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Omron NC1-510000, User Manual

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1-1

Intended Use

The Autonomous Mobile Robot (AMR) Controller is designed to be integrated as top controller in an
HD-1500 Mobile Robot.
The AMR Controller simultaneously uses a custom Linux operating system and programs as well as
third-party software to serve as a powerful PC platform.

1 Overview

1-2

AMR Controller User's Guide (I650)

Summary of Contents for NC1-510000

Page 1: ...AMR Controller User s Guide NC1 510000 NC1 510001 AMR Controller I650 E 01...

Page 2: ...f 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...

Page 3: ...or the following personnel who must also have knowledge of electrical sys tems an electrical engineer or the equivalent Personnel in charge of introducing Factory Automation systems Personnel in charg...

Page 4: ...Introduction 2 AMR Controller User s Guide I650...

Page 5: ...is Manual Sections in this Manual 3 AMR Controller User s Guide I650 Operating Procedures Specifications Installation Hardware System Configurations Overview 1 2 3 4 5 6 1 2 3 4 6 5 1 7 7 Appendices M...

Page 6: ...ower Supply Design and Turning ON OFF the Power Supply 19 Actual Operation 19 Operation 20 General Communications 20 Cleaning Maintenance and Disposal 20 Precautions for Correct Use 21 Storage Install...

Page 7: ...LED Indicator 3 10 3 4 Power Button 3 11 3 5 SD Memory Card Slot 3 12 3 6 CFast Card Slot 3 13 3 7 Connectors Base Layer 3 14 3 7 1 Power Connector 3 14 3 7 2 I O Connector 3 14 3 7 3 USB Connectors...

Page 8: ...ns 4 23 4 2 9 CAN Connector Specifications 4 24 4 2 10 EXPANSION Connector Specifications 4 25 4 2 11 COMM Connector Specifications 4 27 4 2 12 PLC Connector Specifications 4 29 4 3 Environmental Spec...

Page 9: ...r OFF Using the Power ON OFF Input 6 4 6 2 3 Forced Power OFF Using the Power Button 6 4 Section 7 Maintenance 7 1 Preventive Maintenance 7 2 7 1 1 Preventive Maintenance Schedule 7 2 7 1 2 Clean the...

Page 10: ...e Take photos of the package and save them Inform your supplier immediately 2 Open the package Ensure not to damage the contents 3 Ensure that all items are present Additional Information Refer to 5 1...

Page 11: ...ect Use Precautions on what to do and what not to do to ensure proper operation and performance Additional Information Additional information to read as required This information is provided to increa...

Page 12: ...le for labor charges for removal or replacement thereof the non complying Product ii repair the non complying Product or iii repay or credit Buyer an amount equal to the purchase price of the non comp...

Page 13: ...elf is not sufficient for a complete determination of the suitability of the Product in combination with the end product machine system or other application or use Buyer shall be solely responsible fo...

Page 14: ...easons It is our practice to change part numbers when published ratings or features are changed or when significant construction changes are made However some specifications of the Product may be chan...

Page 15: ...y or property damage Symbols The circle and slash symbol indicates operations that you must not do The specific operation is shown in the circle and explained in text This example indicates prohibitin...

Page 16: ...ult in serious accidents due to incorrect operation Emergency stop circuits interlock circuit limit circuits and similar safety measures must be provided in external control circuits Unintended behavi...

Page 17: ...g of the security settings Selecting non recommend ed security settings can put your system at risk Changing BIOS information is only allowed for the engineer in charge that possesses a thorough under...

Page 18: ...ated device or a non isolated interface to the product take appropriate actions to avoid communication fail ures or damage to the mentioned ports Industrial PC Platform Product Non isolated Device Non...

Page 19: ...mpletely locked in place to prevent accidental disconnection Before you connect a computer to the product disconnect the power supply plug of the computer from the AC outlet Also if the computer has a...

Page 20: ...ises radio station immediately change the product s frequency or stop radio emission and contact OMRON representative for actions to take to prevent cross talk FCC IC WARNING Changes or modifications...

Page 21: ...rruptible power supply UPS to prevent data loss and other system file integrity issues caused by unexpected power interruption Back up the system files in the planned way to prevent data loss and othe...

Page 22: ...supplied or immediately after the power sup ply is turned OFF Doing so may result in burn injury General Communications Separate the machine network segment from the office network to avoid communicat...

Page 23: ...ways touch a grounded piece of metal to discharge static electricity from your body before starting an installation or maintenance procedure Insert USB devices and PCIe devices correctly to avoid the...

Page 24: ...ure that available software checks are performed by personnel in charge who possess a thor ough understanding of the software Diagnostic information is not available when the Industrial PC Support Uti...

Page 25: ...devices that comply with EU Directives also conform to the related EMC standards so that they can be more easily built into other devices or the overall machine The actual products have been checked f...

Page 26: ...tion conditions for complying with the standards If the product is used in a manner not specified in the Instruction Sheet or in the product manuals then the protection provided by the equipment may b...

