 to 4 ON 60 state of charge 1 to 5 ON 80 state of charge 4 11 2 Removing the Battery Removal or installation of the battery must be performed by persons who have read and understood this manual as well as the Mobile Robot HD ...

Page 150: ... battery s Ethernet cable while the AMR is ON Use the following figure to understand the lifting points for the battery Battery Removal Procedure Use the following procedure to remove the battery from the AMR 1 Remove the AMR front skin to access the battery compartment Refer to Front Skin Removal and Replacement Procedure on page 6 19 for more information 2 Unlatch and open the battery door The b...

Page 151: ...f the AMR on page 4 25 for more information The Power Supply Box outputs a maximum of 6 84 kW of power and can charge an absolutely deplet ed battery in 40 minutes WARNING The AMR battery and the Charging Station outputs have high current You must take appropriate precautions to avoid potential short circuit The Charging Station battery and AMR transfer high electric power and contain hazardous vo...

Page 152: ... checks are performed to confirm that all devices are in an operational state before charging will begin The Power Supply Box uses a 4 meter long power cord 25 4 mm diameter to transfer power to the Docking Target Power Supply Box The Power Supply Box has LED indicators to display the status of the unit as described below A Serv ice button is also present for use when connecting a fully depleted b...

Page 153: ... battery has been detected ERROR Red OFF No error is present Red ON A non critical error is present 2 Red flashing A critical error is present 2 1 When no battery load is connected the green OPERATION indicator can take up to 60 seconds to turn ON while the system performs diagnostics 2 Refer to 5 4 Battery Problems on page 5 6 for more information Docking Target The Docking Target provides an eas...

Page 154: ...idal shape integrat ed into the front of the Docking Target The AMR uses this shape to locate the position of the charging paddle After the Docking Target verifies that the AMR is present and connected it performs a series of checks After the checks are complete and it determines charging can proceed it starts charging the AMR s internal battery There is a delay of up to 10 seconds between when an...

Page 155: ...ox a 10 second delay occurs during an automatic check sequence and then charging begins when the yellow DC POWER LED is ON solid If the yellow DC POWER LED begins flashing this indicates that the connected battery is absolutely depleted You must press and release the Service button on the Power Supply Box to acknowledge this state and then charging will begin Precautions for Correct Use The Power ...

Page 156: ...arging the battery while it is inside the AMR If you see a reduction in run time you should perform a battery exchange more frequently Additional Information If the AMR s DockUntilDoneCharging parameter is set to False while the StateOfChargeTo ChargeTo and MinutesToChargeFor parameters are both set to a default value of 0 the AMR will never leave the Docking Target Do not use this combination of ...

Page 157: ...sages and Faults Area Stop Flags Additional Information Refer to 5 8 1 Stop Flags on page 5 12 for more information Boot up Screen The following image shows the first screen that appears during boot up when the AMR is turned ON 4 12 2 ON Button The ON button has the following functions Turns the AMR ON The ON button does not function until any in progress shut down is complete Enable motors after ...

Page 158: ...red OFF If you manually move the AMR while it is powered OFF it may not be able to determine its current location when it is powered ON again Use the localization feature in MobilePlanner to localize the AMR if this occurs 4 12 4 Brake Release Button The brake release button is used if you need to manually move the AMR Refer to 4 13 Releasing the Brakes on page 4 30 for more information Releasing ...

Page 159: ...for Correct Use The main disconnect switch should not be used as a frequent means of turning OFF the AMR Use the OFF button to turn OFF the AMR as a controlled shut down method Refer to 6 2 AMR Lock out Tag out Procedure on page 6 4 for more information 4 12 7 Pendant Port The pendant port is used to connect a handheld pendant to the AMR This is typically used when driv ing the AMR manually Discon...

Page 160: ...reater than 3 will cause the AMR to roll down You must not use the brake release button to move the AMR manually when it is positioned on a slope of greater than 3 unless necessa ry precautions have been taken to prevent uncontrolled rolling of the AMR Use caution when stopping the AMR on a ramp The use of the brake release will cause direct rolling of AMR down the ramp Powering OFF the AMR on a r...

Page 161: ... and follow all safety instructions The pushing points of the AMR are low to the ground You must use safe pushing practices when manually moving the AMR When manually moving the AMR do not push it from a high position on its payload or payload structure This might cause the AMR to topple Manually moving a fully loaded AMR while using the brake release button is not recommended If you must manually...

Page 162: ...p event occurs Refer to 3 5 2 User Access Panel Connections on page 3 15 for more information An emergency stop differs from a protective stop Refer to 4 16 Protective Stops on page 4 34 for more information Indicator lights on the AMR and the pendant provide the emergency stop state Stop flags are also displayed on the Operator Panel Refer to the following sections for more information 4 18 Light...

