Omron HD-1500 Platform User manual

HD-1500 Platform
Assembly Instructions
According to Machinery Directive 2006/42/EC (ANNEX VI)
18407-150

Trademarks
Company names and product names in this document are the trademarks or registered trademarks of
their respective companies.
Copyrights
Microsoft product screen shots reprinted with permission from Microsoft Corporation.
NOTE
All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or
transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording, or other-
wise, without the prior written permission of OMRON.
No patent liability is assumed with respect to the use of the information contained herein. Moreover,
because OMRON is constantly striving to improve its high-quality products, the information contained
in this manual is subject to change without notice. Every precaution has been taken in the preparation
of this manual. Nevertheless, OMRON assumes no responsibility for errors or omissions. Neither is
any liability assumed for damages resulting from the use of the information contained in this publica-
tion.

Introduction
1
HD-1500 Platform Assembly Instructions (18407-150)
Introduction
Thank you for purchasing the HD-1500 Autonomous Mobile Robot (referred to as AMR in this docu-
ment).
This document is OMRON's original instructions describing the setup and assembly of an HD-1500
Autonomous Mobile Robot.
This document does not describe all configuration steps that you perform using the software supplied
with the AMR. The Mobile Robot HD Safety Manual (Cat. No. I647) describes the details for mainte-
nance and operating details of the AMR. The Fleet Operations Workspace Core User's Manual (Cat.
No. I635) describes configuration and use of the AMR.
Please read this document and make sure you understand the functionality and performance of the
AMR before attempting to use it.
Keep this document in a safe place where it will be available for reference.
Intended Audience
This manual is intended for the following personnel, who must also have knowledge of factory automa-
tion (FA) systems and robotic control methods.
•Personnel in charge of introducing FA systems.
•Personnel in charge of designing FA systems.
•Personnel in charge of installing and maintaining FA systems.
•Personnel in charge of managing FA systems and facilities.
It is the end-user’s responsibility to ensure that all personnel who will work with or around AMRs have
attended an appropriate training and have a working knowledge of the system. The user must provide
the necessary additional training for all personnel who will be working with the system.
As described in this document, you should allow only skilled persons or instructed persons to do cer-
tain procedures. Skilled persons have technical knowledge or sufficient experience to enable them to
avoid either electrical or mechanical dangers. Instructed persons are adequately advised or super-
vised by skilled persons to enable them to avoid either electrical or mechanical dangers.
All personnel must observe industry-prescribed safety practices during the installation, operation, and
testing of all electrically-powered equipment.
Before working with the AMR, every person must confirm that they:
•Have the necessary qualifications and training.
•Have access to this document and other safety documentation.
•Have read and understand the related documentation.
•Have agreed work in the manner specified by the documentation.
Units
Unless otherwise noted, length dimensions are in millimeters and all units are metric.

Manual Information
2
HD-1500 Platform Assembly Instructions (18407-150)
Manual Information
Page Structure
The following page structure is used in this manual.
Note: This illustration is provided as a sample. It will not literally appear in this manual.
Item
Explanation
Item
Explanation
A
Level 1 heading
E
Special Information
B
Level 2 heading
F
Manual name
C
Level 3 heading
G
Page tab with the number of the main section
D
Step in a procedure
H
Page number
A
5 Installation
B
5-1 Unpack
This section provides details on how tounpack the Industrial Panel PC.
C
5-1-1 Unpack Procedure
1 Check the package for damage.
Ifthere is any visible damage:
• Take photos of the package and save them.
• Inform your supplier immediately.
D 2 Open the package.
Ensurenot to damage the contents.
3 Ensure that all items are present.
B
Additional Information
E
Refer to 5-1-2 Items Supplied with the Product for the items supplied.
G
C
F
NY-series User's Manual (W555)
5 - 3
H
5
5-1 Unpack
5-1-1 Unpack Procedure

Manual Information
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HD-1500 Platform Assembly Instructions (18407-150)
Special Information
Special information in this manual is classified as follows:
Precautions for Safe Use
Precautions on what to do and what not to do to ensure safe usage of the product.
Precautions for Correct 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 increase understanding or make operation easier.
Version Information
Information on differences in specifications and functionality between different versions.

