Omron LD-60 User manual

LD-60/90 Platform
User's Manual
I611-E-06

2 LD-60/90 Platform User's Manual 11970-000 Rev M
Copyright Notice
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and shall not be reproduced in whole or in part without prior written approval of Omron
Robotics and Safety Technologies The information herein is subject to change without notice
and should not be construed as a commitment by Omron Robotics and Safety Technologies
The documentation is periodically reviewed and revised.
Omron Robotics and Safety Technologies, assumes no responsibility for any errors or omis-
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Created in the United States of America

Table of Contents
Table of Contents
Chapter 1: Introduction 11
1.1 Definitions 11
1.2 Product Description 11
Body and Drive 13
What's Included - Basic Components 14
Optional Components (Partial List) 16
1.3 Software Overview 17
FLOW Core 18
SetNetGo 19
1.4 How Can I Get Help? 20
Support 20
Related Manuals 20
Including a Debuginfo File 20
Chapter 2: Safety 23
2.1 What to Do in an Emergency /Abnormal Situation 23
Releasing the Brakes 23
General Hazards 23
Releasing an E-Stop 24
2.2 Dangers, Warnings, and Cautions 24
Alert Levels 24
Alert Icons 24
Special Information 26
2.3 User's Responsibilities 27
Electrical Hazards 27
Pinch Hazard 27
Magnetic Field Hazards 27
Qualification of Personnel 28
Payload Movement and Transfer 28
Multi-AMR Avoidance 28
2.4 Environment 29
General Environmental Conditions 29
Public Access 29
Clearance 29
Obstacles 30
Safety Scanning Laser Emergency Stop 30
Safety System Overspeed Faults 30
2.5 Intended and Non-intended Use 31
Intended Use 31
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Table of Contents
Non-Intended Use 32
Platform Modifications 32
2.6 Battery Safety 33
2.7 Additional Safety Information 33
Mobile Robot LD Safety Guide (Cat. No. I616) 33
2.8 Disposal 33
Chapter 3: Setup 35
3.1 Overview 35
Tasks 35
3.2 Transport and Storage 35
Platform 35
Battery 36
3.3 Before Unpacking 36
3.4 Unpacking 36
Battery 37
Platform 37
3.5 Battery 44
3.6 Installing the Battery 44
Removing the Battery Door Skin 44
3.7 Attaching the Payload Structure and Options 48
3.8 Installing the Docking Station 49
Chapter 4: Configuration 57
4.1 Settings and Configuration 57
Maintenance Ethernet Connection 57
Setting Up Wireless Ethernet 58
4.2 Mapping 60
Mapping Overview 60
Mapping Tasks 61
4.3 Acceleration, Deceleration, and Rotation Limits 61
4.1 Configuring for an Overhanging Payload 62
4.4 Supplemental Information 62
Laser Setup 62
Chapter 5: Payload Structures 65
5.1 Safety 65
Warning Label 65
Warning Lights 66
Warning Buzzer 66
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Table of Contents
5.2 Considerations 66
Performance 66
Weight 66
Power Consumption 67
Payload Bay Access 67
Dimensions and Design 67
Center of Gravity (CG) 69
5.3 Connections Between Platform and Payload Structure 74
Operator Panel 74
Option Connections 75
Chapter 6: Connectivity 77
6.1 Required Connections 77
6.2 Payload Bay Connections - Core 77
LD Platform Core Front, Upper 79
Core Right, Upper 79
LD Platform Core Rear, Upper 87
Internal LD Platform Core Connections 95
Internal Data Pinouts 97
Internal Power Pinouts 98
Chapter 7: Operation 101
7.1 Operating Environment 101
Intended Use 101
Clearance 101
Obstacles 102
Environment and Floor 102
103
User's Responsibilities 103
Getting Stuck 104
7.2 Typical Operation 104
7.3 Power and Charging 105
Battery Indicators and Controls 105
Docking Station 106
Manually Charging the Battery 108
Balancing the Battery 110
7.4 Operator Panel 111
Screen 111
E-Stop 113
ON Button 113
OFF Button 114
Brake-Release Button 114
7.5 Other Controls and Indicators 114
Light Discs and Beacon 114
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Table of Contents
LD Platform Core Status Indicators 120
7.6 Sensors 121
Lasers 121
Sonar 121
Other Sensors 122
7.7 Start up 122
Procedure 122
Pendant 122
Chapter 8: Maintenance 125
8.1 Safety Aspects While Performing Maintenance 126
Electrical Hazards 126
Burn Hazard 126
Pinch Hazard 126
Magnetic Field Hazards 126
8.2 Safety Measures Prior and After Maintenance 127
8.3 Lifting the Platform Safely 127
Front Lifting Points 127
Rear Lifting Area 128
8.4 Safety Inspection 129
Warning Devices 129
Warning Labels 129
8.5 Cleaning 132
Work Area Maintenance 132
Platform Cleaning 132
Cleaning Casters on ESD Platforms 133
8.6 Maintaining and Replacing Batteries 134
Maintaining Batteries 134
Replacing the Battery 134
8.7 Replacing Non-Periodic Parts 136
Docking Station Roller and Bearing 137
Docking Station ACPower Fuse 137
Docking Station Internal Fuse 138
Rear Sonar Units 139
Sonar Controller 140
Light Discs 141
Operator Panel 141
Wheels and Tires 142
Drive Assemblies 142
Front or Rear Casters 145
Safety Scanning Laser 147
LD Platform Core 147
E-Stop and Safety Laser Commissioning 148
Accessing the Payload Bay 149
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Table of Contents
Removing and Installing Skins 150
Chapter 9: Options 157
9.1 Fleet Manager, for Multi-AMR Coordination 157
9.2 Pendant 157
9.3 Spare Battery 157
9.4 Payload Structure Bumpers 157
9.5 Call Buttons/Door Boxes 157
9.6 Acuity Localization 157
9.7 Touchscreen 158
9.8 Side-Mount Lasers 159
9.9 High-Accuracy Positioning System (HAPS) 159
9.10 Electrostatic Discharge (ESD) Skins 159
Chapter 10: Technical Specifications 161
10.1 Dimension Drawings 161
10.2 Platform Specifications 162
Physical 162
Performance 164
Sensors 165
Battery Outputs 166
10.3 Docking Station Specifications 166
Chapter 11: Glossary 167
Appendix 174
A.1 Parts List 174
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Revision History
Revision
Code Date Revised Content
01 April, 2017 Original release
02 August, 2017 Corrections and improvements.
03 February,
2018
Corrections and improvements.
04 October, 2018 Corrections and improvements.
05 February,
2019
Corrections and improvements.
06 April, 2021 Corrections and improvements.
11970-000 Rev M LD-60/90 Platform User's Manual 9