Page 163: ...utton is not required There is a two second delay between when the ON button is pressed and the AMR resumes its activity During the two seconds the AMR scans its path for potential obstacles and will resume its commanded motion if there is adequate space to maneuver 4 Operation 4 33 HD 1500 Platform User s Manual I645 4 15 Emergency Stop 4 4 15 1 Emergency Stop Recovery Procedure ...

Page 164: ... the User Access Panel can initiate a protective stop Refer to 3 5 2 User Access Panel Connections on page 3 15 for more information A protective stop differs from an emergency stop Refer to 4 15 Emergency Stop on page 4 32 for more information Two additional safety outputs are also available for controlling user supplied equipment during a pro tective stop The state of these safety outputs as wel...

Page 165: ...to command a controlled stop for any reason The floor is excessively slippery and does not provide good traction The AMR is traveling down a slope steeper than its specified capability If this fault occurs frequently the operating conditions leading up to this event should be investigated Contact your OMRON representative for support If the problem is not resolved the AMR may stop operating in ord...

Page 166: ...green during this operation 4 18 2 Turn Signal In preparation for a turn and during a turn the blue drive indicators will include a blinking orange seg ment at the front of one light disc in the direction of the signal When the drive wheels rotate in re verse the direction of the blue drive indicators will indicate the direction of the drive wheel rotation An optional beacon will blink green durin...

Page 167: ...ation Additional Information There is a two second delay between the end of an obstacle detection condition and the AMR resuming its activity During the two seconds the AMR scans its path for potential obstacles It will remain stopped until its path is clear 4 18 8 Charging When the AMR is engaged with a Docking Target a green arc indicates the current state of charge displaying steady green from ...

Page 168: ... 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 Additional Information The state of charge displayed is continuous and not limited to 25 increments 4 Operation 4 38 HD 1500 Platform User s Manual I645 ...

Page 169: ...id blue An optional beacon will blink green during this operation 4 19 2 Turn Signal In preparation for a turn and during a turn the front light strip displays white at the center and yellow blinking in the direction of the AMR s turn The rear light strip displays blue at the center and yellow blinking in the direction of the turn An optional beacon will blink green during this operation Front Lig...

Page 170: ...this operation 4 19 6 Stopped with Warning When the AMR is stopped with a warning both front and rear light strips display orange pulsing at the center An optional beacon will blink green during this operation 4 19 7 Obstacle Detected The front and rear light strips display yellow blinking at the center if the AMR stops for an obstacle detected in its safety zone An optional beacon will blink yell...

Page 171: ...described in the table below An optional beacon will blink green during this operation 25 25 to 50 50 to 75 75 to 95 95 Additional Information The state of charge displayed is continuous and not limited to 25 increments 4 Operation 4 41 HD 1500 Platform User s Manual I645 4 19 Light Strips and Optional Beacon States 4 4 19 8 Charging ...

Page 172: ...the directional control stick to drive the AMR If the three position device is not depressed or completely depressed or the E STOP button is pressed the drive motors are disabled and the AMR cannot move The three position device must be in the middle position with the emergency stop button re leased to enable the drive motors and allow the AMR to move The pendant is equipped with speed control rot...

Page 173: ...button to the left side to make the AMR rotate in place counter clockwise Push the directional control button to the right side to make the AMR rotate in place clockwise Diagonal positions of the directional control button move the AMR in an arc Use the speed control dial to control the speed of the AMR 8 To stop the AMR you can release the three position enabling device or depress it completely T...

Page 174: ...r parameter values are only available with Fleet Operations Workspace version 1 1 and later You can configure the buzzer to activate under the following conditions Continuously and whenever the AMR moves Any time the AMR moves at a linear speed below 20 mm s or a rotational speed of less than 3 deg sec for longer than 2 seconds to alert the users of a very slowly moving AMR which is not con figure...

Page 175: ...uration and zones This password can be changed by the user to limit access by unauthor ized users For instructions on how to change the password refer to Safety Laser Scanner OS32C Series User s Manual Cat No Z296 for more information With the exception of safety zones 40 and 42 the same safety zones are used when driving the AMR manually with the pendant or when the AMR is operating autonomously ...

Page 176: ... degrees s 7 Enabled to protect against over speed conditions 8 to 10 Enabled when the AMR is rotating while driving slowly Refer to Rotat ing While Driving Slowly on page 4 48 for more information 0 to 115 mm s 12 to 60 degrees s 11 Enabled when the AMR is moving slowly Refer to Moving Slowly on page 4 49 for more information 115 to 580 mm s 12 to 60 degrees s 12 to 39 Enabled when the AMR is dri...

Page 177: ...ight with minimal turning 0 to 12 degrees s Safety Zone Pair Applicable Speed 1 115 to 275 mm s 2 275 to 580 mm s 3 580 to 890 mm s 4 890 to 1228 mm s 5 1228 to 1530 mm s 6 1530 to 1800 mm s 4 Operation 4 47 HD 1500 Platform User s Manual I645 4 22 Safety Laser Scanner Zones 4 4 22 1 Safety Zone Pairs ...