Manual Information
4
HD-1500 Platform Assembly Instructions (18407-150)

Sections in this Manual
5
HD-1500 Platform Assembly Instructions (18407-150)
Sections in this Manual
1
Introduction
2
Overview
Specifications
Installation
Operation
5
4
3
2
1
5
4
3

CONTENTS
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HD-1500 Platform Assembly Instructions (18407-150)
CONTENTS
Introduction...........................................................................................................................1
Intended Audience ........................................................................................................................................................1
Units ................................................................................................................................................................................1
Manual Information .............................................................................................................2
Page Structure...............................................................................................................................................................2
Special Information........................................................................................................................................................3
Sections in this Manual......................................................................................................5
Terms and Conditions Agreement..................................................................................9
Warranty and Limitations of Liability...........................................................................................................................9
Application Considerations.........................................................................................................................................10
Disclaimers...................................................................................................................................................................10
Safety Precautions ............................................................................................................12
Definition of Precautionary Information....................................................................................................................12
Symbols........................................................................................................................................................................12
Dangers ........................................................................................................................................................................13
Warnings.......................................................................................................................................................................13
Cautions........................................................................................................................................................................15
Precautions for Safe Use.................................................................................................17
Precautions for Correct Use...........................................................................................20
Regulations and Standards.............................................................................................23
Conformance to EU Directives ..................................................................................................................................23
Related Manuals.................................................................................................................26
Glossary...............................................................................................................................27
Revision History.................................................................................................................30
Section 1 Overview
1-1 Assembly Instructions......................................................................................................................1-2
1-2 Intended Use .......................................................................................................................................1-3
1-3 Features and Components ..............................................................................................................1-6
1-3-1 Lasers ...................................................................................................................................................... 1-6
1-3-2 Skins......................................................................................................................................................... 1-7
1-3-3 AMR Controller....................................................................................................................................... 1-7
1-3-4 Battery...................................................................................................................................................... 1-8
1-3-5 E-stop Buttons........................................................................................................................................ 1-8
1-3-6 Operator Panel ....................................................................................................................................... 1-9
1-3-7 Pendant..................................................................................................................................................1-10
1-3-8 Light Strips and Discs..........................................................................................................................1-10
1-3-9 Speakers................................................................................................................................................1-10
1-3-10 User Access Panel............................................................................................................................... 1-11
1-3-11 Wireless Antennas............................................................................................................................... 1-11
1-3-12 Interlock Switches ................................................................................................................................1-12
1-3-13 Electronics Bay.....................................................................................................................................1-12

CONTENTS
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HD-1500 Platform Assembly Instructions (18407-150)
1-3-14 Payload Mounting Surface..................................................................................................................1-12
1-4 Autonomous Navigation................................................................................................................1-13
1-5 Optional Items..................................................................................................................................1-15
1-5-1 EM2100 Fleet Manager.......................................................................................................................1-15
1-5-2 Additional E-stop Buttons....................................................................................................................1-15
1-5-3 Additional Warning Lights....................................................................................................................1-16
1-5-4 Additional Warning Buzzers................................................................................................................1-17
1-5-5 Top Plate................................................................................................................................................1-17
1-6 Software.............................................................................................................................................1-18
1-6-1 System Requirements..........................................................................................................................1-18
1-7 Payload Considerations.................................................................................................................1-20
1-7-1 Payload Structures...............................................................................................................................1-20
1-8 Coordinate System..........................................................................................................................1-23
Section 2 Specifications
2-1 Performance Specifications............................................................................................................2-2
2-2 Physical Specifications....................................................................................................................2-3
2-2-1 Dimensions..............................................................................................................................................2-3
2-2-2 Weights....................................................................................................................................................2-4
2-2-3 Payload Center of Gravity .....................................................................................................................2-4
2-3 Environmental Specifications ........................................................................................................2-8
2-3-1 AMR Environmental Specifications......................................................................................................2-8
2-3-2 Battery Environmental Specifications..................................................................................................2-8
2-3-3 Pendant Environmental Specifications................................................................................................2-9
2-4 Laser Specifications .......................................................................................................................2-10
2-5 Battery Specifications....................................................................................................................2-11
2-6 Other Specifications .......................................................................................................................2-12
2-6-1 Safety Functions...................................................................................................................................2-12
2-6-2 USER PWR Connector........................................................................................................................2-14
2-6-3 REG PWR Connector..........................................................................................................................2-15
2-6-4 SCPU Connector..................................................................................................................................2-15
2-6-5 LIGHTS Connector...............................................................................................................................2-16
2-6-6 IO 1 Connector......................................................................................................................................2-16
2-6-7 IO 2 Connector......................................................................................................................................2-16
2-6-8 COMMS Connector..............................................................................................................................2-17
Section 3 Installation
3-1 Installation Introduction...................................................................................................................3-2
3-2 Battery Installation Procedure .......................................................................................................3-3
3-3 Network Connections.......................................................................................................................3-5
3-3-1 Default Network Settings.......................................................................................................................3-5
3-3-2 Wired Connection Procedure................................................................................................................3-5
3-3-3 Wireless Connection..............................................................................................................................3-6
3-4 Electrical Connections.....................................................................................................................3-8
3-4-1 Wireless Antenna Connections ............................................................................................................3-8
3-4-2 User Access Panel Connections..........................................................................................................3-9
3-5 Attaching the Payload....................................................................................................................3-17
3-5-1 Payload Structure Mounting Points....................................................................................................3-17
3-6 Attaching Warning Labels.............................................................................................................3-20
3-7 Safety Commissioning...................................................................................................................3-21

