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146

LD Cart Transporter User's Manual

14766-000 Rev H

Figure 10-2. Top View of an LD Platform Cart Transporter, Side Laser Support Tubes Removed

Callout

Description

Callout

Description

HMI Pose Base

E-Stop, Latch, Unlatch

Top Plate

Light Pole (Beacon)

Coupling Laser Cover

Touchscreen

Latch Position Sensor

On/off/Brake/Key Switch

Latching Mechanism Cover

Operator Panel

HMI Post

Rear-facing Laser

Antenna x2

Car Latch

Figure 10-3. Location of Parts in the Payload Bay

Summary of Contents for LD-105CT

Page 1: ...LD Cart Transporter User s Manual I612 E 07...

Page 2: ...nd revised Omron Robotics and Safety Technologies assumes no responsibility for any errors or omissions in the documentation Copyright 2016 2021 by Omron Robotics and Safety Technologies All rights re...

Page 3: ...utions 23 Alert Levels 23 Alert Icons 23 Falling Hazards 24 Special Information 24 2 2 What to Do in an Emergency Abnormal Situation 24 Releasing the Brakes 24 Releasing an E Stop 25 2 3 Safety Precau...

Page 4: ...orter 38 Battery 38 Standalone Cart 38 3 2 Before Unpacking 39 3 3 Unpacking 39 Battery 39 LD Platform Cart Transporter 41 Repacking for Relocation 44 3 4 Setting Up an LD Platform Cart Transporter 44...

Page 5: ...Considerations 78 Dimensions 78 Pinch Hazard 78 Weight 78 Center of Gravity 78 Chapter 6 Connectivity 83 6 1 Required Connections 83 6 2 LD Platform Cart Transporter Connections 83 Core 83 Cart Specif...

Page 6: ...Operating Environment 131 Intended Use 131 Clearance 131 Obstacles 131 Environment and Floor 132 133 Platform Getting Stuck 133 Cart Getting Stuck on Platform 134 8 2 Typical Operation 134 8 3 Power...

Page 7: ...ng 154 Work Area Maintenance 154 LD Platform Cart Transporter and Cart 154 Tires 155 Casters 155 Axles 155 Lasers 155 Docking Station Contacts 156 10 6 Accessing the Payload Bay 156 Removing Latching...

Page 8: ...Platforms 179 LD Platform Cart Transporter Casters 179 Cart Brake Release 182 LD Platform Core 184 E Stop and Safety Laser Commissioning 185 Chapter 11 Technical Specifications 187 11 1 Dimension Dra...

Page 9: ...tions and improvements 03 September 2017 Corrections and improvements 04 November 2017 Corrections and improvements 05 February 2018 Corrections and improvements 06 February 2019 Corrections and impro...

Page 10: ......

Page 11: ...on the cart AMR Autonomous Mobile Robot The LD Platform Cart Transporter with a cart attached to it This is the complete mobile robot which will transport your payload on the cart For the initial set...

Page 12: ...12 LD Cart Transporter User s Manual 14766 000 Rev H 1 2 Product Description Figure 1 1 Cart and LD Platform Cart Transporter Separate Figure 1 2 Cart and LD Platform Cart Transporter Coupled...

Page 13: ...ansporter to back up or turn in place For situations that are so dynamic that laser localization becomes difficult we offer the Acuity Localization option which localizes the AMR using an upward facin...

Page 14: ...might be too low for the safety scanning laser to see Rear Facing Laser This laser gives better coverage of what s behind the transporter than sonar alone It is used during both turning in place and...

Page 15: ...HMI Post This supports the two side lasers and the rear facing laser both for obstacle avoidance It also supports the Operator Panel l Operator Panel This includes a touchscreen an E Stop button ON an...

Page 16: ...d to align the transporter with the cart when coupling l LATCH and UNLATCH override buttons on the Operator Panel Coupling Plates Each cart has one coupling plate and each platform has one coupling pl...

Page 17: ...robotics functions including obstacle avoidance path planning loc alization navigation and so on culminating in motion commands to the MARC firmware ARAM also controls the battery and light discs and...

Page 18: ...the mapped space When MobilePlanner is started without its license dongle it automatically starts in this mode Refer to the separate FLOW Core User s Guide for details Mobile Adept Robot Controller MA...

Page 19: ...and maintenance of an LD Platform Cart Transporter There are additional manuals that cover these actions for the platform Table 1 1 Related Manuals Manual Title Description Mobile Robot LD Safety Guid...

Page 20: ...hould be 255 255 255 0 Windows 7 Start Control Panel Network and Internet Network and Sharing Center Change adapter settings Windows 10 Start Settings Network and Internet Change adapter options Right...

Page 21: ...you should now have a window similar to the fol lowing 1 From the SetNetGo screen select Status Debug Info This will display the Download debug info button 2 Click Download debug info 3 Save the downl...

Page 22: ......

Page 23: ...if not avoided might result in minor injury moderate injury or property damage Alert Icons The icon that starts each alert can be used to indicate the type of hazard These will be used with the appro...