Page 27: ...W616 NYB NYP Learning all software related informa tion about the AMR Controller This includes introductory informa tion installation operating proce dures and maintenance Mainly software information...

Page 28: ...tructions of a computer program DVI Digital Visual Interface DVI D A Digital Visual Interface with only Digital signals DVI I A Digital Visual Interface with Analog and Digital signals Ethernet A netw...

Page 29: ...BR Master Boot Record Merge module A module providing a standard method by which developers deliver shared Win dows installer components and setup logic to their applications MSDN Microsoft Developer...

Page 30: ...e appears as a suffix to the catalog number on the front and back covers of the manual I650 E 01 Cat No Revision code Revision code Date Revised content 01 May 2020 Original production Revision Histor...

Page 31: ...This section provides general information about the AMR Controller 1 1 Intended Use 1 2 1 2 Hardware Features 1 3 1 3 ID Information Label 1 4 1 4 Product Configuration 1 5 1 1 AMR Controller User s G...

Page 32: ...igned to be integrated as top controller in an HD 1500 Mobile Robot The AMR Controller simultaneously uses a custom Linux operating system and programs as well as third party software to serve as a po...

Page 33: ...emory sticks or other peripheral hardware Built in SD Memory Card slot An SD Memory Card slot is provided for removable memory Built in CFast Card slot A CFast Card slot is provided as a removable sto...

Page 34: ...details D Standards and QR code The applicable standards and a QR code for OMRON internal use E LOT number and serial number Production details consisting of The lot number of the AMR Controller in th...

Page 35: ...is mentioned on the ID information label of the product The structure of the model ID is NC1 The ID consists of 3 sets of digits NC1 1 2 3 Item Description Option Description 1 Series name NC1 Naviga...

Page 36: ...1 Overview 1 6 AMR Controller User s Guide I650...

Page 37: ...2 System Configurations This section provides an overview of the system configurations for the AMR Controller 2 1 Configuration for a Mobile Robot 2 2 2 1 AMR Controller User s Guide I650 2...

Page 38: ...gurations have the base layer and a cooling layer The base layer contains the CPU the software and most of the connectors and functionality The mobile robot layer supports interfaces for a CAN network...

Page 39: ...or 3 10 3 3 4 CAN LED Indicator 3 10 3 4 Power Button 3 11 3 5 SD Memory Card Slot 3 12 3 6 CFast Card Slot 3 13 3 7 Connectors Base Layer 3 14 3 7 1 Power Connector 3 14 3 7 2 I O Connector 3 14 3 7...

Page 40: ...ckets 3 24 3 10 2 SD Memory Cards 3 24 3 10 3 USB Flash Drives 3 25 3 10 4 CFast Cards 3 25 3 10 5 DVI Cables 3 26 3 10 6 USB Type A to USB Type B Cables 3 26 3 10 7 Power Supply 3 27 3 10 8 UPS 3 27...

Page 41: ...guration fans can be present and the thick ness can vary B Base layer The layer with the CPU and the main interfaces The connector layout and the installed option board depend on the product configura...

Page 42: ...The base layer houses most of the functionality of the AMR Controller C D E F G H J A B I CU ST OM ID Co rpo rat ion Ky oto 60 0 8 53 0 JA PA N MA DE IN TH E NE TH ER LA ND S PR OD UC T NA M E K Back...

Page 43: ...Visual Interface connector I SD Memory Card slot SD Memory Card slot J Option port Wireless interface K CFast Card slot CFast Card slot L ID information label Label containing model ID LOT No and oth...

Page 44: ...al audio C CAN connector Interface for CAN D LED indicators Visual indicators for the operating state of the Mobile Robot layer E Expansion connector Interface expansion with 1x CAN interface 4x RS232...

Page 45: ...of an error C HDD Hard Disk Drive Indicates activity of the storage device D RUN Run Indicates the status of a user defined function 3 2 1 PWR LED Indicator The Power LED PWR indicates the operating m...

Page 46: ...s of this LED can also be defined by users using the Industrial PC System API Refer to 7 2 Corrective Maintenance on page 7 4 for actions to solve errors 3 2 3 HDD LED Indicator The Hard Disk Drive LE...

Page 47: ...of an I O error C DRV Motion status Indicates the motion command status D CAN PLC Link status Indicates the link status of the PLC link 3 3 1 MCU LED Indicator The MCU LED indicates the presence and...

Page 48: ...he presence and type of an error within the AMR Controller Color Status Meaning Green Not lit No motion commanded Lit Motion being commanded Additional Information The status of this LED can also be d...

Page 49: ...he power button is used to manually switch the AMR Controller ON and OFF Additional Information Refer to 6 1 Power ON on page 6 2 for ON details Refer to 6 2 Power OFF on page 6 3 for OFF details 3 Ha...

Page 50: ...y Card slot on the AMR Controller accepts SD Memory Cards with the following specifi cations SDHC type SD 2 0 specification Up to 32 GB capacity Additional Information Refer to 3 10 2 SD Memory Cards...