CONTENTS
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HD-1500 Platform Assembly Instructions (18407-150)
3-7-1 Safety Commissioning Procedure......................................................................................................3-21
Section 4 Operation
4-1 Releasing the Brakes........................................................................................................................4-2
4-2 Manually Pushing the AMR .............................................................................................................4-3
4-3 AMR Response During Protective Stops.....................................................................................4-4
Index

Terms and Conditions Agreement
9
HD-1500 Platform Assembly Instructions (18407-150)
Warranty
Limitations of Liability
Terms and Conditions Agreement
Warranty and Limitations of Liability
⚫Exclusive Warranty
Omron’s exclusive warranty is that the Products will be free from defects in materials and work-
manship for a period of twelve months from the date of sale by Omron (or such other period ex-
pressed in writing by Omron). Omron disclaims all other warranties, expressed or implied.
⚫Limitations
OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, ABOUT
NON-INFRINGEMENT, MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE OF
THE PRODUCTS. BUYER ACKNOWLEDGES THAT IT ALONE HAS DETERMINED THAT THE
PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE.
Omron further disclaims all warranties and responsibility of any type for claims or expenses based
on infringement by the Products or otherwise of any intellectual property right.
⚫Buyer Remedy
Omron’s sole obligation hereunder shall be, at Omron’s election, to (i) replace (in the form originally
shipped with Buyer responsible for labor charges for removal or replacement thereof) the non-com-
plying Product, (ii) repair the non-complying Product, or (iii) repay or credit Buyer an amount equal
to the purchase price of the non-complying Product; provided that in no event shall Omron be re-
sponsible for warranty, repair, indemnity or any other claims or expenses regarding the Products
unless Omron’s analysis confirms that the Products were properly handled, stored, installed and
maintained and not subject to contamination, abuse, misuse or inappropriate modification. Return
of any Products by Buyer must be approved in writing by Omron before shipment. Omron Compa-
nies shall not be liable for the suitability or unsuitability or the results from the use of Products in
combination with any electrical or electronic components, circuits, system assemblies or any other
materials or substances or environments. Any advice, recommendations or information given orally
or in writing, are not to be construed as an amendment or addition to the above warranty.
See http://www.omron.com/global/ or contact your Omron representative for published information.
OMRON COMPANIES SHALL NOT BE LIABLE FOR SPECIAL, INDIRECT, INCIDENTAL, OR CON-
SEQUENTIAL DAMAGES, LOSS OF PROFITS OR PRODUCTION OR COMMERCIAL LOSS IN ANY
WAY CONNECTED WITH THE PRODUCTS, WHETHER SUCH CLAIM IS BASED IN CONTRACT,
WARRANTY, NEGLIGENCE OR STRICT LIABILITY. Further, in no event shall liability of Omron Com-
panies exceed the individual price of the Product on which liability is asserted.

