Omron LD-250 User manual

I642-E-02
LD-250 Platform
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 con-
strued as a commitment by Omron Robotics and Safety Technologies, Inc. The documentation is peri-
odically reviewed and revised.
Omron Robotics and Safety Technologies, Inc., assumes no responsibility for any errors or omissions in
the documentation. 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 2019 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 com-
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Created in the United States of America

Table of Contents
Chapter 1: Introduction 11
1.1 Definitions 11
1.2 Product Description 11
LD-250 Autonomous Navigation 12
LD-250 Localization 13
Acuity Localization Option 13
Custom Payload Structures 13
Chassis and Drive Train 14
What's Included - Basic Components 15
Optional Features and Components (Partial List) 18
Options for Enhancing Your Payload Structures 18
1.3 Software Overview 19
LD-250 Software 19
SetNetGo 23
1.4 How Can I Get Help? 24
Related Manuals 24
Support 24
Download a Debuginfo File for Support 24
Configure the Maintenance Network 25
Obtain a DebugInfo File from SetNetGo 26
Chapter 2: Safety 29
2.1 General Hazards 29
2.2 What to Do in an Emergency 30
Releasing the Brakes to Move the LD-250 Manually 30
Releasing an E-Stop 31
2.3 Dangers, Warnings, and Cautions 32
Alert Levels 32
Alert Icons 32
Special Information 34
2.4 User's Responsibilities 34
Understanding Electrical Hazards 34
Magnetic Field Hazards 35
Qualification of Personnel 35
Payload Movement and Transfer 36
Configurable Warning Buzzer 36
Fleet Management 37
2.5 Environment 37
General Environmental Conditions 37
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Public Access 38
Clearances when Operating 38
Obstacles 39
Emergency Stops that are Initiated by AMR Safety Lasers 39
Safety System Overspeed Faults 40
2.6 Intended and Non-intended Use 40
Intended Use 40
Non-Intended Use 41
LD-250 Modifications 42
2.7 Battery Safety 42
Battery Safety Precautions 43
Battery Maintenance 43
2.8 Additional Safety Information 43
Mobile Robot LDSafety Guide 43
2.9 Disposal 43
Chapter 3: Setup 45
3.1 Overview of LD-250 Setup 45
Tasks 45
3.2 Transport and Storage 46
LD-250 Shipping and Storage 46
Battery Shipment 47
3.3 Before Unpacking 47
3.4 Unpacking Considerations 48
LD-250 Packaging 48
Battery Carton 53
3.5 Installing the Battery 53
Access the Battery Compartment 53
Battery Installation Procedure 55
3.6 Attaching the Payload Structure and Options 57
Attach the Payload Structure 57
Attach LD-250 Options 57
E-Stop Jumper on the LD-250 Core 57
3.7 Installing the Docking Station 58
Docking Station Features and Parts 59
Docking Station Requirements 60
Required Tools and Fasteners 60
Wall Bracket Mount 61
3.8 Installing Software on your Windows PC 65
Chapter 4: Configuration 67
4.1 Settings and Configuration 67
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Maintenance Ethernet Connection 67
Setting Up Wireless Ethernet 70
4.2 Create a Workspace Map 72
Map Creation Overview 72
Mapping Tasks 73
4.3 Acceleration, Deceleration, and Rotation Limits 74
4.4 Supplemental Information 75
Laser Setup 75
Chapter 5: Payload Structures 77
5.1 Safety 77
Warning Label 77
Warning Lights 77
Warning Buzzer 78
5.2 Considerations 78
Performance 78
Weight Constraints 78
Power Consumption 79
Power Limits 79
Payload Bay Access 79
Payload Dimensions and Design 80
Mounting Locations in the Payload Bay 81
AMR Coordinate System 86
Center of Gravity (CG) 86
5.3 Payload-Related Tradeoffs 90
5.4 Connections Between the LD-250 and a Payload Structure 90
Operator Panel (HMI)on the Payload 90