Page 178: ...y Zone Pair 3 AMR X axis 3000 2000 1000 1000 2500 2000 1500 1000 500 0 500 1000 1500 2000 2500 AMR Y axis 0 Safety Zone Pair 4 AMR X axis 3000 2000 1000 1000 2500 2000 1500 1000 500 0 500 1000 1500 2000 2500 AMR Y axis 0 Safety Zone Pair 5 AMR X axis 3000 2000 1000 1000 2500 2000 1500 1000 500 0 500 1000 1500 2000 2500 AMR Y axis 0 Safety Zone Pair 6 AMR X axis Rotating While Driving Slowly Safety...

Page 179: ...00 1000 1500 2000 2500 AMR Y axis 0 Safety Zone Pair 9 Counterclockwise Rotation AMR X axis 3000 2000 1000 1000 2500 2000 1500 1000 500 0 500 1000 1500 2000 2500 AMR Y axis 0 Safety Zone Pair 10 AMR X axis Moving Slowly Safety zone pair 11 is used when the AMR is driving slowly Safety Zone Pair Applicable Speed 11 275 mm s and 12 to 60 degrees s 580 mm s and 12 to 14 degrees s 4 Operation 4 49 HD ...

Page 180: ...o 18 degrees s 15 and 29 580 to 890 mm s 18 to 24 degrees s 16 and 30 580 to 890 mm s 24 to 30 degrees s 17 and 31 580 to 890 mm s 30 to 45 degrees s 18 and 32 890 to 1228 mm s 12 to 18 degrees s 19 and 33 890 to 1228 mm s 18 to 24 degrees s 20 and 34 890 to 1228 mm s 24 to 30 degrees s 21 and 35 890 to 1228 mm s 30 to 45 degrees s 22 and 36 1228 to 1530 mm s 12 to 18 degrees s 23 and 37 1228 to 1...

Page 181: ... Safety Zone Pair 13 Turning Left AMR X axis 3000 2000 1000 1000 2500 2000 1500 1000 500 0 500 1000 1500 2000 2500 AMR Y axis 0 Safety Zone Pair 27 Turning Right AMR X axis 3000 2000 1000 1000 2500 2000 1500 1000 500 0 500 1000 1500 2000 2500 AMR Y axis 0 Safety Zone Pair 14 Turning Left AMR X axis 3000 2000 1000 1000 2500 2000 1500 1000 500 0 500 1000 1500 2000 2500 AMR Y axis 0 Safety Zone Pair ...

Page 182: ...0 1500 2000 2500 AMR Y axis 0 Safety Zone Pair 16 Turning Left AMR X axis 3000 2000 1000 1000 2500 2000 1500 1000 500 0 500 1000 1500 2000 2500 AMR Y axis 0 Safety Zone Pair 30 Turning Right AMR X axis 3000 2000 1000 1000 2500 2000 1500 1000 500 0 500 1000 1500 2000 2500 AMR Y axis 0 Safety Zone Pair 17 Turning Left AMR X axis 3000 2000 1000 1000 2500 2000 1500 1000 500 0 500 1000 1500 2000 2500 A...

Page 183: ... Safety Zone Pair 19 Turning Left AMR X axis 3000 2000 1000 1000 2500 2000 1500 1000 500 0 500 1000 1500 2000 2500 AMR Y axis 0 Safety Zone Pair 33 Turning Right AMR X axis 3000 2000 1000 1000 2500 2000 1500 1000 500 0 500 1000 1500 2000 2500 AMR Y axis 0 Safety Zone Pair 20 Turning Left AMR X axis 3000 2000 1000 1000 2500 2000 1500 1000 500 0 500 1000 1500 2000 2500 AMR Y axis 0 Safety Zone Pair ...

Page 184: ...0 1500 2000 2500 AMR Y axis 0 Safety Zone Pair 22 Turning Left AMR X axis 3000 2000 1000 1000 2500 2000 1500 1000 500 0 500 1000 1500 2000 2500 AMR Y axis 0 Safety Zone Pair 36 Turning Right AMR X axis 3000 2000 1000 1000 2500 2000 1500 1000 500 0 500 1000 1500 2000 2500 AMR Y axis 0 Safety Zone Pair 23 Turning Left AMR X axis 3000 2000 1000 1000 2500 2000 1500 1000 500 0 500 1000 1500 2000 2500 A...

Page 185: ...39 Turning Right AMR X axis Moving at Very Slow Speeds Safety zone pairs 40 and 42 are used when the AMR is moving at very slow speeds between 0 to 20 mm s and 0 to 3 degrees s When moving at very slow speeds for 2 seconds or longer the AMR will activate the audible buzzer Safety zone pair 40 is used only when the pendant is connected Safety zones are minimized in this state to allow manual drivin...