Terms and Conditions Agreement
10
HD-1500 Platform Assembly Instructions (18407-150)
Suitability for Use
Programmable Products
Performance Data
Change in Specifications
Application Considerations
Omron Companies shall not be responsible for conformity with any standards, codes or regulations
which apply to the combination of the Product in the Buyer’s application or use of the Product. At Buy-
er’s request, Omron will provide applicable third party certification documents identifying ratings and
limitations of use which apply to the Product. This information by itself 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 for determining appropriateness of the par-
ticular Product with respect to Buyer’s application, product or system. Buyer shall take application re-
sponsibility in all cases.
NEVER USE THE PRODUCT FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR
PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO
ADDRESS THE RISKS, AND THAT THE OMRON PRODUCT(S) IS PROPERLY RATED AND IN-
STALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM.
•Omron Companies shall not be responsible for the user’s programming of a programmable Product,
or any consequence thereof.
•Omron Companies shall not be responsible for the operation of the user accessible operating sys-
tem (e.g. Windows, Linux), or any consequence thereof.
Disclaimers
Data presented in Omron Company websites, catalogs and other materials is provided as a guide for
the user in determining suitability and does not constitute a warranty. It may represent the result of
Omron’s test conditions, and the user must correlate it to actual application requirements. Actual per-
formance is subject to the Omron’s Warranty and Limitations of Liability.
Product specifications and accessories may be changed at any time based on improvements and oth-
er reasons. 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 changed without any notice. When in doubt, special part numbers may be assigned to fix or estab-
lish key specifications for your application. Please consult with your Omron’s representative at any
time to confirm actual specifications of purchased Product.

Terms and Conditions Agreement
11
HD-1500 Platform Assembly Instructions (18407-150)
Information presented by Omron Companies has been checked and is believed to be accurate; how-
ever, no responsibility is assumed for clerical, typographical or proofreading errors or omissions.
Errors and Omissions

Safety Precautions
12
HD-1500 Platform Assembly Instructions (18407-150)
Identifies an imminently hazardous situation which, if not avoid-
ed, is likely to result in serious injury, and might result in fatality
or severe property damage.
DANGER
Indicates a potentially hazardous situation which, if not avoid-
ed, could result in death or serious injury. Additionally, there
may be severe property damage.
WARNING
Indicates a potentially hazardous situation which, if not avoid-
ed, may result in minor or moderate injury, or property damage.
CAUTION
The circle and slash symbol indicates operations that you must not do. The specific opera-
tion is shown in the circle and explained in text.
This example indicates prohibiting disassembly.
The triangle symbol indicates precautions (including warnings).
The specific operation is shown in the triangle and explained in text.
This example indicates a precaution for electric shock.
Safety Precautions
Definition of Precautionary Information
The following notation is used in this manual to provide precautions required to ensure safe usage of
the AMR. The safety precautions that are provided are extremely important to safety.
Always read and heed the information provided in all safety precautions.
The following notation is used.
Symbols
The triangle symbol indicates precautions (including warnings).
The specific operation is shown in the triangle and explained in text.
This example indicates a general precaution.
The triangle symbol indicates precautions (including warnings).
The specific operation is shown in the triangle and explained in text.
This example indicates a precaution for high temperatures.
The filled circle symbol indicates operations that you must do.
The specific operation is shown in the circle and explained in text.
This example shows a general precaution for something that you must do.