Page 24: ...through it to the dropoff Special Information There are several types of notation used to call out special information IMPORTANT Information to ensure safe use of the product NOTE Information for more...

Page 25: ...erious injury or death or damage to itself and other equipment if the following safety precautions are not observed WARNING ELECTROCUTION RISK During maintenance disconnect AC power from the robot and...

Page 26: ...ails on the Door Box l Do not get the AMR wet Do not expose the AMR to rain or moisture l Do not continue to run the AMR after hair yarn string or any other items have become wound around the platform...

Page 27: ...en they are in action WARNING ENTANGLEMENT RISK The belt and pulley of the LD Platform Cart Transporter can entangle your hand during maintenance Keep your hands clear of the belt and pulley when they...

Page 28: ...cart Qualification of Personnel It is the end user s responsibility to ensure that all personnel who will work with or around AMRs have attended an appropriate Omron training course and have a workin...

Page 29: ...r is turning Other situations are configurable The buzzer is configured with MobilePlanner using the following parameters NOTE These parameters are only available with the Mobile Robot Software Suite...

Page 30: ...A switchable forbidden area can be programmed on the map to prevent the AMR from enter ing an area based on the state of a discrete input If this input is set from another vehicle such as a forklift...

Page 31: ...e risk of a collision Safety Scanning Laser Emergency Stop If an obstacle enters the transporter s immediate path the safety scanning laser will trigger an emergency stop After the transporter has com...

Page 32: ...1575 225 LD 130CT 1000 100 1050 150 LD 250 2050 175 2100 225 i The forward limits indicate where the safety system will report a fault These speeds may not be achievable by the robot under its own pow...

Page 33: ...In life support systems l In residential installations l Where the equipment will be subject to extremes of heat or humidity l In mobile portable marine or aircraft systems NOTE The gyroscope used to...

Page 34: ...eeding 30 You should charge the battery completely as soon as you receive it NOTE If the battery was not sent by air it may be fully charged l Store batteries upright in an environment with relative h...

Page 35: ...le regulations Customers can contribute to resource conservation and protecting the environment by the proper disposal of WEEE Waste Electronics and Electrical Equipment All electrical and elec tronic...

Page 36: ......

Page 37: ...all the docking station See Installing the Docking Station on page 51 l Install the cart s manual brake release cable and lever l Design build and install a payload structure to suit your application...

Page 38: ...29 kg 284 lb The weight as shipped is 230 kg 507 lb Battery NOTE If you purchased spare batteries this section applies to them also The battery is shipped in a separate carton not inside the platform...

Page 39: ...do not match the packing slip or are damaged do not sign the receipt l If the items received do not match your order please contact your local Omron support immediately Retain the containers and packi...

Page 40: ...Rev H 3 3 Unpacking Figure 3 1 Battery Shipping Container The battery box measures 311 x 540 x 457 mm 12 25 x 21 25 x 18 inches NOTE The battery weighs 19 kg 42 lbs There are recesses at the front an...

Page 41: ...1257 x 1149 x 1645 mm 49 50 x 45 25 x 64 75 inches Removing the Front Panel The front panel of the transporter crate doubles as a ramp for rolling the platform off of the crate base 1 Release the lat...

Page 42: ...Upper Body of the Crate 1 There are six lag bolts and washers around the base of the crate two in the rear and two on each side Remove all six lag bolts and washers Figure 3 4 Crate Lag Bolts 2 Slide...

Page 43: ...x 2 Remove the cardboard box This contains the dock and the joystick as well as miscellaneous cords If accessories such as call boxes are ordered they will be shipped separately 3 Release the two spri...

Page 44: ...ls and follow all safety notes used for installation Improper packing for shipment will void your warranty The LD Platform Cart Transporter must always be shipped in an upright orientation 3 4 Setting...

Page 45: ...ooth transition between the ramp and the ground 2 Roll the transporter off of the crate base and down the ramp Figure 3 7 LD Platform Cart Transporter on Crate Base with Ramp 3 Remove the two wheel pi...

Page 46: ...Removing Covers on page 159 The light disc PCA cable will still be attached b Disconnect the cable from the light disc PCA so the side cover can be moved completely away from the platform This will fu...

Page 47: ...full charge NOTE Air shipping regulations require that the tranporter be shipped without the battery installed Removing the Battery Cover Accessing the battery compartment requires removing the platfo...

Page 48: ...48 LD Cart Transporter User s Manual 14766 000 Rev H 3 4 Setting Up an LD Platform Cart Transporter Figure 3 10 Pulling the Bottom of the Rear Cover Out Figure 3 11 Lowering the Rear Cover...

Page 49: ...outer cover 2 Unlatch and open the battery compartment door at the back of the platform The battery compartment door is capable of being locked You may need to unlock it 3 Lift and slide the new batte...

Page 50: ...tform 4 Attach the battery power and data cables to the connectors at the rear of the battery Figure 3 14 Battery Cable Connectors A Power and B Data 5 Close the battery compartment door to secure the...

Page 51: ...vers onto the docking station l When docked the rear facing laser extends almost 5 inches beyond the back of the dock ing station Ensure that you leave enough free space behind the back of the docking...