Page 51: ...de of the base layer The CFast Card slot accepts CFast Cards that comply with the CFast 2 0 specification C F a s t Additional Information Refer to 3 10 4 CFast Cards on page 3 25 for details 3 Hardwa...

Page 52: ...o 5 4 3 Wire the Power Connector on page 5 27 for wiring details Refer to 5 5 Connect on page 5 34 for connection details 3 7 2 I O Connector The I O connector on the AMR Controller provides discrete...

Page 53: ...SB Connectors Two USB connectors support USB 2 0 and two USB connectors support USB 3 0 specifications All USB interfaces are protected against overcurrent and support Wake on USB Additional Informati...

Page 54: ...ecifications on page 4 17 for specifications Refer to 5 5 Connect on page 5 34 for connection details 3 7 5 DVI Connector The DVI interfaces supported on this connector are dependent on the configurat...

Page 55: ...ler provides 2 connectors for antennas or coax cables Additional Information Refer to 4 2 6 Wireless Interface Specifications on page 4 21 for details Refer to 5 5 Connect on page 5 34 for connection...

Page 56: ...ol ler 3 8 1 Line Connector The line connector is located at the mobile robot layer This connector supports analog audio Additional Information Refer to 4 2 7 LINE Analog Audio Connector Specification...

Page 57: ...Connector Specifications on page 4 23 for details Refer to 5 5 Connect on page 5 34 for connection details 3 8 3 CAN Connector The CAN interface is located at the mobile robot layer The CAN interface...

Page 58: ...Additional Information Refer to 4 2 10 EXPANSION Connector Specifications on page 4 25 for details Refer to 5 5 Connect on page 5 34 for connection details 3 8 5 COMM Connector The COMM interface is l...

Page 59: ...E T 100BASE T 1000BASE T Ethernet speeds Additional Information Refer to 4 2 4 Ethernet Connector Specifications on page 4 17 for specifications Refer to 5 5 Connect on page 5 34 for connection detail...

Page 60: ...le robot layer The Safety I O interface on the AMR Controller provides the interface to a Safety PLC Additional Information Refer to 4 2 12 PLC Connector Specifications on page 4 29 for details Refer...

Page 61: ...ews for drive installation 1 PCIe Card support for PCIe Card installa tion 1 PCIe Card clip for PCIe Card installation 1 1 The Accessory Kit can contain accessories that are not applicable to your mod...

Page 62: ...nt details NC1 510000 NC1 510001 With Mobile Robot layer With Cooling layer with non removable cover NY000 AB02 NY000 AB01 Refer to 4 1 8 Bracket Specifications on page 4 8 for bracket dimension detai...

Page 63: ...Fast Cards CFast Card details are provided below OMRON is not responsible for the operation performance or write life of any other CFast Card Model Appearance Storage type Capacity Details NY000 AT03...

Page 64: ...ctor and cable assembly 90 mm 3 10 6 USB Type A to USB Type B Cables USB Type A to USB Type B cable details are provided below OMRON is not responsible for the operation or performance of any other br...

Page 65: ...details of the AMR Controller determine the minimum pow er rating of your power supply 3 10 8 UPS Details for the recommended UPS are provided below OMRON is not responsible for the operation or perf...

Page 66: ...3 27 for power supply details Refer to 4 1 3 Power Consumption Specifications on page 4 4 for power consumption de tails Refer to the OMRON website for S8BA specifications or to the UPS S8BA User s M...

Page 67: ...ector Specifications 4 12 4 2 3 USB Connector Specifications 4 16 4 2 4 Ethernet Connector Specifications 4 17 4 2 5 DVI Connector Specifications 4 20 4 2 6 Wireless Interface Specifications 4 21 4 2...

Page 68: ...ling layer with non removable cover Not mounted 282 mm 200 mm 73 mm 3 0 kg Book mount 319 mm 4 211 mm 80 mm 4 3 3 kg Wall mount 282 mm 245 mm 4 76 mm 3 1 kg 1 Refer to 1 4 Product Configuration on pag...

Page 69: ...VDC 12 A 6 ms max for cold start at room temperature Overvoltage category JIS B3502 and IEC 61131 2 Category II EMC immunity level IEC 61131 2 Zone B RTC accuracy At ambient temperature of 55 C 3 5 to...

Page 70: ...he power consumption specifications of your connected USB devices Refer to 4 2 3 USB Connector Specifications on page 4 16 for maximum power consumption details CAN Refer to 4 2 9 CAN Connector Specif...

Page 71: ...er to 4 1 3 Power Consumption Specifications on page 4 4 for details Model Minimum power requirements Power supply 1 NC1 510000 120 W NC1 510001 120 W 1 Refer to 3 10 7 Power Supply on page 3 27 for p...

Page 72: ...ling details Passive cooling fanless Graphics controller Intel HD Graphics 620 DDR type DDR4 2400 non ECC 4 1 6 Memory Specifications This section provides the memory specifications of the AMR Control...