Safety Precautions
13
HD-1500 Platform Assembly Instructions (18407-150)
DANGER
The AMR can cause serious injury to personnel or damage to itself or other equipment if
it drives off of a ledge, such as a loading dock, or down stairs.
The end-user of the AMR must perform a risk assessment to identify and mitigate any
additional personal and property damage hazards caused by the payload.
Improper operation of the AMR on inclined floors that do not comply with the applicable
operating specifications can result in the AMR tipping over, and consequently a serious
personal injury.
General
Dangers
Warnings
The following actions are strictly prohibited and could result in injury or damage to the
equipment.
•Riding on the AMR.
•Towing applications.
•Exceeding the maximum payload limit.
•Operating on inclined floors or surfaces.
•Operating in environments with life support systems.
•Operating in residential areas.Operating on non-stationary areas, including moving
floors or any type of land vehicle, watercraft, or aircraft.
•Exceed the maximum recommended speed, acceleration, deceleration, or rotation lim-
its. Rotational speed becomes more significant when the payload’s center of gravity is
increasingly offset from the AMR's center of gravity.
•Dropping, driving off a ledge, or operating irresponsibly.
•Allowing the AMR to drive through an opening that has an automatic gate or door, un-
less the door and AMR are configured correctly with the Call / Door Box option.
•Throwing an object in front of the AMR or suddenly stepping into the path of the AMR.
The AMR braking system cannot be expected to function as designed and specified in
such instances.
•Exposing the AMR to rain or moisture.
•Using unauthorized parts to repair the AMR.
•Powering ON the AMR without its wireless antennas in place.
•Operate the AMR in hazardous environments where there is explosive gas, an oil
mist, or a corrosive atmosphere.
•Operating the AMR in an environment that contains ionizing radiation.
•Using non-approved batteries or charging systems.
The Charging Station, battery, and AMR transfer high electric power and contain hazard-
ous voltages. You must take necessary precautions to avoid electric shock. Follow ap-
propriate Lock-Out, Tag-Out (LOTO) instructions prior to any installation and mainte-
nance work performed on or near these items.
Implementing methods to circumvent the need for a person to enable the AMR's motor
power at startup is prohibited.

Safety Precautions
14
HD-1500 Platform Assembly Instructions (18407-150)
If you are using a user-supplied E-stop, you must perform safety commissioning to verify
the emergency stop functionality before putting the AMR into service.
It is the end-user's responsibility to make sure that the AMR design and implementation
complies with all local standards and legal requirements.
It is the end-user's responsibility to make sure that the AMR is operated within its specifi-
cations, intended use, and intended environments.
The user is responsible for the safety of the AMR, which includes confirming that the sys-
tem is stable with any payload, payload structure, or other attachments while functioning
in the specified operating environment.
Although the AMR is commissioned at the factory, the user must perform safety commis-
sioning as part of the initial setup upon receipt.
Battery and Charging Station
You must wear proper Personal Protective Equipment (PPE) for removing, installing, and
lifting the battery or when working around a leaking battery.
At least 3 people are required to lift the battery.
Any modifications made to the AMR can lead to loss of safety or functionality of the
AMR. It is the end-user's responsibility to perform complete risk assessment after making
any modifications to the AMR, and to confirm that all safety features of the AMR are fully
functional.
The AMR as a partly-completed machine is intended to be incorporated into other machi-
nery and must not be put into service until the final machinery into which it is to be incor-
porated has been declared in conformity with the provisions of EC Machinery Directive
2006/42/EC, where appropriate.
The assembly instructions shall then form part of the technical file for the final machine.
It is the end-user's responsibility to perform a task-based risk assessment and to imple-
ment appropriate safety measures at the point of use of the AMR in accordance with lo-
cal regulations.
If the AMR transports containers of liquid or other non-solid material, consider the effect
on the AMR's stability if their contents can shift. It is the end user's responsibility to en-
sure that the payload is properly secured to the AMR, and that payload shifting does not
create AMR instability.
You need to modify the safety zones if your payload overhangs the AMR's default dimen-
sions and if operating on a floor surface that has poor traction to the extent that the AMR
cannot stop reliably within the default zones. OMRON is not responsible for any risks in-
curred by modifying safety zone sizes or other Safety Laser Scanner settings.
The rare-earth magnet embedded in the AMR charging contacts creates a strong mag-
netic field. Magnetic fields can be hazardous if you have a medical implant. Keep a mini-
mum of 30 cm away from the AMR charging contacts.
Always use safe lifting practices when removing or installing the battery.