Page 186: ...peeds used for docking CAUTION It is the end user s responsibility to ensure that the area within the radius of 2 m from the center of the AMR is kept clear when it is traveling at less than 115 mm s Precautions for Safe Use The operator must take necessary precautions to ensure that the operator s hands or other body parts do not get stuck in between the charging pad and the AMR when docking Safe...

Page 187: ...Y axis 0 Safety Zone Pair 41 AMR X axis The following figure provides dimensions of the AMR unprotected area at the front of the AMR 35 315 68 292 112 345 320 Front 4 Operation 4 57 HD 1500 Platform User s Manual I645 4 22 Safety Laser Scanner Zones 4 4 22 1 Safety Zone Pairs ...

Page 188: ...andwidth usage varies by application Payload accessories might affect your bandwidth requirements if they stream data through the AMR s wireless interface Use a dedicated network to restrict wireless network access to AMRs and use security to prevent oth er devices from accessing the network Typical bandwidth consumption for a fleet is an average 50 Kbps per AMR This increases when you connect mul...

Page 189: ...r Safe Use For payload applications where you cannot easily reduce the size and weight of the payload or if the AMR s center of gravity is not within the recommended limits contact your OMRON repre sentative Additional Information Use the configuration area in MobilePlanner to make parameter changes Refer to Fleet Operations Workspace Core User s Manual Cat No I635 for more information The Absolut...

Page 190: ...uickly and safely If the emergency situation is near the Charging Station you must turn OFF the Power Supply Box s power using the main disconnect switch Precautions for Safe Use In case of fire use a type ABC or type BC dry chemical fire extinguisher 4 Operation 4 60 HD 1500 Platform User s Manual I645 ...

Page 191: ... operation If the AMR tilts 60 degrees or more in any direction motion will stop and power is removed from any user supplied equipment Precautions for Safe Use The tilt detection feature will not prevent an improperly loaded AMR from toppling 4 Operation 4 61 HD 1500 Platform User s Manual I645 4 26 Tilt Detection 4 ...

Page 192: ...led or the battery door is closed the charging will not re engage automatically The AMR must repeat the normal docking process for charging to resume Aside from interrupting charging re installing the skin s or closing the battery door will automatically return the AMR to its normal operating state WARNING The AMR interlock switches shall not be defeated or bypassed as this would energize the AMR ...

Page 193: ...Power Supply Box Problems 5 4 5 4 Battery Problems 5 6 5 4 1 Low Battery Recovery 5 6 5 4 2 Battery Charging Problems 5 6 5 4 3 Leaking Batteries 5 7 5 5 Exposure to Liquids 5 9 5 6 AMR Start up Problems 5 10 5 7 AMR Controller Errors 5 11 5 8 Operator Panel Information 5 12 5 8 1 Stop Flags 5 12 5 8 2 Text Messages 5 13 5 1 HD 1500 Platform User s Manual I645 5 ...

Page 194: ... No I635 for more information Additional Information A connection to the AMR must be established before attempting to access SetNetGo If your AMR is already configured to use a wireless network use the procedure below If it is not you must first create a TCP IP connection to the AMR s Maintenance Ethernet Port Refer to 3 4 Network Connections on page 3 11 for more information Refer to Fleet Operat...

Page 195: ...on file from SetNetGo in the System Backup Restore Options Refer to the Fleet Operations Workspace Core User s Manual Cat No I635 for more information Although some parameters concerning the location of the Safety Laser Scanners are included in the ARAM configuration file the Safety Laser Scanner configuration and safety parameters are not stored in the SetNetGo restore function Refer to the Safet...

Page 196: ...self diagnos tics may take up to 60 seconds and then an additional indicator should turn ON to provide status Yellow DC POW ER LED ON and red ERROR LED ON Non critial failure Confirm that no AMR or battery is connected Contact your local OM RON representative An internal failure has been de tected but charging is still possi ble Charging time may be affect ed Continued operation in this state may ...

Page 197: ...al prob lem detected Confirm that the Serv ice button is not contin uously depressed Allow system to cool Cycle AC power supply Charging may be possible but the charging time may be affect ed Continued operation in this state may lead to critical failure Green OPERA TION LED ON while yellow DC POWER LED flashing An absolutely de pleted battery has been detected Press the Service button to acknowle...

Page 198: ...rging Refer to Charging a Battery Outside of the AMR on page 4 25 for more information 5 4 2 Battery Charging Problems Use the information in the table below to understand battery charging problem indications and solu tions Condition Assumed Cause Remedy Additional Information Power Supply Box indicators Yellow DC POWER LED flashing Red ERROR LED OFF An absolutely de pleted battery has been detect...

Page 199: ...Contact your local OMRON representative for more information if necessary No problem indica tions A battery connec tion issue may present Ensure the Power Sup ply Box has power sup plied Ensure the Power Sup ply Box disconnect switch is in the ON po sition Check all cables and connections for dam age or faulty connec tions 5 4 3 Leaking Batteries If the battery is leaking discontinue use immediate...