Chapter 1: Introduction
This manual covers the setup, operation, and user maintenance of an LDPlatform OEM.
Other than the basics, this manual does not cover configuration performed using the software
that comes with the platform. That is covered in the FLOW Core User's Guide.
1.1 Definitions
AMR (Autonomous Mobile Robot):A platform with a payload structure attached to it. This is
your complete mobile robot, which will transport your products, parts, or data.
When referring to the initial setup, configuration, and connections, we will refer to the plat-
form.
We use the term AMR when talking about controlling or monitoring the full mobile robot with
attached payload structure.
Fleet Manager:A system that manages a fleet of AMRs. This includes the Fleet Manager appli-
ance and the software that runs on it.
Fleet:Two or more AMRs operating in the same workspace.
Platform: The most basic part of the robot. It includes the chassis, drive assemblies, sus-
pension, wheels, battery, lasers, sonar, an on-board LD Platform core with a built-in gyroscope,
navigation software, connectors for interfacing with and powering the payload structure, and
the platform skins (external covers).
LDPlatform OEM: Either the LD-60 or LD-90 platform for 60 or 90 kg payloads.
Payload Structure: Anything you attach to the platform. This could be as simple as a box for
holding parts or documents that you want transported, or as complicated as a robotic arm that
will be used to pick up parts to transport.
1.2 Product Description
The LDPlatform OEM is a general-purpose, mobile robot platform, designed to work indoors
and around people. It is self-guided and self-charging, with an automated docking station. The
LDPlatform OEM is available in two versions, designed to carry loads up to 60 kg (132 lb)for
the LD-60 and 90 kg (198 lb) for the LD-90 platform. Where appropriate, differences between
the models are called out. Otherwise, this manual applies to both platforms.
NOTE: The LD-90x is a variant of the LD-90, with the drive train of the Cart
Transporter CT130. In general, it is not covered in this manual, although it is
mentioned in a few places where its higher gear ratio is a factor.
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1.2 Product Description
Figure 1-1. LD Platform OEM Layout
Callout Description Callout Description
A LDPlatform Core F Safety Scanning Laser
B Platform Sonar Controller G Low Front Laser
C Rear Sonar X4 (2 pairs transducers) H Light Disc x2
D Battery Door Skin J Front Bumper
E Pendant/Ethernet Access Panel K Front Caster x2, Drive Wheel x2,
Rear Caster x2
The platform combines hardware and mobile-robotics software to provide an intelligent,
mobile platform to transport your payload. Once it scans its environment, the platform knows
where it is within a workspace, and can navigate safely and autonomously to any accessible
destination within that workspace, continuously and without human intervention.
The LDPlatform OEM uses a Safety Scanning Laser as its primary guidance to navigate, com-
paring the laser readings to a digital map stored in the platform's Core. The laser is backed up
by a low front laser, two rear-facing sonar pairs, a front bumper, a gyroscope mounted on the
LD Platform core, and encoders and Hall sensors on each drive wheel.
For situations that are so dynamic that laser localization becomes difficult, we offer the Acuity
Localization option, which localizes the platform using an upward-facing camera to recognize
overhead lighting patterns. This is covered in detail in the LDPlatform Peripherals User's Guide.
This would apply to areas where objects, such as pallets or carts, are moved so frequently that
they can’t be mapped, or where they block the laser’s view of the mapped features.
For most applications, you will want to customize the platform with a payload structure,
attached to the top of the platform, for some combination of picking up, transporting, and