Page 73: ...write speed 360 MB s Operating temperature 40 to 85 C 2 Max operating humidity with no condensation 10 to 95 RH Storage temperature 55 to 95 C Max storage humidity with no condensation 10 to 95 RH En...

Page 74: ...et can mount your AMR Controller Dimensions of the mounting holes locations for the custom AMR Controller bracket Bracket Details Drill Specifications Product Dimensions Bracket ID Hole Dis tance A Ho...

Page 75: ...Ds Refer to 5 3 8 Book Mount Procedure on page 5 18 for book mount details Bracket Details Drill Specifications Product Dimensions Bracket ID Hole Dis tance X Hole Dis tance Y Distance Z Bracket Width...

Page 76: ...on page 3 24 for bracket IDs Refer to 5 3 9 Wall Mount Procedure on page 5 19 for wall mount details Bracket Details Drill Specifications Product Dimensions Bracket ID Hole Dis tance X Hole Dis tance...

Page 77: ...62 BK 1711708 The AMR Controller provides protection against reverse polarity 2 1 The pin layout represents the power connector on the AMR Controller Pin Description 1 24 VDC 2 0 VDC Item Specificatio...

Page 78: ...the connector 4 2 2 I O Connector Specifications Details of the I O connector are provided below The I O connector is locked when inserted to prevent unintentional disconnection The connector can only...

Page 79: ...Refer to I O Connector Power Status Output Details on page 4 14 for details 2 3 Power ON OFF In put 2 Isolated tran sistor input sinking or sourcing ON 8 8 VDC min 5 mA min OFF 1 1 VDC max 0 5 mA max...

Page 80: ...e power supply The Power Status Output is OFF B when the AMR Controller has been disconnected from the power supply Power up start Power supply has been disconnected Open OFF Closed ON Relay Open OFF...

Page 81: ...nector on page 5 31 for I O connector wiring details Lock and Remove the I O Connector The I O connector locks into place when the black part of the connector is held and pushed in B A Tilting both le...

Page 82: ...urrent at 5 VDC equals 4 5 W maximum power consumption 1 3 m maximum cable length Blue color 2 3 USB 2 0 500 mA maximum current at 5 VDC equals 2 5 W maximum power consumption 1 5 m maximum cable leng...

Page 83: ...ided below Item Specifications Number of available ports Base layer 3 ports Mobile Robot layer 2 ports Physical layer 10BASE T 100BASE TX or 1000BASE T Frame length 1 514 bytes max Media access method...

Page 84: ...ector has LED indicators that display the link activity and speed status A B Item Indicator Color Status Description A Link Act Yellow Not lit No link Lit Link Flashing Link and activity B Speed Not l...

Page 85: ...h connector has LED indicators that display the activity and link status A B Item Indicator Color Status Description A Activity Yellow Not lit No activity Lit Activity RX TX B Link Green Not lit Link...

Page 86: ...Ground on page 5 20 for grounding details Refer to A 2 DVI Connector Pin Details on page A 20 for pin details The DVI Card specifications depend on the CPU and thus on the product configuration Item...

Page 87: ...11a b g n ac Connectors 2 x RP SMA connector for antennas or antenna ca bles Isolation No Maximum length of antenna cable 3 m Bluetooth specifications Item Specification Standard Bluetooth 5 0 Additi...

Page 88: ...ayout represents the connectors on the AMR Controller Item Specifications Connector type 3 5mm audio jack 4 pole Wiring details TRRS Tip Ring Ring Sleeve Tip A Line in Ring B Audio out left channel Ri...

Page 89: ...The connector layout represents the connectors on the AMR Controller Item Specifications Connector type TOSLINK Audio type S PDIF digital audio Additional Information Refer to 5 4 2 Ground on page 5...

Page 90: ...e size 24 AWG min CAN connector specifications Item Specifications Signalling rate 1 Mbps max CAN termination 120 Ohm fixed internally Slew rate 2 V us typical Short circuit voltage at any bus termina...

Page 91: ...ations on page 4 24 for details 4 digital outputs PNP Additional Information Refer to 5 4 2 Ground on page 5 20 for grounding details Refer to A 4 EXPANSION Connector Pin Details on page A 23 for pin...

Page 92: ...m Specifications Digital Output 24 VDC 0 05 A point Resistive 4 points 24 VDC 1 2 VA point Pilot Duty 4 points CAN Output 12 VDC 0 1 A point Resistive 1 point 4 Specifications 4 26 AMR Controller User...

Page 93: ...Cable wire size 24 AWG min RS422 specifications Item Specifications Signalling rate 1 Mbps max Termination 120 Ohm fixed internally on receiver side No termination on driver side Bus communication mo...

Page 94: ...Item Specifications Slew rate 6 V us typical Powerdown Supported Data control signals Not supported RTS CTS DSR DCD DTR 4 Specifications 4 28 AMR Controller User s Guide I650...

Page 95: ...length 3 m max Cable wire size 24 AWG min Output driver specifications Item Specifications Number of output drivers 4 points Rated output voltage 24 VDC 19 6 to 28 8 VDC Output type High Side driver...