Page 200: ...the proper dis posal of Waste Electronics and Electrical Equipment WEEE All electrical and electronic prod ucts should be disposed of separately from the municipal waste system according to local ordi nances using designated collection facilities 5 Troubleshooting 5 8 HD 1500 Platform User s Manual I645 ...

Page 201: ...d the AMR s interior do not attempt to power ON the system and contact your OMRON representative 1 Power OFF the AMR immediately and then turn the main disconnect switch to the OFF posi tion 2 Remove and dry as much liquid as possible 3 Allow the AMR to air dry thoroughly before attempting to restore power 5 Troubleshooting 5 9 HD 1500 Platform User s Manual I645 5 5 Exposure to Liquids 5 ...

Page 202: ...tery s state of charge to ensure sufficient power is available Refer to 4 11 1 Battery Indicators and Controls on page 4 18 for more information Check that the skins are in place and fastened correctly and that all interlock switches are satisfied Refer to 4 27 Interlock Switches on page 4 62 for more information If the AMR does not start up after the actions above contact your local OMRON represe...

Page 203: ...Solid red A thermal shut down has occurred from excessive heat Reduce the environment s ambient operating temperature Ensure excessive heat is not gen erated from payload devices Power supply input under over voltage or power supply defective Power supply errors occur when there is an issue with the incoming power to the AMR Controller This error can also occur if the PSU power supply unit board i...

Page 204: ...Estop An E STOP button on the sides of the AMR has been depressed Refer to 4 15 1 Emergency Stop Recovery Procedure on page 4 32 for more information Latch Estop The AMR is in an emergency stop state after all emergency stop devi ces have been reset and the safety circuit is satisfied Refer to 4 15 1 Emergency Stop Recovery Procedure on page 4 32 for more information Panel Estop An E STOP button o...

Page 205: ...indicate operational status required actions errors messages or faults To troubleshoot specific error messages or faults contact your local OMRON representative for more information 5 Troubleshooting 5 13 HD 1500 Platform User s Manual I645 5 8 Operator Panel Information 5 5 8 2 Text Messages ...

Page 206: ...5 Troubleshooting 5 14 HD 1500 Platform User s Manual I645 ...

Page 207: ...nspection 6 10 6 6 4 Safety and Warning Labels 6 10 6 7 Stored Batteries 6 13 6 8 Cleaning 6 14 6 8 1 Cleaning Intervals 6 14 6 8 2 Cleaning AMR Charging Contacts 6 14 6 8 3 Cleaning the Power Supply Box Cooling Ducts 6 15 6 8 4 Cleaning Lasers Lenses 6 16 6 8 5 Cleaning Caster Treads 6 16 6 8 6 Cleaning Drive Wheels 6 16 6 9 Replacing Items 6 18 6 9 1 Removing and Replacing Skins 6 18 6 9 2 Light...

Page 208: ...ecautions to avoid potential short circuit Do not attempt to lift the AMR from the bottom with a forklift or similar devices Do ing so could damage the AMR WARNING When working near the encoder cables take care not to disconnect or damage them Improper connection or disconnection of encoder cables may result in erratic motion of the AMR during operation Operating the AMR with damaged disconnect ed...

Page 209: ...does not have a path to ground and therefore cannot discharge This can be hazardous to electrostatic sen sitive devices Always keep electrostatic sensitive devices at least 30 cm away from the AMR skins Precautions for Correct Use Maintenance of the payload structure is not covered in this document and is the responsibility of the end user 6 Maintenance 6 3 HD 1500 Platform User s Manual I645 6 1 ...

Page 210: ...and tag the main disconnect switch according to your facility requirement and regulations 5 Probe the appropriate connector pins on the module shown below using a digital multimeter Probe the back of the pin 4 positive and pin 3 negative Each motor controller is equipped with a capacitor that stores energy You must check and make sure that the voltage is less than 7 VDC 6 After the voltage is less...

Page 211: ...ctrical inputs to prevent unauthorized power application 1 Disconnect the Power Supply Box from the battery or Docking Target and then lock and tag the Power Supply Box output power cord connector 2 Turn the AC input power OFF by switching the main disconnect switch to the OFF position horizontal ON OFF 3 Lock and tag the main disconnect switch according to your facility requirement and regulation...

Page 212: ... signs of wear and tear or any damages before attaching to the lifting rings and lifting the AMR It is the end user s responsibility to ensure that the person operating the overhead hoist or forklift has successfully completed the required training and is certified to operate these ma chines When placing the AMR back on the floor after lifting you must make sure that all safety pre cautions have b...

Page 213: ...Using an overhead hoist or a forklift lift the AMR 4 Remove the lifting rings and straps from the AMR to complete this procedure 6 Maintenance 6 7 HD 1500 Platform User s Manual I645 6 4 Lifting the AMR 6 ...

Page 214: ... the ON button 5 Squeeze and hold the three position enabling device with medium pressure to place it in the middle position This will enable high power to the drive motors 6 When the drive motors are enabled the drive power indicator light must turn ON This confirms that the drive power indicator light is functional 7 Next release the three position enabling device This will remove the high power...