Page 52: ...6 350 R95 267 114 203 R13 18x 6 8x 25 89 A A Figure 3 15 Docking Station Wall Mount Bracket Detail A Through Hole units are in mm 2 Screw the two shoulder bolts each with a washer into the rear of th...

Page 53: ...user s responsibility to verify that the installation is in compliance with local regulations Screw the base of the docking station directly to the floor using three user supplied screws For dimensio...

Page 54: ...ole is also circled 3 Attach the floor plate to the base of the docking station with three M4 x 12 flat head stainless steel screws The floor plate comes with three screws so you will have two spares...

Page 55: ...Chapter 3 Setup Figure 3 18 Docking Station Mounted on Floor Plate 406 495 Figure 3 19 Docking Station Floor Plate Dimensions units are in mm 14766 000 Rev H LD Cart Transporter User s Manual 55...

Page 56: ...he docking station foot against the bottom of the docking station to make this adjustment easier Adjust the height of the contacts by using the pull knob on the bottom of the dock The height changes b...

Page 57: ...orter This part of the brake release does not requires any user setup or adjustment Installation The cart brake cable is attached on one end to the cart brake release mechanism and outfitted on the ot...

Page 58: ...so an Operator can repetitively release the brakes without risk ing injury The actual mounting location and procedure for the brake release handle are not covered here due to the variability that is...

Page 59: ...u hole for Brake release Cable A 6 mm diameter 0 25 in pass through hole for brake cable through rear frame tube A B C Figure 3 24 Thru holes for Brake release Cable Plate Removed 14766 000 Rev H LD C...

Page 60: ...d on the cart payload 1 Push the free end of the lever cable through the hole in the cart s upper rear horizontal tube A B C D E F G H I K Figure 3 25 Internal Brake Release Mechanism Callout Descript...

Page 61: ...r brake cables will be adjusted at the factory Brake Lever Cable The brake lever cable should be adjusted at the lever cable clamp shown in the preceding fig ure There should be just enough slack so t...

Page 62: ......

Page 63: ...hrough a direct connection so your IT support can set up your wireless without needing the MobilePlanner license The transporter navigates using a map generated with the MobilePlanner software The ope...

Page 64: ...Platform core in the payload bay The Maintenance Ethernet port is permanently set to IP address 1 2 3 4 with a netmask of 255 255 255 0 for direct wired access to the onboard systems Accordingly when...

Page 65: ...de for details Access the SetNetGo OS through the MobilePlanner software MobilePlanner SetNetGo Network NOTE It is also possible to connect directly to the SetNetGo OS on a platform through a web brow...

Page 66: ...cause of the variation pos sible in different environments we don t specify what components or techniques should be used to obtain this coverage We suggest that you conduct a comprehensive site survey...

Page 67: ...rformance of your mobile application You can also create your own virtual elements for application specific AMR workspace interactions Maps contain a variety of goals routes and tasks that comprise th...

Page 68: ...ay be parked is to send the trans porter to each cart parking goal and while the transporter is at the goal put down tape mark ings that include the size of the cart as well as the transporter s orien...

Page 69: ...route will include whatever goals the AMR will stop at and how long it will wait at each specific goal These parameters are accessed from MobilePlanner Config then Robot Interface Touchscreen Select e...

Page 70: ...p goal to be serviced when this dropoff button is pressed NOTE A goal can have a wait time associated with it to give an Operator time to load or unload the AMR This is configured in the map using the...

Page 71: ...at don t get blocked If a mapped wall is often used for stacking boxes or storing carts the laser may have trouble seeing the wall behind those objects l multiple visible lights when using Acuity loca...

Page 72: ...chscreen Figure 4 3 Localization Goal Parameters Screen Logo In MobilePlanner select Config Robot Interface Touchscreen From there use Style Appearance A logo is displayed in the upper left corner of...

Page 73: ...Edit the SmallLogo parameter a Click the file select button to open the file chooser b Select the newly uploaded file c Click Open 4 Click Save to save the configuration NOTE If the SmallLogo field i...

Page 74: ...is has no effect if the Screensaver Enabled box is not checked The range is 1 999 s StayOnTouch This is a checkbox that determines if touching the screensaver has the same effect as touching Stay If t...

Page 75: ...Deceleration and Rotation Limits CAUTION PROPERTY DAMAGE RISK If you change AbsoluteMaxTransVel you should commission the AMR before putting it into service Reducing the absolute max allowable linear...

Page 76: ...AbsoluteMaxTransDecel 2000 1 2000 AbsoluteMaxRotVel 180 1 180 AbsoluteMaxRotAccel 360 1 360 AbsoluteMaxRotDecel 360 1 360 a Although the Min value in software is 2500 the hardware safety system on the...

Page 77: ...ller payloads Turn Warning Lights An AMR is also required for CE compliance to have readily visible turn warning lights when it is either turning or about to turn The platform s light discs indicate t...

Page 78: ...hazard Weight Run time between charges is a function of payload weight A heavier payload will result in a shorter run time If you have added any options to the platform that draw power from the plat...