Page 96: ...ecifications Input OFF current 1 mA max Input OFF voltage 5 VDC max Input ON current 3 mA min Input ON voltage 15 VDC min Isolation method Not isolated 4 Specifications 4 30 AMR Controller User s Guid...

Page 97: ...during operation Conforms to IEC61000 4 4 2kV power lines Vibration resistance during opera tion Conforms to IEC 60068 2 6 Shock resistance during operation Conforms to IEC 60068 2 27 147 m s 3 times...

Page 98: ...g Orientation Storage device type CFast Card Book Ambient temperature 0 to 50 C Wall Ambient temperature 0 to 45 C Custom Max heatsink hotspot temperature 66 C A A Heatsink hotspot 2 cm x 2 cm 4 3 3 R...

Page 99: ...ere 5 12 5 3 7 Electrical Environment 5 12 5 3 8 Book Mount Procedure 5 18 5 3 9 Wall Mount Procedure 5 19 5 4 Wire 5 20 5 4 1 Wiring Warnings and Cautions 5 20 5 4 2 Ground 5 20 5 4 3 Wire the Power...

Page 100: ...e Ensure not to damage the contents 3 Ensure that all items are present Additional Information Refer to 5 1 2 Items Supplied on page 5 2 for the items supplied 5 1 2 Items Supplied The AMR Controller...

Page 101: ...Box PC Documentation Safety Precautions sheets English and Japanese General Compliance Information and Instructions for EU Standards and Certifications sheet Bag with Power connector I O connector Mod...

Page 102: ...cedure on page 5 19 for wall mount installation Book Mount Check if the content is complete Supplied items 1 Book mount bracket 6 Mounting screws 1 Nut for the functional ground terminal connection 2...

Page 103: ...ons This section describes the installable options for the AMR Controller Not Applicable The AMR Controller does not have installable options 5 Installation 5 5 AMR Controller User s Guide I650 5 2 In...

Page 104: ...o not operate or store the product in the following locations Operation may stop or malfunc tions may occur Locations subject to direct sunlight Locations subject to temperatures or humidity outside t...

Page 105: ...ertically mounted C For the custom AMR Controller mount there is one allowed orientation C D Install the AMR Controller with the cooling layer facing up Do not install the product in other orientation...

Page 106: ...3 24 for cable bending requirements of cables ad vised by Omron Refer to the cable specifications of the supplier for all other cables Distance for Cooling for Book Mount and Wall Mount Adequate airf...

Page 107: ...ance 1 X 50 mm Y 100 mm Z 50 mm 1 Measure the minimum distances X and Y at the air openings in the sides of the AMR Controller Check the required bending radius of all wires for the actual required mi...

Page 108: ...cient distance from other devices wiring ducts etc Do not mount the AMR Controller in the wrong direction e g vertically or upside down Doing so may cause abnormal heating in the AMR Controller Do not...

Page 109: ...idity Rapid temperature changes can cause condensation to occur resulting in malfunctioning due to short circuiting When there is a possibility of this occurring take measures against condensation suc...

Page 110: ...dirt salt metal powder soot or organic solvents use a panel with an airtight structure Be careful of temperature increases inside the panel In locations exposed to corrosive gas purge the air inside...

Page 111: ...section Use an isolating transformer to significantly reduce noise between the AMR Controller and the ground Install the isolating transformer between the AMR Controller power supply and the noise fi...

Page 112: ...imity to such lines place them in separate ducts or conduits Be sure to ground the ducts or conduits I O Cable Arrangement Floor ducts Conduits Suspended ducts I O cables I O cables Power lines Power...

Page 113: ...cations lines and power lines DC signals and AC signals High frequency devices such as Inverters and signal lines communications Routing of Wiring Observe the following points when wiring power supply...

Page 114: ...s or power lines in metal tubing and completely ground the metal tubing to 100 or less Example Separating an OMRON product from Power Lines Metal tubing 200 mm 200 mm High voltage power panel Power li...

Page 115: ...uct Other Precautions Basic I O Units have both plus and minus commons so pay attention to the polarity when wiring 5 Installation 5 17 AMR Controller User s Guide I650 5 3 Mount 5 5 3 7 Electrical En...

Page 116: ...bracket A to the AMR Controller C with the 6 Phillips screws B supplied with the bracket First tighten the 3 screws at the side of the contact areas with a torque of 0 6 N m Then tighten the 3 screws...

Page 117: ...an differ depending on the product configuration 2 Mount the AMR Controller with the brackets in position Arrange four holes at the location where the AMR Controller with brackets will be mounted Refe...

Page 118: ...rnal control circuits WARNING Unintended behavior may occur when an error occurs in internal memory of the prod uct As a countermeasure for such problems external safety measures must be pro vided to...

Page 119: ...a communication cable should be terminated to ground at both ends of the cable with a low impedance connection A large surface area surrounding the entire cable shield ensures a low im pedance connect...