Page 215: ...ON representative Caster Swivels 3 months Check the caster swivels and tighten if loose AMR Charging Contacts 3 months Check the AMR charging contacts for wear or debris Refer to 6 6 2 AMR Charging Contact Inspection on page 6 10 for more information Docking Target Charging Contact Assembly 3 months Inspect the Docking Target Charging Contact assembly Refer to 6 6 3 Docking Target Charging Contact...

Page 216: ...ry 3 months to determine if they need to be replaced Measure the overall height of each charging contact If the height is less than 7 0 mm the charging contacts must be replaced 7 0 min 6 6 3 Docking Target Charging Contacts Inspection The Docking Target charging contacts and assembly should be inspected every 3 months with the fol lowing actions Inspect the contacts to ensure they are securely at...

Page 217: ...atings Magnetic Field Can be harful to pacemaker wearers Pacemaker wearers stay back 36 in 90 cm Mag net ic Fie ld Can be harfu l to pace make r wear ers Pace make r wear ers stay back 36 in 90 cm Power Supply Box Safety and Warning Label Locations Use the following information to understand all safety and warning label locations on the Power Supply Box Two hazardous voltage labels are located on ...

Page 218: ...ion to understand all safety and warning label locations on the Docking Tar get The following labels are located on the Docking Target as indicated below Two do not step labels One hot surface label One electric shock label 6 Maintenance 6 12 HD 1500 Platform User s Manual I645 ...

Page 219: ...y is stored for a period of more than six months perform the following tasks at six month intervals to properly maintain the batteries Inspect the batteries for damage or leaks Connect the battery to the Power Supply Box and allow it to completely charge and balance Additional Information Refer to 2 3 Environmental Specifications on page 2 9 for more information Refer to 4 11 Battery and Charging ...

Page 220: ... 3 months Refer to 6 8 2 Cleaning AMR Charging Contacts on page 6 14 for more information Clean the Power Sup ply Box cooling duct 6 months 2 000 charge cycles or as needed Refer to 6 8 3 Cleaning the Power Supply Box Cooling Ducts on page 6 15 for more information Clean all laser lenses 6 months as need ed Refer to 6 8 4 Cleaning Lasers Lenses on page 6 16 for more information Clean caster treads...

Page 221: ...ce the charging speed and affect charging operations 6 8 3 Cleaning the Power Supply Box Cooling Ducts The cooling duct of the Power Supply Box must be cleaned to ensure that airflow is maintained for proper cooling WARNING Prior to cleaning the Charging Station you must ensure that the AMR is not engaged with the Docking Target WARNING The Power Supply Box charging contacts on both the Docking Ta...

Page 222: ...mall particulate You must clean the lenses of all lasers periodically and as guided in this document to avoid operational failures 6 8 5 Cleaning Caster Treads Remove any accumulated dirt or debris on the treads to prevent AMR s performance degredation Clean the caster treads with a mild soapy solution 6 8 6 Cleaning Drive Wheels The drive wheels provide electrical path to ground and traction duri...

Page 223: ...ft brush Isopropyl alcohol 1 Remove the right and left side skins and then set them aside 2 Use a lint free cloth wetted with isopropyl alcohol to thoroughly clean the drive wheel treads You should also remove any foreign objects embedded in the drive wheel treads such as small rocks staples or screws 3 Re install the right and left side skins to complete this procedure 6 Maintenance 6 17 HD 1500 ...

Page 224: ... during operation Operating the AMR with damaged disconnect ed or improperly connected encoder signals can cause potentially hazardous un commanded rotation WARNING The Power Supply Box charging contacts on both the Docking Target and the AMR and the drive wheel motors can get hot during operation Allow these items to cool down prior to servicing CAUTION Any electrical charge that accumulates on t...

Page 225: ...ith them CAUTION The electronics bay has high current components that are exposed when side skins are removed Avoid contact with electrical terminals to prevent electric shock Precautions for Safe Use After you remove or replace the skins you must make sure that the light strips and discs are operational once the AMR is powered back ON Precautions for Correct Use After removing the skin panels pla...

Page 226: ... location of these pins These are used when placing the front skin on the AMR 4 Remove the front skin This completes the front skin removal process Reverse the steps above to replace the front skin Rear Skin Removal and Replacement Procedure Use the following procedure to remove or replace the rear skin on the AMR No tools are needed for either the removal or installation of the rear skin 1 Locate...

Page 227: ...ment Observe the location of these pins These are used when placing the rear skin on the AMR 4 Remove the rear skin This completes the rear skin removal process Reverse the steps above to replace the rear skin Side Skin Replacement Procedure Use the following procedure to remove or replace the side skins on the AMR The same procedure can be used for both the left and right side skins No tools are ...