Page 79: ...tric View 105 kg A Vertical Direction B Longitudinal Direction C Transverse Direction units in mm A B Figure 5 2 Longitudinal View 105 kg A Vertical Direction B Longitudinal Direction units in mm 1476...

Page 80: ...s Manual 14766 000 Rev H 5 2 Considerations A C Figure 5 3 Transverse View 105 kg A Vertical Direction C Transverse Direction units in mm B C Figure 5 4 Top View 105 kg B Longitudinal Direction C Tran...

Page 81: ...tric View 130 kg A Vertical Direction B Longitudinal Direction C Transverse Direction units in mm A B Figure 5 6 Longitudinal View 130 kg A Vertical Direction B Longitudinal Direction units in mm 1476...

Page 82: ...s Manual 14766 000 Rev H 5 2 Considerations A C Figure 5 7 Transverse View 130 kg A Vertical Direction C Transverse Direction units in mm B C Figure 5 8 Top View 130 kg B Longitudinal Direction C Tran...

Page 83: ...tenance Ethernet The Maintenance Ethernet port is located under a small access panel on the left side of the platform in the upper right corner Its IP address is 1 2 3 4 with Netmask 255 255 255 0 Acc...

Page 84: ...nsors is used for both side lasers and the low front laser l Light Pole goes through the PCA to the Operator panel l User LAN goes to the Ethernet switch in the payload bay Two ports are spares Cart S...

Page 85: ...SWITCH J39 Jumpers JP40 and JP41 must be moved to pins 1 2 for this to be functional MiniFit Jr mates with MOLEX 4C 39 01 2045 Pin No Designation Notes 1 ESTOP 1A 2 ESTOP 2A 3 ESTOP 1B 4 ESTOP 2B Use...

Page 86: ...or each bank of four outputs with the indicated jumper Connector Designation Notes J19 OUT1 JP13 LED DS14 J20 OUT2 JP11 LED DS15 J21 OUT3 JP10 LED DS16 J22 OUT4 JP12 LED DS17 JP26 RETURN Selects HI or...

Page 87: ...6 C8 6 C1 6 C7 6 C1 IO_OUT_6 6 C8 6 C1 IO_OUT_8 OUT_2 OUT_4 OUT_5 OUT_COM_1 4 NC NC NC NC VBAT 1 2 3 EMO OUT 1 EMO OUT 2 EMO OUT 3 EMO OUT 4 EMO OUT 5 EMO OUT 6 EMO OUT 7 EMO OUT 8 OUT1_H_L OUT2_H_L O...

Page 88: ...1 1 1 1 1 1 IO_INPUT1 3 4 2 1 J45 1 2 4 3 J40 9 09K DS27 DS26 SHIELD_GND IN_1 IN_2 J47 DS29 IO_INPUT2 IO_INPUT3 VBAT VBAT VBAT VBAT IN_3 IN_4 J46 DS28 IO_INPUT4 IN_5 IN_6 IN_7 IN_8 J48 J49 J50 J51 PS...

Page 89: ...is in Connectivity on page 83 it means that the descrip tion here does not apply to the LD Platform Cart Transporter because that con nection is being used for a cart specific use NOTE Standard conne...

Page 90: ...h input is 0 to 30 V The input is ON when VIN 4 V OFF when VIN 1 3 V 16 digital outputs protected low side drivers These outputs should be wired to positive voltage through the load Output is open whe...

Page 91: ...NPUT_3 1 Input_3 1 0 30 V Range Rin 3 9 k 12 INPUT_3 2 Input_3 2 0 30 V Range Rin 3 9 k 13 INPUT_3 3 Input_3 3 0 30 V Range Rin 3 9 k 14 INPUT_3 4 Input_3 4 0 30 V Range Rin 3 9 k 15 BANK3 Common for...

Page 92: ...AT 0 5 A Max 39 VBAT_IO_OUT2 VBAT 0 5 A Max 40 VBAT_IO_OUT1 VBAT 0 5 A Max 41 42 43 44 GND Digital Input Specifications Parameter Value Operational voltage range 0 to 30 VDC OFF state voltage range 0...

Page 93: ...ment J Input Bank 2 C Wiring Terminal Block K Input Bank 3 D Typical User Input Signal L Input Bank 4 E Part Present Sensor M Note all input signals can be used for either sinking or sourcing con figu...

Page 94: ...state resistance Iout 0 5 A Ron 0 14 85 C Output leakage current Iout 5 A DC short circuit current limit 0 7 A ILIM 1 7 A Figure 6 7 Typical Digital Output Wiring Example Callout Description Callout...

Page 95: ...10 k l The analog outputs have an output impedance of about 200 The maximum output current of each analog output is 10 mA Exceeding the maximum output current will result in damage to the analog outpu...

Page 96: ...e Port 1 and 2 General Use Pin No Designation Notes 1 4 6 9 No Connection 2 RS232_USR _RXD 1 or 2 3 RS232_USR _TXD 1 or 2 5 GND 7 RS232_USR _RTS 1 or 2 8 RS232_USR _CTS 1 or 2 LD Platform Core Rear Up...

