Omron LD-105CT User manual

I612-E-03
LD Cart Transporter
User’s Guide

Copyright Notice
The information contained herein is the property of Omron Adept Technologies, Inc., and shall not be
reproduced in whole or in part without prior written approval of Omron Adept Technologies, Inc. The
information herein is subject to change without notice and should not be construed as a commitment by
Omron Adept Technologies, Inc. The documentation is periodically reviewed and revised.
Omron Adept Technologies, Inc., assumes no responsibility for any errors or omissions in the doc-
umentation. Critical evaluation of the documentation by the user is welcomed. Your comments assist us
in preparation of future documentation. Please submit your
comments to: [e-mail].
Copyright 2016, 2017 by Omron Adept Technologies, Inc. All rights reserved.
Any trademarks from other companies used in this publication are the property of those respective com-
panies.
MPEG Layer-3 audio coding technology licensed from Fraunhofer IIS and Thomson.
Copyright 2012 CEPSTRAL LLC http://www.cepstral.com This product may contain copyright material
licensed from CEPSTRAL LLC, all right reserved.
This manual was originally written in English.
Created in the United States of America

Table of Contents
Chapter 1: Introduction 11
Definitions 11
1.1 Product Description 11
LD Platform Cart Transporter 13
Cart 16
Coupling 16
Optional Components 16
User-Supplied Components / System Requirements 17
1.2 Software Overview 17
Mobile Robot Software Suite 17
SetNetGo 19
1.3 How Can I Get Help? 19
Related Manuals 19
Support 19
Including a DebugInfo File 20
Chapter 2: Safety 23
2.1 Dangers, Warnings, Cautions, and Precautions 23
2.2 What to Do in an Emergency /Abnormal Situation 23
Releasing the Brakes 23
Releasing an E-Stop 24
2.3 User's Responsibilities 24
General Hazards 24
Falling Hazards 25
Electrical Hazards 25
Pinch Hazards 26
Magnetic Field Hazards 27
Qualification of Personnel 27
Payload Movement and Transfer 28
Configurable Warning Buzzer 28
Multi-AIV Avoidance 29
Traffic Control 29
Passing Lanes 29
2.4 Environment 29
General Environmental Conditions 29
Public Access 29
Clearance 29
Obstacles 30
Safety Scanning Laser Emergency Stop 30
2.5 Intended Use 30
Non-Intended Use 31

Table of Contents
Platform Modifications 31
2.6 Battery Safety 31
2.7 Additional Safety Information 32
Accidental Cart Separation 32
Mobile Robot LDSafety Guide 32
Chapter 3: Setup 33
Overview 33
Tasks 33
3.1 Transport and Storage 34
LD Platform Cart Transporter 34
Battery 34
Standalone Cart 35
3.2 Before Unpacking 35
3.3 Unpacking 35
Battery 36
LD Platform Cart Transporter 37
Repacking for Relocation 40
3.4 Setting Up an LD Platform Cart Transporter 40
Rolling the LD Platform Cart Transporter off of the Crate Base 40
Installing the Battery 43
Installing the Docking Station 47
3.5 Installing the Cart Brake Release 52
Installation 53
Adjustment 56
Chapter 4: Configuration 59
4.1 Settings and Configuration 59
Maintenance Ethernet Connection 59
Setting Up Wireless Ethernet 60
4.2 Mapping 62
Setting Up Cart-Parking Goals 63
Marking Cart-Parking Goals on Floor 63
4.3 Configuring a Touchscreen 63
Touchscreen Ethernet Setup 63
Operating Modes 64
Localization Goals 66
Screen Logo 67
Screensaver 68
Display Language 69
Contact Information 70
4.4 Acceleration, Deceleration, and Rotation Limits 70
4.5 Supplemental Information 71
Laser Setup 71

Table of Contents
Chapter 5: Payloads 73
5.1 Safety 73
Drive Warning Light 73
Turn Warning Lights 73
5.2 Considerations 73
Dimensions 73
Pinch Hazard 73
Weight 74
Center of Gravity 74
5.3 Payload-Related Tradeoffs 79
Chapter 6: Connectivity 81
6.1 Required Connections 81
6.2 LD Platform Cart Transporter Connections 81
Core 81
Cart-Specific PCA 82
6.3 Standard Platform Connections 86
LD Platform Core Front, Upper 87
LD Platform Core Rear, Upper 94
Internal LD Platform Core Connections 101
Core Internal Data Pinouts 102
LD Platform Core Internal Power Pinouts 104
Chapter 7: Operator Interface 107
7.1 Touchscreen 107
Touchscreen Initialization 107
Touchscreen Configuration 108
Screen Top Bar 108
Left Screen Pane 108
Right Screen Pane 110
Center Pane 114
Relocalization 114
Choose Dropoff Mode 114
Patrol Route Mode 117
7.2 Operator Panel 118
E-Stop Button 118
ON Button 119
OFF Button 119
Brake-release (BRAKE)Button 119
Keyswitch 119
LATCH Button 119
UNLATCH Button 119
7.3 Other Controls and Indicators 120
Light Discs and Beacon 120
LD Platform Core Indicators 124