Page 228: ... removed until the light disc cable is disconnected Two pins near the top of the side skin are used for alignment Observe the location of these pins These are used when placing the side skin on the AMR 4 Remove the side skin This completes the side skin removal process Reverse the steps above to replace the side skin 6 9 2 Light Disc LED Replacement Procedure Use the following procedure to replace...

Page 229: ...ding the LED mount plate to the side skin using a 7 mm nut driver 5 Remove the four screws holding the diffuser plate to the LED mount plate using a 2 5 mm hex wrench 6 Carefully lift the electronics bay seal cover and then remove the LED mount plate completely to expose the LED light assembly 7 Disconnect the LED light electrical connector 8 Remove the LED light by peeling away from the LED mount...

Page 230: ...Replacing Skins on page 6 18 for more information Move the skin to an adequate working area after detaching it from the AMR 2 Remove the cable that connects directly to the PCA board 3 Remove the three brackets that secure the LED light mounting channel by unscrewing the 6 bolts using a 7 mm nut driver as shown below rear skin shown 4 Remove the LED light mounting channel from the skin 5 Disconnec...

Page 231: ...m nut driver Cable tie 1 Unlatch the skin and pull it away from the AMR so that you can disconnect the cable Refer to 6 9 1 Removing and Replacing Skins on page 6 18 for more information 2 Remove the cables from the connectors on the back of the Operator Panel 3 Disconnect the remaining cable from its corresponding connector that is fastened to the AMR Take note of the cable ties that need to be r...

Page 232: ...se plate Additional Information If the wireless antenna s has been relocated to the payload structure its replacement proce dure will vary accordingly The following items are required for this procedure A replacement wireless antenna 2 5 mm hex key 8 mm wrench or socket driver 1 Use a 2 5 mm hex key to remove the 4 screws that fasten the wireless antenna cover to the AMR and then remove the cover ...

Page 233: ... information The following items are required for this procedure 4 mm hex key Replacement AMR charging contacts Torque wrench Locktite 222 thread lock compound or equivalent There are two sets of two charging contacts at the top and the bottom of the charging slot This proce dure applies to both sets of charging contacts 1 Remove the front skin Refer to Front Skin Removal and Replacement Procedure...

Page 234: ...ly and remove two M5 screws with a 4 mm hex key that attach the two charging connector leads Do not disconnect the single power lead from the bus bar 4 Remove the charging contact assemblies Two springs are present in the assemblies These springs are not fastened and may fall out of position 6 Maintenance 6 28 HD 1500 Platform User s Manual I645 ...

Page 235: ...nding bus bar using a 4 mm hex key Tighten to a torque of 4 5 N m 7 Attach the contact housing to the base plate Apply Loctite 222 thread lock compound or equiv alent to the four M5 screws Use a 4 mm hex key and tighten to a torque of 4 5 N m to com plete this procedure 6 Maintenance 6 29 HD 1500 Platform User s Manual I645 6 9 Replacing Items 6 6 9 6 AMR Charging Contact Replacement Procedure ...

Page 236: ...6 Maintenance 6 30 HD 1500 Platform User s Manual I645 ...

Page 237: ...ation A 3 A 1 2 Battery Shipping Crate Information A 4 A 1 3 Docking Target Shipping Crate Information A 5 A 1 4 AMR Shipping Crate Information A 6 A 2 Parts List A 9 A 3 Side Laser Configuration A 11 A 4 Input and Output Control A 13 A 1 HD 1500 Platform User s Manual I645 A ...

Page 238: ...rate these machines Precautions for Correct Use IATA regulations UN 3480 PI 965 require that air freight 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 The battery might arrive fully charged if it is not shipped by air freight Make the following considerations before unpacking the eq...

Page 239: ...ge A 5 for more information 4 Unpack the AMR Refer to A 1 4 AMR Shipping Crate Information on page A 6 for more information A 1 1 Power Supply Box Shipping Crate Information The shipping crate with Power Supply Box weighs a total of 174 kg The overall dimensions are pro vided below 1092 610 1454 Power Supply Box Unpacking Procedure Use the following procedure to unpack the Power Supply Box from it...

Page 240: ... Box is leveled when lift ed up 8 Using a lifting device carefully lift the Power Supply Box off the base pallet and then place the unit on the ground to complete this procedure A 1 2 Battery Shipping Crate Information The shipping crate with battery weighs a total of 96 kg The overall dimensions are provided below 1118 470 483 Battery Unpacking Procedure Use the following procedure to unpack the ...

Page 241: ...fter the battery has been transferred from the crate to the floor this procedure is complete A 1 3 Docking Target Shipping Crate Information The shipping crate with Docking Target weighs a total of 97 kg The overall dimensions are provided below WARNING At least 2 people are required to lift the Docking Target Use safe lifting practices when removing or installing the Docking Target 1565 806 533 A...