Page 97: ...Directly connected to the externally mounted Joystick port G HMI Panel HDB15F Operator screen E Stop Brake_Rel ON OFF F Sonar 2 DB9M This connection is not used with an LD Platform Cart Transporter Po...

Page 98: ...E Stop button is pressed or an obstacle is detected Light Pole Connector type Mini Fit 3 x 2 Use Light tower user supplied Pin No Designation Notes 1 GND Cable shield 2 LIGHT_P1 Red 3 LIGHT_P2 Yellow...

Page 99: ...2 is closed NOTE An E Stop jumper or a user supplied E Stop button needs to be attached to the E STOP port on the User Interface connector for the platform to function The jumper is provided as part n...

Page 100: ...PERTY DAMAGE RISK If you are using a user supplied E Stop you must run the Safety Com missioning to verify the E Stop s functionality before putting the AMR into ser vice For more information see E St...

Page 101: ...Right B User Supplied Circuits J E STOP Relay Control Logic C E STOP Source K Voltage of the Battery D Ground L High Power to Amplifiers E Front Panel E STOP M HMI Connector F User E STOP N Note Jump...

Page 102: ...102 LD Cart Transporter User s Manual 14766 000 Rev H 6 3 Standard Platform Connections Callout Description Callout Description G Bumper Left O User Interface Connector...

Page 103: ...rdware Software Notes 1 2 3 4 5 6 GND 7 SW_VBAT_OUT1 Battery_Out_1 VBAT 4 A max switched in SW 8 SW_VBAT_OUT2 Battery_Out_2 VBAT 4 A max switched in SW 9 10 SW_VBAT_OUT34 Battery_Out_3_and_4 VBAT 10 A...

Page 104: ...s not the touchscreen used for the LD Platform Cart Transporter The HMI panel is not used with the LD Platform Cart Transporter so this connector is not used Designation Pin No Hardware Software Notes...

Page 105: ...OTE The Bumper Speakers and Batt Comm connectors on the internal core mate with Molex Mini Fit Jr 5557 series receptacles NOTE The Charge Contacts and Battery Power connectors on the internal core mat...

Page 106: ...s Mini Fit 2 x 4 This connection is not used with a LD Platform Cart Transporter M Speakers Mini Fit 2 x 2 Drives built in speakers N Battery Comm Mini Fit 2 x 3 Battery communication control Core Int...

Page 107: ...RS422_LIDAR_RX Connections to Factory Supplied LIDAR 2 RS422_LIDAR_RX 3 OSSD1 4 OSSD2 5 WF_OUT 6 O3_OUT 7 STANDBY 8 EDM 9 No Connection 10 18 SW_20V_LIDAR Main_Laser_Power 11 thru 17 GND 19 RS422_LIDA...

Page 108: ...te stop when the bumpers are hit with a force of at least 67 N Pin No Designation Notes 1 BUMPER_R2L Right Channel 2 Low 2 BUMPER_R1L Right Channel 1 Low 3 BUMPER_L2L Left Channel 2 Low 4 BUMPER_L1L L...

Page 109: ...ype Mini Fit 3 x 2 Use Battery control Pin No Designation Notes 1 GND Connections to the Factory Supplied Battery 2 RS232_BATT_RXD 3 RS232_BATT_TXD 4 FBAT_ALWAYS 5 START_BUTTON 6 OFF_BUTTON 14766 000...

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Page 111: ...ched by an Operator Figure 7 1 Operator Panel with Acuity Option Shown 7 1 Touchscreen Touchscreen Initialization When first powered up the bottom of the touchscreen will display its boot status 1 Ini...

Page 112: ...page 68 Screen Top Bar The top of the screen shows basic AMR information This includes a bar graph indicating the WiFi signal strength the name of the AMR and the battery state of charge If the AMR is...

Page 113: ...arrow pointing down indicating a pickup an arrow pointing up indicating it is doing a dropoff or an exclamation mark indicating an alert condition Figure 7 3 shows a dropoff The bottom of the left sid...

Page 114: ...er adds 1 minute to the time the AMR will wait See Screensaver on page 73 Right Screen Pane The right side of the touchscreen displays Home Dropoffs Status and Help tabs touching one of these tabs cha...

Page 115: ...for relocalizing a lost AMR from the touchscreen See Relo calization on page 118 When you select Home from the right pane tabs rather than when the software switches to Home the center pane will disp...

Page 116: ...O will display any of the Core Digital Inputs Outputs that have been configured as a custom type Figure 7 7 Status I O Screen Top Inputs are not shown in this example l Peripherals Touchscreen allows...

Page 117: ...ta for troubleshooting Once the start page is opened you just touch Start When you are done recording touch Stop The Duration and Replay File fields are filled in by the recorder After the recording i...

Page 118: ...you need to have set up at least one localization goal with a heading at which the AMR can localize You can set up multiple such goals if you like See Localization Goals on page 71 If the AMR becomes...

