Omron LD-60 User manual

I613-E-04
LD Platform Peripherals
User’s Guide

Copyright Notice
The information contained herein is the property of Omron Robotics and Safety Technologies, Inc., and
shall not be reproduced in whole or in part without prior written approval of Omron Robotics and Safety
Technologies, Inc. The information herein is subject to change without notice and should not be construed
as a commitment by Omron Robotics and Safety Technologies, Inc. The documentation is periodically
reviewed and revised.
Omron Robotics and Safety Technologies, Inc., assumes no responsibility for any errors or omissions in
the documentation.
Copyright 2014 - 2021 by Omron Robotics and Safety Technologies, Inc. All rights reserved.
Any trademarks from other companies used in this publication
are the property of those respective companies.
Created in the United States of America

Table of Contents
Chapter 1: Introduction 11
1.1 Product Description 11
1.2 Definitions 11
1.3 How Can I Get Help? 12
Related Manuals 12
Chapter 2: Safety 13
2.1 What to Do in an Emergency or Abnormal Situation 13
Releasing the Brakes 13
General Hazards 13
Releasing an E-Stop 14
2.2 Dangers, Warnings, and Cautions 14
Alert Levels 14
Alert Icons 14
Falling Hazards 15
Special Information 15
2.3 User's Responsibilities 15
Electrical Hazards 16
Pinch Hazard 16
Magnetic Field Hazards (LD-60, LD-90 and LDxxxCT Models Only) 16
Qualification of Personnel 17
Payload Movement and Transfer 18
Multi-AMR Avoidance 18
2.4 Environment 18
General Environmental Conditions 18
Public Access 19
Clearance 19
Obstacles 19
Safety Scanning Laser Emergency Stop 19
Safety System Overspeed Faults 19
2.5 Battery Safety 21
2.6 Intended Use 21
Non-Intended Use 21
Robot Modifications 22
2.7 Additional Safety Information 22
Mobile Robot LDSafety Guide (Cat. No. I616) 22
2.8 Disposal 23
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Table of Contents
Chapter 3: Support Software 25
3.1 Mobile Support Software 25
Fleet Operations Workspace Software 25
SetNetGo 26
3.2 Tools for Use in the Field 26
SetNetGo - Managing Software Packages 26
Chapter 4: Touchscreen 29
4.1 Installation 29
Components 29
Software Installation 29
Mounting 30
Connections 33
4.2 Setup 34
4.3 Configuration 34
Operating Modes 34
Choose Dropoff Mode 35
Patrol Route Mode 36
Localization Goals 36
Screen Logo 37
Contact Information 39
Setting Screensaver 39
Setting Display Language 40
4.4 Operation 40
Screen Initialization 40
Screen Top Bar 41
Left Screen Pane 41
Right Screen Pane 42
Center Pane 47
Relocalization 47
Dropoffs (Choose Dropoff Mode only) 47
Patrol Route Mode 50
4.5 Specifications 51
Touchscreen 51
Power Supply 51
Chapter 5: Call/Door Boxes 53
5.1 Overview 54
Call Buttons 54
Door Boxes 54
Fleet Behavior 54
Communication 54
5.2 Components 55
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Table of Contents
Call/Door Box 55
Door Actuator (Door Box only) 57
Ethernet Infrastructure (wired and wireless), AMRs 57
Software 58
5.3 Call/Door Box Configuration 59
Setup 59
Boot the call/door box, Enable its web interface 60
Status Tab 61
Network Tab 61
WLANProfiles Tab 65
Resetting a Call/Door Box (WiFi or Wired) 67
5.4 Mounting the Hardware 67
Call/Door Box 67
5.5 MobilePlanner Configuration 70
Host Software 70
Overview of Tasks 70
Configuring Call/Door Boxes 70
Identifying an Installed Call/Door Box 73
Setting the Arrival Beep Duration 73
Enabling the Queuing Manager for Single-AMR 74
Adding Door Areas to Your Map 74
Configuring External I/O 76
5.6 Operation 77
Call/Door Box Power-on 77
Call Buttons 78
Door Boxes 81
5.7 Specifications 82
Call/Door Box Specifications 82
Dimensions 82
Communication 83
I/O Specifications 83
User Interface 85
5.8 WiFi Compliance 86
General WiFi 86
FCC and IC - WiFi 86
5.9 Supported Configurations 86
Single AMR 86
Fleet 87
Unsupported Configurations 87
Chapter 6: Acuity Localization 89
When Acuity Won’t Work 89
Installation Scenarios 89
Payload Structure Design 89
6.1 Tasks 90
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Table of Contents
6.2 Components 91
6.3 Installation 92
Camera Assembly 92
Software Installation 99
6.4 Setup 99
Enabling Acuity 99
Importing the Camera Calibration 101
Compensating for Camera Position and Tilt 103
6.5 Making a Map of Your Environment 106
Scanning the Environment 106
Creating a Map 109
6.6 Operation 114
Localizing Manually 114
Interpreting Light Objects on the Map 115
6.7 Camera Specifications 115
Chapter 7: Side Lasers 117
Positive Obstacles 117
Negative Obstacles 117
7.1 Installation 117
Components 117
Mounting 118
Connections 120
7.2 Configuration 120
Chapter 8: LD-250 Rear Facing Laser 125
8.1 Laser Location and Orientation 125
8.2 Ignoring Laser Zones 127
8.3 Install the Rear-Facing Laser 128
8.4 Configure the Rear-Facing Laser 128
8.5 Set the Orientation and Position Values for the Laser 129
Chapter 9: High Accuracy Positioning System 131
9.1 Overview 131
9.2 Components 131
9.3 Sensor Installation on the LD-60, LD-90, and LD-xxxCT 131
Mounting Locations for the LD-60, LD-90, and LD-xxxCT 131
9.4 Installation on the LD-250 138
Preparing the LD-250 to Install HAPS Sensors 138
Install and Cable the HAPS Sensors on the LD-250 140
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9.5 Tape and Marker Application 145
Define Goals 147
9.6 HAPSSoftware Configuration 147
Robot Physical 147
Robot Operation 147
Goals/Tasks 148
9.7 Specifications 149
9.8 Dimensions 150
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Revision History
Revision Code Date Revised Content
01 March, 2019 Original release
02 October, 2019 Corrections and revisions.
03 April 2021 Corrections and revisions.
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