Page 120: ...g methods Equipotential bonding system Star earthing Daisy chain The cable shield connect ed to the connector hood at both ends of the com munications cable Recommended Not recommended Not recommended...

Page 121: ...n equipotential bonding system Connect the main earthing terminal and building structures together with equipotential bonding con ductors and embed the mesh ground line in each floor Connect the groun...

Page 122: ...that the earth electrode is separated by a minimum of 10 m from any other earth electrode of a device that could be a noise source Hub Control panel Other device A device that could be a noise source...

Page 123: ...common earth electrode This earthing method is not recommended because the device that could be a noise source may inter fere electromagnetically with other devices Hub Control panel Other device A de...

Page 124: ...has on the inside on one side also the light grey circles around the mounting holes The light grey circles are contact areas that ensure a good electrical conductivity Position the AMR Controller insi...

Page 125: ...er Connector This section describes how to wire the power connector Precautions for Safe Use Do not perform a dielectric strength test Always use the recommended uninterruptible power supply UPS to pr...

Page 126: ...icable national standards Standards are NEC National Electric Code CEC Canadian Electrical Code international applicable standards Refer to 4 1 2 General Electrical Specifications on page 4 3 for elec...

Page 127: ...Solid conductor 0 5 to 10 mm2 Flexible conductor 0 5 to 6 mm2 Flexible conductor with ferrule and no plastic sleeve 0 5 to 6 mm2 Flexible conductor with ferrule and plastic sleeve 0 5 to 4 mm2 Minimum...

Page 128: ...not to damage the conductor Connect the conductor without twisting the wires Do not weld the conductors Doing so may cause the wires to break with vibration 3 Insert a 2 5 mm flat blade screwdriver i...

Page 129: ...exible conductor with ferrule and no plastic sleeve 0 25 to 1 5 mm2 Flexible conductor with ferrule and plastic sleeve 0 25 to 0 75 mm2 Minimum AWG according to UL cUL 24 Maximum AWG according to UL c...

Page 130: ...ese according to the output device connected to the inputs 4 5 UPS Mode Input 6 Additional Information Refer to 4 2 2 I O Connector Specifications on page 4 12 for I O connector specifications Refer t...

Page 131: ...tor Connect the conductor without twisting the wires Do not weld the conductors Doing so may cause the wires to break with vibration 3 Remove the I O connector from the AMR Controller 4 Insert a screw...

Page 132: ...R Controller 5 5 1 Connector Identification An overview of the connectors is available in the overview of Layers Refer to 3 1 2 Base Layer on page 3 4 for connector details Refer to for connector deta...

Page 133: ...ardware on page 3 24 for the cables advised by Omron Refer to individual cable specifications for cable bending requirements and connector clear ance Use the following procedure to connect the AMR Con...

Page 134: ...onitor Connect the monitor to the DVI connector and tighten the fastening screws For an Industrial Panel PC and for several other IPC configurations this is optional 5 Connect all remaining connectors...

Page 135: ...because it has touch function ality Do not connect additional storage devices before the installation of the operating system completed Adding storage devices like a USB flash drive an SD memory card...

Page 136: ...the SMART monitoring feature for storage devices that do not comply to the Omron Storage Device Specifications Monitor the operating temperature and vibrations to ensure they stay within the environm...

Page 137: ...pplicable software and activate Windows Additional Information Refer to NY series Operating Systems and Software Utilities Manual Cat No W616 for de tails 5 Installation 5 39 AMR Controller User s Gui...

Page 138: ...nue even if a momentary power failure occurs possibly resulting in the reception of an er roneous signal from an external device affected by the momentary power failure Take external fail safe measure...

Page 139: ...recautions for Safe Use Always use an uninterruptible power supply UPS to prevent data loss and other system file integrity issues caused by unexpected power interruption Use an Omron S8BA UPS with th...

Page 140: ...s 11 Simulate a power interruption and confirm a correct shutdown of the AMR Controller Start the AMR Controller Start applications Create a power interruption Monitor the shutdown sequence and confir...

Page 141: ...ity For all other AMR Controllers following software can be downloaded Drivers for the S8BA UPS from this OMRON website Installation files and manual for the UPS Settings Utility Windows only from thi...

Page 142: ...settings Refer to A 1 BIOS on page A 2 for BIOS details 7 Create a software program that monitors the UPS Mode Input and initiates Power OFF of the AMR Controller when the UPS Mode Input becomes activ...

Page 143: ...ltage sensitivity and this is correct Do not set this parameter to Low voltage sensitivity Doing so can cause a system malfunc tion when switching to battery mode 5 Installation 5 45 AMR Controller Us...

Page 144: ...ols to create a backup and repair data Select the Backup and Repair procedure or procedures that are most suitable for your situation Precautions for Correct Use Refer to NY series Operating Systems a...

Page 145: ...1 1 Power ON Using the Power Button 6 2 6 1 2 Power ON Using the Power ON OFF Input 6 2 6 1 3 Auto Power ON 6 2 6 2 Power OFF 6 3 6 2 1 Power OFF Using the Power Button 6 3 6 2 2 Power OFF Using the...