Page 119: ...R to go for dropoffs after leaving its current location Touching a dropoff button and then Go requests that the AMR be sent to that goal Touching several buttons in sequence followed by touching Go re...

Page 120: ...ing this pop up will toggle the priority for the goal or job between high and normal priority See the following graphic When a job is assigned high priority its dropoff button will display a visible...

Page 121: ...reen The job isn t interrupted from the queuing man ager s perspective the wait task has just been prolonged Go Button The bottom of the center pane in Dropoffs and user selected Home mode is a Go but...

Page 122: ...ermined by the patrol route 7 2 Operator Panel E Stop Button When pressed the red latching push button prevents any transporter motion by disabling the motors To reset the E Stop twist the button slig...

Page 123: ...all systems except the charging hardware circuits The platform s software systems prevent loss of data on shutdown and save the AMR s last known location so it automatically localizes when it is next...

Page 124: ...s A beacon is used to indicate movement and to signal an Operator that the AMR is waiting for assistance Their states are described here and summarized in the following tables Driving Straight Blue ar...

Page 125: ...rc and the blinking segment have independent timing Driving Slowly E Stop Inactive When driving under 300 mm s the LD does not generate E Stop however it still actively per forms safety checking and s...

Page 126: ...m the 6 o clock to the 12 o clock position and back in opposite directions Beacon blinks yellow Charging When docked a green arc will indicate the current state of charge SOC showing steady green from...

Page 127: ...tes a 0 25 Hz fade on and off l Circle indicates that the lights appear to be going in a circle l Half circles indicates two arcs moving opposite each other between the top and bottom l Solid indicate...

Page 128: ...cle Blinking signal Green Blink Driving slowly 300 mm sec Orange Pulse Green Green Green Yellow Alt Stopped with warning Yellow Blink Yellow Blink Object detected in safety zone Orange Left Right Half...

Page 129: ...12 V power is available 5V 5 V power is available VBAT Raw battery power is available Right Column LAN MAINT The Maintenance Ethernet connector is showing activity LAN USER The USER LAN connector is s...

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Page 131: ...each side of the AMR so that a person cannot get trapped between the AMR and a wall or other fixed object You should consult the applicable standards for your area An exception to side clearance can...

Page 132: ...Driving on rough or uneven floors can affect traction and navigation and also reduce the life of drive train components Safety might be affected because the laser s sensing plane is not always paralle...

Page 133: ...or door thresholds have a roun ded profile or are filled to ease the transition between surface planes The following limits apply for certain floor characteristics Characteristic Operating Limits Incl...

Page 134: ...it is within that environment localized your AMR is ready to perform on startup and will operate autonomously without human intervention Paths are not pre programmed but instead are generated dynamic...

Page 135: ...ows state of charge SOC remaining for battery Run time with no load is approximately 15 hours This will vary significantly depending on operating conditions Recharge time is approximately 4 hours Batt...

Page 136: ...al and an automated means for recharging your platform battery Autonomous Charging During normal autonomous operation the AMR manages charging automatically through the automated docking station The A...

Page 137: ...rogress The power switch located on the right side of the dock has an integrated thermal fuse which can shut down the dock if it becomes too hot If this happens you have to wait for the fuse to cool d...

Page 138: ...button before moving the platform NOTE If you push the platform too far onto the docking station it will not charge Make sure that the yellow charge light comes on and stays on Standalone Battery The...

Page 139: ...ttery swaps depends on how the AMR is used This includes the weight it carries and what percent of the time it is in service You will need to determine the best interval for your situation Swapping th...

Page 140: ...o 12 o clock and back Joystick The joystick lets you quickly move the platform to its destination This can be used to drive it from the shipping dock to an automated docking station IMPORTANT The joys...

Page 141: ...ng the cart at the dropoff goal while it proceeds to its next assigned job Cart Locating If a cart is at a parking goal the transporter can navigate close enough to the cart for the Latch ing Mechanis...

Page 142: ...handle In the unlikely event that the cart becomes unlatched from the platform while in motion the brakes are designed to stop the cart within six feet Automatic Brake Release When the transporter co...

Page 143: ...nse for each fleet of AMRs Once a map is generated it can be shared with multiple AMRs working in the same space Joystick This is mainly used to drive the platform when doing a scan in preparation for...

Page 144: ...hich change location frequently they may not be on the platform s map and may also block the laser s view of features that are on the map In such cases Acuity loc alization may be a better choice than...

Page 145: ...gure 10 1 Major LD Platform Cart Transporter System Parts with Acuity Camera Callout Description Callout Description A Operator Panel G Rear facing Laser Guard B Side Lasers Guard x2 H Light Disc x2 C...

Page 146: ...Removed Callout Description Callout Description A HMI Pose Base H E Stop Latch Unlatch B Top Plate J Light Pole Beacon C Coupling Laser Cover K Touchscreen D Latch Position Sensor L On off Brake Key...

Page 147: ...ing station are not interlocked WARNING ELECTROCUTION RISK There are no user serviceable parts inside the docking station Do not remove the covers of the docking station There is high voltage inside a...