Safety Precautions
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HD-1500 Platform Assembly Instructions (18407-150)
The payload must be kept higher than the top of the AMR. If the payload or associated
structure blocks any of the AMR's sensors, it cannot function correctly.
The total weight of your payload structure plus any objects carried by the structure must
not exceed the maximum payload capacity of the AMR.
Operating Environment
Dust, dirt, grease, and water (or other liquids) can affect wheel traction, as well as opera-
tion of the drive wheels. If the drive wheels slip, it can potentially affect operating dura-
tion, stopping distance, and navigation accuracy.
CAUTION
Tipping hazards are more likely if the payload center of gravity is outside the recom-
mended specifications.
If a payload or payload structure projects or overhangs the outer dimensions of the AMR,
make the following considerations.
•Contact your OMRON representative to change the size of the Safety Laser Scanners'
zones.
•Repeat the safety commissioning procedure.
•Modify parameters to change the AMR's Width, LengthFront, LengthRear, and poten-
tially its Radius. When making these modifications, ensure that the AMR's accurate di-
mensions are used during path planning and obstacle avoidance.
The AMR is not intended to be operated on ramps or sloped surfaces. Using the brake
release button while the AMR is positioned on a slope of greater than 3% will cause the
AMR to roll down. You must not use the brake release button to move the AMR manually
when it is positioned on a slope of greater than 3%, unless necessary precautions have
been taken to prevent uncontrolled rolling of the AMR.
Use caution when stopping the AMR on a ramp. The use of the brake release will cause
direct rolling of AMR down the ramp. Powering OFF the AMR on a ramp should be
avoided if possible to minimize the use of brake release on a ramp.
Cautions
Any electrical charge that accumulates on the AMR skins does not have a path to
ground, and therefore cannot discharge. This can be hazardous to electrostatic sensitive
devices. Always keep electrostatic sensitive devices at least 30 cm away from the AMR
skins.
All E-stop buttons must be located in areas that are easy to reach and within 600 mm of
personnel. It is the end user's responsibility to ensure that any additional E-stop buttons
are placed in a location where the operator can easily access them in an emergency sit-
uation.
An AMR must have a readily visible warning device such as a user-supplied flashing
light, to indicate when it is either ready to move or is moving.
Payload

Safety Precautions
16
HD-1500 Platform Assembly Instructions (18407-150)
The pushing points of the AMR are low to the ground. You must use safe pushing practi-
ces when manually moving the AMR.
When manually moving the AMR, do not push it from a high position on its payload or
payload structure. This might cause the AMR to topple.
Manually moving a fully-loaded AMR while using the brake release button is not recom-
mended. If you must manually move a fully-loaded AMR, make sure to do this safely as
this could result in personal injury or property damage.
Although the AMR's software provides the option of using the map features to keep the
AMR within its designated workspace, poor or improper localization may result in incor-
rect path planning. To ensure safety, you must always install physical barriers where
there is a risk of property damage or personal hazard.
Pushing an AMR requires significant effort and might cause personal injury or property
damage. Take appropriate care and follow all safety instructions.

Precautions for Safe Use
17
HD-1500 Platform Assembly Instructions (18407-150)
Precautions for Safe Use
•The following actions are required for safe use of the AMR.
•Review and understand the safety protections associated with your specific application and envi-
ronment.
•Make use of the Fleet Manager when two or more AMRs are used in the same environment and
are not confined to separate workspaces. Refer to the Fleet Operations Workspace Core User's
Manual (Cat. No. I635) for more information.
•Make sure that any person working with or near an AMR is trained and has read and understands
this document and the Mobile Robot HD Safety Manual (Cat. No. I647).
•Mechanically maintain and service AMRs for proper operation of all control and safety functions.
•All equipment must be shipped and stored in a temperature-controlled environment, within specified
temperature and humidity range. It should be shipped and stored in the supplied packaging, which is
designed to prevent damage from normal shock and vibration.
•OMRON recommends storing and securing the pendant when not in use to prevent an unauthorized
person from operating the AMR.
•Prior to cleaning the Charging Station, you must ensure that the AMR is not engaged with the Dock-
ing Target.
•Use a rated forklift, pallet jack, or similar devices to move the shipping crates.
•To prevent damage to the lifting points, AMR chassis, or lifting rings, do not exceed a 30° angle from
vertical when attaching the lifting straps to the lifting device.
•Do not exceed 25 kN per lifting mount point.
•Inspect lifting straps for signs of wear and tear or any damages before attaching to the lifting rings
and lifting the AMR.
•When placing the AMR back on the floor after lifting, you must make sure that all safety precautions
have been taken to prevent personal injury or property damage.
•Do not power ON the AMR until you have read the appropriate sections of this document.
•It is the end user's responsibility to provide the necessary training to personnel to properly mark the
floors around the payload transfer locations.
•It is the end user's responsibility to ensure that the person operating the overhead hoist or forklift
has successfully completed the required training, and is certified to operate these machines.
•The operator must take necessary precautions to ensure that the operator's hands or other body
parts do not get stuck in between the charging pad and the AMR when docking.
•Do not operate the robot in areas where environmental conditions are beyond what is specified in
this document.
•You must have floor markings to prevent people from entering the operating hazard zone for pick-
up / dropoff locations with inadequate clearance.
•You can contribute to resource conservation and protecting the environment by the proper disposal
of Waste Electronics and Electrical Equipment (WEEE). All electrical and electronic products should
be disposed of separately from the municipal waste system according to local ordinances using des-
ignated collection facilities.
•Bright, direct, or high-intensity light can interfere with the AMR's laser operation. Do not operate the
AMR in areas where it may be exposed to these conditions.