E-Stop Considerations when Removing the Operator Panel 91
Optional Connections 91
Chapter 6: Connectivity 93
6.1 Connections Required for Set Up 93
6.2 Payload Bay Connections - LD-250 Core 93
LD-250 Core Front, Upper 94
LD-250 Core Rear Upper Connectors 100
Internal LD-250 Core Connections 107
Internal Data Pinouts 109
Internal Power Pinouts 110
Chapter 7: Operation 113
7.1 Operating Environment 113
Intended Use 113
Side Clearance 114
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Obstacles 115
Environment and Floor 115
Avoiding Potential Immobilization Risks 116
7.2 Typical Operation 117
7.3 Power and Charging 118
Battery Indicators and Controls 118
Docking Station 119
Manually Charging the Battery 121
Balancing the Battery 122
7.4 Operator Panel 123
LD-250 Status Screen 124
E-Stop Buttons 125
Positioning an Optional Payload E-Stop 126
ON Button 126
OFF Button 126
Brake Release Button 127
7.5 Other Controls and Indicators 127
Indications Provided by Light Discs Light Outputs 127
LD-250 Core Status Indicators 132
7.6 Sensors 133
Lasers 133
Rear Sensor 134
Other Sensors 137
7.7 Start up the LD-250 137
LD-250 Start Up Procedure 137
Joystick Controls and Description 138
Chapter 8: Maintenance 141
8.1 Considerations During Maintenance 142
8.2 After Completing Maintenance 142
8.3 Safety Considerations when Performing Maintenance 144
Understanding Electrical Hazards 145
Understanding Burn Hazards 145
Understanding Magnetic Field Hazards 145
8.4 Lifting the LD-250 Safely 145
8.5 Wheel Lift Tool 146
8.6 Engage and Disengage the Drive Wheel Motors 148
8.7 Safety Inspection 150
Warning Devices 150
Warning Labels 150
8.8 Cleaning 152
Work Area Maintenance 152
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Platform Cleaning 152
Lubricating ESDCasters 154
Cleaning ESDCasters 156
Cleaning the Rear Sensor 157
8.9 Maintaining and Replacing Batteries 158
Maintaining Batteries 158
Replacing the Battery 158
8.10 Replacing Non-Periodic Parts 161
Distance Traveled by the AMR 162
Docking Station Roller and Bearing 162
Docking Station ACPower Fuse 164
Docking Station Internal Fuse 165
Light Discs 167
Operator Panel 168
Replace the Motor Brushes 168
Replace the Drive Wheels 169
Replacing Drive Wheels 169
Replace Front or Rear Casters 171
LD-250 Core 174
E-Stop and Safety Laser Commissioning 176
Accessing the Payload Bay 178
Removing and Installing Skins 178
Restoring the Configuration 186
Chapter 9: Options 187
9.1 Fleet Manager for Multi-AMR Coordination 187
Hybrid LD-60, LD-90, and LD-250 AMR Fleets 187
9.2 Spare Battery 187
9.3 Payload Structure Bumpers 188
9.4 Call Buttons and Door Boxes 188
9.5 Acuity Localization 188
9.6 Touchscreen 188
9.7 Rear-Facing Laser 188
9.8 Side Lasers (Supplemental) Lasers 189
Install Side Lasers 189
Configure Side Lasers 190
9.9 High-Accuracy Positioning System (HAPS) 190
Chapter 10: Technical Specifications 191
10.1 Dimension Drawings 191
Width Measurements 192
Component Weight 192
Capabilities 193
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10.2 LD-250 Specifications 193
Physical Dimensions 193
Performance 193
Overhanging Payloads and the AMR Swing Radius 194
Sensors 195
ESD Compliance 195
10.3 Docking Station Specifications 196
Chapter 11: Modify the Safety Zones 197
11.1 Default Safety Zones 197
11.2 Relevant AMR Operating Parameters 198
11.3 Equipment Required to Modify OS32C Safety Zones 199
Chapter 12: Glossary 201
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Revision History
Revision
Code Date Revised Content
1.0, Rev (A) November 2019 Original Release.
2.0, Rev (B) December 2019 lAdded missing information.
lCorrection of errors.
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