Page 148: ...performing maintenance work safety inspection cleaning removing parts installing parts etc following safety measures must be taken l Ensure that the AMR has come to a complete stop by pressing the E...

Page 149: ...e Only and B No Lift Rear Lifting Area The center underside of the platform where the cover has a raised section Do not lift any where else Refer to the following illustration Figure 10 5 Bottom of Ba...

Page 150: ...be checked for proper function every week You should ensure that the light remains visible under all operating conditions so that regard less of your payload structure design any people near the AMR...

Page 151: ...Coupling laser l Pinch Point Label 12992 000 A pinch point label is on top of the latch mechanism cover l Hand entanglement Label 18180 000 A hand entanglement label is under the latch mechanism cover...

Page 152: ...d during maintenance when the transporter is tipped on its side l Yellow circle surrounding the E Stop 11229 167 This is labeled EMERGENCY STOP It is located on the Operator Panel at the top of the HM...

Page 153: ...a weekly basis for being present and legible If any of the labels are missing or illegible they should be replaced The labels with part numbers are l HMI post button label 14463 000 This includes the...

Page 154: ...ce The work area of the AMRs must be kept generally clean and free from clutter that could block an AMR Anything spilled on the floor of the work area such as dust ice pooled water etc must be removed...

Page 155: ...nvironment and the amount of usage Operating in an envir onment with a lot of dust or dirt will require more frequent cleaning Use the intervals in this section as guidelines and modify the schedule a...

Page 156: ...an LD Platform Cart Transporter Side Laser Support Tubes Removed on page 146 The top plate is held on with eight M6 socket head screws and two M5 cap screws You should not remove the HMI post base The...

Page 157: ...the latching assembly and sensors in the Latching Mech anism 4 Carefully lift off the top plate As you remove the top plate CAUTION PROPERTY DAMAGE RISK Take care not to scratch the laser lens when re...

Page 158: ...the screws previously removed from the top plate Installing Latching Mechanism Cover 1 Place the Latching Mechanism cover back onto the top plate 2 Reinstall the four M3 screws holding the Latching M...

Page 159: ...bumper no tools are needed for either the removal or installation of the platform s skins CAUTION PINCH RISK The magnets holding the covers in place are strong enough to pinch you if you are not caref...

Page 160: ...the rear outer cover Access Panel This provides access to the Maintenance Ethernet and the Joystick ports 1 Push the left front side of the panel in and the latch will release it Pushing the panel a s...

Page 161: ...once the cover is part way off the chassis Each pair consists of one emitter and one receiver 1 Pull the top of the cover away from the chassis a few inches The cover will pivot on the metal brace at...

Page 162: ...alled in the reverse of the order in which they are listed above l The front upper and rear outer covers must be installed first and second l The access panel must wait for the left side cover Bumper...

Page 163: ...onnectors and leads match 5 Tuck the connectors into the four holes in the chassis until just an inch of sonar lead is sticking out 6 Tilt the top of the cover up to meet the chassis Side Covers 1 Mov...

Page 164: ...in and the latch will hold it This is a toggle latch pressing it once engages it pressing it a second time releases it Rear Inner Battery Cover 1 Slide the cover up so its top tab fits under the rear...

Page 165: ...ose of the battery according to all local and national environmental regulations regarding electronic components Contact your local Omron support CAUTION PROPERTY DAMAGE RISK Follow appropriate ESD pr...

Page 166: ...oller and Bearing WARNING ELECTROCUTION RISK There are no user serviceable parts inside the docking station Do not remove the covers of the docking station There is high voltage inside and the covers...

Page 167: ...switch There are no user serviceable fuses NOTE The following procedure applies only to legacy docking stations The only user serviceable fuses are in the docking station The two external AC fuses ar...

Page 168: ...ing station is switched on the blue power light does not come on but the docking station can charge a battery manually WARNING ELECTROCUTION RISK Unplug power from the docking station before starting...

Page 169: ...ar units can be replaced individually All four sonar units are identical although two are used as emitters and two as receivers in pairs 1 Remove the inner and outer rear covers from the platform Refe...

Page 170: ...ain the screws for mounting the replacement controller 4 Unplug the larger cable from the sonar controller Be careful not to let the cable end slip into the chassis 5 Unplug the four sonar unit cables...

Page 171: ...mes flush with the acetal block the block needs to be replaced A B C D E Figure 10 16 Cart Latch Mechanism with acetal block Vertical Position Callout Description Callout Description A Latch Motor D D...

Page 172: ...wering Block and Screws Callout Description Callout Description A Delrin Block C Hook Lowering Block B Hook D Screws l Remove the two screws holding the hook lowering block in place Retain the screws...

Page 173: ...ly 3 Remove the light disc PCA 4 Screw the new assembly and retained round cover to the side cover using the screws retained from the old assembly The PCA is keyed so that it can only be installed in...

Page 174: ...nlatch and open the battery compartment door at the back of the platform The battery compartment door is capable of being locked You may need to unlock it before opening 3 Disconnect battery power by...