Page 242: ...it away from the base pallet 5 Loosen the strap securing the protective wood on top of the Docking Target Once the strap is loosened remove the protective wood along with the strap 6 Loosen the bolts nuts attaching the wooden board to the base pallet Unstrap the protective foam and remove the wooden board Take care not to damage or scratch the copper charging pads while removing the wooden board 7...

Page 243: ...age the AMR The following tools and equipment are required for this procedure Personal Protective Equipment including eye protection toe protection and gloves Pendant for driving the AMR An unpacked and charged battery 13 mm socket Impact driver Pry bar Safety box cutter 1 Remove any weatherproof film or plastic sheet material wrapped around the shipping crate us ing a safety box cutter 2 Remove t...

Page 244: ...st two people by pushing it backwards away from the ramp to expose the AMR 13Two shipping bars are fastened to the top of the AMR and straps secure them to the base pal let Loosen the straps and move them away from the AMR 14Unscrew and remove the wood bars used to secure the AMR to the pallet 15Install a charged battery Refer to 3 3 Battery Installation Procedure on page 3 9 for more information ...

Page 245: ...antenna 68530 401 Antennas for wireless Ethernet connection Yes Wireless antenna extension kit 68955 000 Includes the following items Two coaxial cables 2 m female to pan el mount male Two coaxial cables 0 6 m female to panel mount male Two dipole antennas No Power Supply Box 68310 000 Includes the electrical access panel Yes Docking Target 68910 000 Includes mounting hardware Yes Docking Target M...

Page 246: ... position Yes Safety Laser Scanner rear 22159 000F Pre configured Safety Laser Scanner for rear position Yes Lifting hardware kit 68000 890 Includes the following items 4 eye bolts 4 lifting straps 1 2 m Yes SCPU Jumper 68410 218L For use when no user supplied safety devi ces are present Yes Top plate 68110 106 The AMR is initially ordered with or without the top plate Appendices A 10 HD 1500 Plat...

Page 247: ...eadings inside these angles will be ignored The format for the angles is startangle1 stopangle1 startangle2 stopangle2 Exam ple values would be 20 180 45 180 You must also consider the scanning field orientation and whether the laser is tilted when calculating the ignored field segment This area should be modified so that the laser does not sense parts of the AMR Zones entered here will be exclude...

Page 248: ...onds If your envi ronment has a restricted number of possible AMR paths this number should stay relatively large such as thirty seconds so that the AMR does not rediscover the same obstacle multiple times Con tact your OMRON representative if you have difficulty adjusting these parameters for your environ ment FloorAllowedHeight FloorAllowedAngle CeilingAllowedHeight and CeilingAllowedAngle parame...

Page 249: ...fined NX102 controller program can execute a routine that controls several devices connected to the output termi nals in the User Access Panel This routine can be triggered by a CustomOuput task signal from the AMR controller When the routine completes a signal can be sent from the NX102 controller to the AMR controller with a CustomInput task Macros defined with MobilePlanner can also be utilized...

Page 250: ...Appendices A 14 HD 1500 Platform User s Manual I645 ...

Page 251: ...I Index I 1 HD 1500 Platform User s Manual I645 I ...

Page 252: ... 5 3 Digital Inputs 3 19 Digital Outputs 3 21 Dimensions Docking Target 2 4 Operator Panel 2 5 Power Supply Box 2 3 User Access Panel 2 4 AMR 2 3 Docking Target 1 12 4 23 Drive Wheels 1 7 E E STOP Button 1 6 1 10 1 11 1 22 Emergency Situations 4 60 Emergency Stop 4 32 Emergency Stop Connections 3 17 Emergency Stop Recovery 4 32 Environment operating 1 3 4 7 F Fleet Manager 1 21 G Gap Traversal 4 7...

Page 253: ... Laser Scanner Zones 4 45 Safety Outputs 3 17 4 32 Safety Zone Pairs 4 45 Screen 1 10 Service button 1 12 4 22 SetNetGo 1 26 Shut down 4 5 4 28 Side Laser 1 23 Side Laser Relocation 3 27 Signal Beacon 1 22 3 19 Signal Beacon States 4 36 4 39 Skins 1 6 1 8 Software 1 26 MobilePlanner 1 28 SetNetGo 1 30 System Requirements 1 26 Speaker 1 12 Specifications AMR Environmental 2 9 Battery 2 12 Battery E...

Page 254: ...Index I 4 HD 1500 Platform User s Manual I645 ...

Page 255: ......

Page 256: ...Regional Headquarters OMRON EUROPE B V Wegalaan 67 69 2132 JD Hoofddorp The Netherlands Tel 31 2356 81 300 Fax 31 2356 81 388 Contact www ia omron com Kyoto JAPAN OMRON ASIA PACIFIC PTE LTD No 438A Alexandra Road 05 05 08 Lobby 2 Alexandra Technopark Singapore 119967 Tel 65 6835 3011 Fax 65 6835 2711 OMRON CHINA CO LTD Room 2211 Bank of China Tower 200 Yin Cheng Zhong Road PuDong New Area Shanghai...

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