Page 146: ...e input signal must remain ON for a minimum of 60 ms and a maximum of 750 ms to be correctly detected by the AMR Controller The AMR Controller starts and the PWR LED will turn ON 2 Wait until the PWR...

Page 147: ...shutdown Note that this behaviour of can be reconfigured with the Power Options settings Refer to 3 4 Power Button on page 3 11 for power button location information 3 Wait until the PWR LED is OFF T...

Page 148: ...or on page 5 31 for wiring details 6 2 3 Forced Power OFF Using the Power Button Precautions for Safe Use Press the power button for several seconds to force the product shutdown Always back up files...

Page 149: ...for the AMR Controller 7 1 Preventive Maintenance 7 2 7 1 1 Preventive Maintenance Schedule 7 2 7 1 2 Clean the AMR Controller 7 3 7 2 Corrective Maintenance 7 4 7 2 1 Warning and Error Messages 7 4...

Page 150: ...Reference Create a backup of the AMR Con troller Refer to NY series Operating Systems and Software Utilities Manual Cat No W616 for backup details Periodically but at least every 6 months Reference C...

Page 151: ...erating condition Wipe the AMR Controller with a dry soft cloth Precautions for Safe Use Do not use corrosive substances to clean the product Doing so may result in the failure or malfunction 7 Mainte...

Page 152: ...inform you about a situation that will lead to downtime of the AMR Controller Error messages inform you about what caused the downtime of the AMR Controller The following message channels are availab...

Page 153: ...are on this computer Windows Update Important windows Update is not set up for this computer Set up backup Your files are not being backed up Windows Pop Up Window Windows Pop Up windows provide infor...

Page 154: ...s on page 4 7 for specification details To replace the CFast Card 1 Power OFF the AMR Controller 2 Remove the CFast Card slot cover C U S T O M ID C o rp o ra tio n K yo to 6 0 0 8 5 3 0 JA P A N M A...

Page 155: ...h an extra push using the CFast Card slot cover A B Fold the plastic Pull Tab B up so it stays inside the slot area 5 Mount the CFast Card slot cover Place the slot cover 1 and then mount the screws 2...

Page 156: ...7 Maintenance 7 8 AMR Controller User s Guide I650...

Page 157: ...ation CPUs A 4 A 2 DVI Connector Pin Details A 20 A 2 1 DVI I Connector Pin Details A 20 A 3 CAN Connector Pin Details A 22 A 4 EXPANSION Connector Pin Details A 23 A 5 COMM Connector Pin Details A 25...

Page 158: ...Boot Selection Popup Menu Press the F11 key repeatedly directly after Power ON to display the Boot Selection Popup menu The popup menu allows selection of the boot device and the option to enter the...

Page 159: ...the main pages this exits the BIOS BIOS Password Write Protection A BIOS password protects the BIOS setup program from unauthorized access This ensures that users cannot change the system configuratio...

Page 160: ...S Main The main setup screen gives platform information about the BIOS Board Information Firmware Revi sion MAC Addresses and information about the number of Boots and the Running Time Platform In for...

Page 161: ...dware Prefetcher Enabled Adjacent Cache Line Prefetch Enabled Intel VMX Virtualization Technology Enabled PECI Enabled Active Processor Cores All Hyper Threading 1 Enabled BIST Disabled JTAG C10 Power...

Page 162: ...VR Settings 2 PSYS Slope 0 PSYS Offset 0 PSYS PMax Power 0 Acoustic Noise Settings Acoustic Noise Mitiga tion Disabled System Agent VR Settings VR Config Enable Disabled Core IA VR Settings VR Config...

Page 163: ...KT Device Enabled IDER Device Enabled End Of Post Message Send in DXE DOI3 Setting for HECI Disable Disabled Thermal Configuration CPU Thermal Configu ration DTS SMM Disabled Tcc Activation Offset CPU...

Page 164: ...sement Hierarchy Enabled TPM2 0 UEFI Spec Version TCG_2 Physical Presence Spec Version 1 3 Device Select Auto ACPI Enable ACPI Auto Configuration Disabled Hibernation Support Disabled ACPI Sleep State...

Page 165: ...de Auto USB Overcurrent Protection Disabled Legacy USB Support Enabled xHCI Hand off Enabled USB Mass Storage Driver Support Enabled USB Transfer Timeout 20 sec Device Reset Timeout 20 sec Device Powe...

Page 166: ...nabled Receive Enable Training Enabled Jedec Write Leveling Enabled Early Write Time Centering 2D Enabled Early Write Drive Strength Equali zation Enabled Early Read Time Centering 2D Enabled Write Ti...

Page 167: ...C ULT Safe Config Disabled Maximum Memory Frequency 2133 HOB Buffer Size Auto Max TOLUD Dynamic SA GV Fixed High Retrain on Fast Fail Enabled Command Tristate Enabled Enable RH Prevention Enabled Row...