Page 175: ...easier An M5 x 10 screw works well for this If you saved the wheel pin it should be used for this See Figure 3 9 See also Figure 10 20 Spring Compression Hole arrow 7 The drive assembly is held in pl...

Page 176: ...the hole on the rear side of the assembly there is a hole on each side This will keep the springs compressed the wheel will be in the up position and make installation easier If you saved a wheel pin...

Page 177: ...at holds on the caster you can avoid removing the battery which is only necessary to tilt the platform on its side If you cannot lift the chassis enough to access the caster screw 1 Move the payload s...

Page 178: ...placement Callout Description A 4 M6 x 22 Screw Flat Head Socket B Caster Heavy Duty with Bolt Hole Fitting C M10 x 30 mm Screw Flat Head Socket D Use Locktite 263 on the M10 x 30 Screw E Completed As...

Page 179: ...rm This puts entire robot weight on casters 4 Place the protective supporting material on the right side of the platform Using the right side prevents possible damage to the maintenance access panel 5...

Page 180: ...nstallation 1 Put the new caster in place and attach with the M10 screw and washers you removed from the old caster Use Loctite 263 on the screw 2 Torque to 73 2 N m 54 ft lbf Rear Caster Removal The...

Page 181: ...cription A Shaft of pin slides inside caster mounting screw C Flat top of blunt end retains spring B Blunt end passes against caster wheel D Brake cable wire with ball end fits into slot and hole 6 Re...

Page 182: ...previously removed from the brake pin is in place on the brake pin The wide end goes up against the caster mounting screw 6 Insert the ball end of the inner wire into the hole in the brake pin with th...

Page 183: ...Disconnect the end of the cable from the brake control mechanism a Disconnect the inner wire from the lever cable clamp b Disconnect the lever cable from the lever cable anchor 3 Feed the lever cable...

Page 184: ...have to adjust the lever cable LD Platform Core The LD Platform core is an enclosed unit with internal fans as the only moving parts 1 Access the payload bay Refer to Accessing the Payload Bay on pag...

Page 185: ...rm core with four more going down into the platform chassis 15 Reconnect all of the cables to the top portion of the LD Platform core Refer to Standard Platform Connections on page 89 16 Reconnect the...

Page 186: ...ot Safety Commissioning 3 Follow the on screen instructions to complete the test You can print a certificate after successful completion of the commissioning Safety Laser Commissioning This procedure...

Page 187: ...101 6 504 9 38 x2 500 416 0 1073 3 Figure 11 1 Overall LD Platform Cart Transporter Dimensions units are mm 10x 6 6 A 88 9 190 5 68 6 0 41 9 188 334 479 8 502 7 24 1 429 453 153 4 299 5 0 Figure 11 2...

Page 188: ...ads units in mm If you have a factory supplied cart these preceding dimensions show where you will attach your payload 11 2 Specifications LD Platform Cart Transporter Physical Description Specificati...

Page 189: ...s 0 mm Translational speed max LD 105CT 1350 mm s 53 1 inches s LD 130CT 900 mm s 35 4 inches s Traversable step 5 mm with cart 130 kg Traversable gap 5 mm with cart 130 kg CAUTION PROPERTY DAMAGE RIS...

Page 190: ...lass 1 eye safe Low Level Laser 1 at front of platform in bumper 270 4 m range Class 1 eye safe Coupling Laser 1 on platform deck passing through the top plate into the coupling plate 270 4 m range Cl...

Page 191: ...ical Length 592 mm Width 846 mm Height 480 mm Weight 23 kg 50 lb Rating Caster ESD ESD rated Suspension Passive Casters 2 front 2 rear spring loaded Caster diameter 100 mm 4 inches nominal Caster Brak...

Page 192: ...Description Specification with Floor plate 495 x 495 5 x 317 mm Weight 8 2 kg 18 lb Mounting Directly to floor wall bracket included or on floor free standing with included floor plate Indicators Pow...

Page 193: ...ield Warning Label X Yellow circle sur rounding the E Stop button 11229 167 Yellow circle sur rounding the E Stop button X No Riding Label 18178 000 No Riding Label X Incline Limit Label 18622 000 Inc...

Page 194: ...ble Front Bumper Panel X Skin Rear Panel ESD LD 60 FRU 21452 701F LD 60 ESD Rear Panel X Skin Rear Panel ESD LD 90 FRU 21452 702F LD 90 ESD Rear Panel X Skin Rear Panel ESD LD 90x 60 1 FRU 21452 705F...

Page 195: ...Skin X Assembly Skin Left LD ESD 21452 450F ESD Left side Skin Assembly Skin Left 12804 450 Standard Left side Skin X Skin Left Hatch LD ESD 21452 600F ESD Left Hatch Skin Left Hatch 12804 600 Standar...

Page 196: ......

Page 197: ...SAFETY TECHNOLOGIES INC 4225 Hacienda Drive Pleasanton CA 94588 U S A Tel 1 925 245 3400 Fax 1 925 960 0590 Regional Headquarters OMRON EUROPE B V Wegalaan 67 69 2132 JD Hoofddorp The Netherlands Tel...

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Omron LD-105CT, User Manual

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