Precautions for Safe Use
18
HD-1500 Platform Assembly Instructions (18407-150)
•Operating the AMR at high ambient temperatures (particularly when carrying a full payload at high
speeds) can cause the battery to exceed its operating temperature limits. If this happens, do not try
to access the battery. You must allow several hours for an overheated battery to cool sufficiently be-
fore trying to remove or replace it.
•Avoid liquid near the Charging Station and the AMR.
•If you suspect that liquid has penetrated the skins or contaminated the AMR's interior, do not at-
tempt to power ON the system and contact your OMRON representative.
•In case of fire, use a type ABC or type BC dry chemical fire extinguisher.
•Although the lasers used are Class 1 (eye-safe), OMRON recommends that you not look into the
laser light. The maximum permissible exposure cannot be exceeded when viewing lasers with the
naked eye.
•Lasers cannot reliably detect glass, mirrors, and other highly-reflective objects. Use caution when
operating the AMR in areas that have these types of objects. If the AMR will need to drive close to
these objects, we recommend that you use a combination of markings on the objects (e.g., tape or
painted strips), and also use Forbidden Areas in the map, so that the AMR can plan paths safely
around these objects.
•Consider all safety factors related to the location of the integrated E-stop button when relocating the
Operator Panel.
•The emergency stop or other protective stop devices you install on the AMR must have dual chan-
nel circuit to ensure the same performance level as the other safety devices of the AMR.
•Any E-stop buttons installed on the payload structure must be within 600 mm of reach. They must
not be installed in a location that affects operator's safety in order to reach them in an emergency
situation.
•You must ensure that the payload structure is properly secured to the AMR.
•The payload or payload structure shall not be positioned in such a way that would put the operator
in danger while trying to reach an E-stop button.
•You must perform a complete risk assessment for your payload design and the intended use of the
AMR prior to its operation.
•Intentional movement of the payload structure (such as conveyor or arm) during the AMR movement
is prohibited. It is the end-user's responsibility to design an appropriate interlock to prevent this.
•For payload applications where you cannot easily reduce the size and weight of the payload, or if
the AMR’s center of gravity is not within the recommended limits, contact your OMRON representa-
tive.
•The tilt detection feature will not prevent an improperly loaded AMR from toppling.
•Damaged or worn casters and drive wheels can degrade the AMR stability. You must regularly in-
spect the casters and drive wheels for signs of damage, excessive wear, or uneven spots.
•The Power Supply Box must be installed according to the local regulations or codes, and by author-
ized personnel or licensed electricians.
•The Power Supply Box and the Docking Target must be properly secured to the wall or floor prior to
operation.
•Never access the interior of the AMR while it is connected to the Docking Target.
•Only use chargers and batteries supplied by OMRON. The charger shall only be used to charge an
HD-1500 AMR battery.
•Avoid shorting the battery terminals or connectors.
•It is the end user's responsibility to make sure that the speed is appropriate for the payload that the
AMR carries, and that the speed does not cause the AMR to move uncontrollably.