Page 168: ...erture Size 256MB IGD Pre Allocated Graphics Memo ry 32M IGD Total Graphics Memory 256M Gfx Low Power Mode Disabled VDD Enable Enabled PM support Disabled PAVP Enable Enabled Cdynmax Clamping Enable E...

Page 169: ...xpress Port 6 SATA And RST Con figuration SATA Controller s Enabled SATA Mode Selection AHCI SATA Test Mode Disabled Software Feature Mask Configura tion HDD Unlock Ena bled LED Locate Enabled Aggress...

Page 170: ...From DeepSx Enabled Wake on LAN Enable Enabled SLP_LAN Low on DC Power Enabled K1 off Enabled Wake on WLAN and BT Enable Disabled Disable DSX ACPRESENT Pulldown Disabled Serial IRQ Mode Continuous Po...

Page 171: ...nly Throttler CKEMin Defeature 1 Enabled For LPDDR Only Throttler CKEMin Timer 1 64 DRAM Power Meter Use user provided power weights scale factor and channel power floor val ues Disabled Memory Therma...

Page 172: ...LTR 2 Enabled Snoop Latency Override Auto Non Snoop Latency Override Auto Force LTR Override Disabled PCIE LTR Lock 2 Disabled Extra options Detect Non Compliance Device Disabled Prefetchable Memory 1...

Page 173: ...Security parameters and their factory default values Item Default Remark BIOS Password Empty BIOS Lock Enabled HDD Security Configuration Diskname Display disk parameters 1 Secure Boot Menu Secure Boo...

Page 174: ...Device Disabled 6th Boot Device Disabled 7th Boot Device Disabled 8th Boot Device Disabled Battery Support Auto Battery Manager System Off Mode G3 Mech Off UEFI Fast Boot Disabled UEFI Screenshot Cap...

Page 175: ...the AMR Controller restarts using the changed settings Discard Changes and Reset Changed settings are not saved and the AMR Controller restarts with the unchanged settings Save Changes Changed settin...

Page 176: ...ink 1 3 0 VDC TMDS data 2 4 shield 4 Not connected 5 Not connected 6 DDC clock DDC clock 7 DDC data DDC data 8 Analog vertical sync Analog vertical sync 9 TMDS data 1 Digital green link 1 10 TMDS data...

Page 177: ...ital clock C1 Analog red Analog red C2 Analog green Analog green C3 Analog blue Analog blue C4 Analog horizontal sync Analog horizontal sync C5 0 VDC 0 VDC Appendices A 21 AMR Controller User s Guide...

Page 178: ...7 8 9 The pin layout represents the CAN connector on the Mobile Robot layer of the AMR Controller Pin Signal Name Function 1 Not connected 2 CANL 3 0V 4 Not connected 5 0V 6 0V 7 CANH 8 Not connected...

Page 179: ...increase from left to right for every row Pin Signal Name Function 1 RS422_3_RXP 2 RS422_3_RXN 3 0V 4 RS422_3_TXN 5 RS422_3_TXP 6 0V 7 RS422_2_RXP 8 RS422_2_RXN 9 0V 10 RS422_2_TXN 11 RS422_2_TXP 12 0...

Page 180: ...Digital Output_0 32 Digital Output_1 33 Digital Output_2 34 Digital Output_3 35 0V 36 RS232_5_RX 37 RS232_5_TX 38 RS232_4_RX 39 RS232_4_TX 40 0V 41 RS232_3_RX 42 RS232_3_TX 43 RS232_2_RX 44 RS232_2_T...

Page 181: ...ut represents the female DB9 COMM connector on the Mobile Robot layer of the AMR Controller Pin Signal Name Function 1 RS422_1_RXP 2 RS422_1_RXN 3 0V 4 RS422_1_TXP 5 RS422_1_TXN 6 0V 7 RS232_1_RX 8 0V...

Page 182: ...SIO_OUTTEST2 Test output terminal T0 of NX SID800 8 SIO_OUT2 Safety input terminal Si2 of NX SID800 9 SIO_OUTTEST1 Test output terminal T1 of NX SID800 10 SIO_OUT1 Safety input terminal Si1 of NX SID...

Page 183: ...I Index I 1 AMR Controller User s Guide I650 I...

Page 184: ...brackets Specifications 4 8 D DDR4 4 6 Dimensions 4 2 DRV LED 3 10 Ducts 5 16 DVI connector 3 16 Specifications 4 20 DVI Pin details A 20 E EIAJ connector 3 19 Electrical Specifications 4 3 Err LED 3...

Page 185: ...3 4 3 6 Product 1 5 PWR LED 3 7 R Repair 5 46 RUN LED 3 8 S Safety I O connector 3 22 Scope of delivery 5 2 SD Memory Card 3 12 3 24 Stand by mode 3 7 Storage devices Specifications 4 7 T Temperature...

Page 186: ...Index I 4 AMR Controller User s Guide I650...

Page 187: ......

Page 188: ...7787 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 43...

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