Chapter 1: Introduction
dropping off your parts, samples, or documents. Refer to Payload Structures on page 65 for
guidelines on designing a payload structure.
The platform provides a variety of interfaces and power connections to support your applic-
ation-specific sensors and accessories, mounted on your payload structure. Refer to Con-
nectivity on page 77, for information on the available connectors on the platform.
Body and Drive
The LDPlatform OEMs are relatively small, lightweight, and highly maneuverable. Their
strong aluminum chassis and solid construction make them very durable, and they have an
IPrating of IP20.
Each platform uses a two-wheel, differential-drive, with spring-loaded passive casters front
and rear for balance. The drive-wheels have independent spring-suspension, with solid, foam-
filled tires. The wheels are at the platform's mid-line, so the platform can turn in place.
Figure 1-2. Drives in LD Platform (in red)
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14 LD-60/90 Platform User's Manual 11970-000 Rev M
1.2 Product Description
Figure 1-3. LDDrives
What's Included - Basic Components
lOne fully-assembled LDPlatform OEM
The platform includes a navigation laser, front bumper with low front laser, and two
rear-facing sonar pairs. Each pair is a transmitter and a receiver.
lLD Platform Core, includes an integrated computer, running Advanced Robotics Auto-
mation Management (ARAM) and a microcontroller with Mobile Autonomous Robot
Controller (MARC) firmware. It also runs the SetNetGo OS. The core is housed inside
the platform.
Figure 1-4. LD Platform OEM Core location
The core comes pre-loaded with ARAM and MARC firmware, and the SetNetGo OS.

Chapter 1: Introduction
The core has an internally mounted gyroscope, and each drive wheel has an encoder
and a Hall sensor to complement the safety scanning laser.
lOne battery
Shipped separately from the platform to comply with dangerous goods shipping reg-
ulations.
lOperator Panel
The operator panel includes a screen, an E-Stop button, ON and OFF buttons, a brake-
release button, and a keyswitch (which you can lock, in either position, and remove the
key).
Figure 1-5. Operator Panel
This will usually be mounted on the user-designed and -built payload structure.
An optional touchscreen is available. See Touchscreen on page 158.
lAutomated docking station
This allows the platform to charge itself, without user intervention. It includes a wall-
mount bracket and a floor plate, for a choice of installation methods. See Installing the
Docking Station on page 49.
Also included is a manual charging cord, so you can charge the battery or a spare bat-
tery outside of the platform.
lPendant (option)
This is used for manually controlling the platform, mostly when making a scan to be
used for generating a map.
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1.2 Product Description
Figure 1-6. Pendant Connection Point
You need at least one Pendant for each fleet ofAMRs. Once a map is generated, the
map can be shared with multiple AMRs working in the same space.
lUser documentation
Optional Components (Partial List)
Refer also to Options on page 157.
lFleet Manager system
This system manages a fleet of AMRs, for multi-AMR coordination and job man-
agement. It includes the Fleet Manager appliance running the FLOW Core.
lAcuity Navigation
For dynamic environments in which a map can’t be kept current, or where the area is
too large for the navigation laser to see, the robot can use Acuity to navigate using over-
head light patterns seen with an upward-facing camera.
lElectrostatic Discharge (ESD) Skins
ESD skins are black. They are made of a conductive thermoplastic sheet, grounded to
the chassis in a way that prevents electrostatic buildup.

Chapter 1: Introduction
Figure 1-7. LD Platform OEM with ESDSkins
They do this by providing a path to ground through the skin, to the robot’s chassis and
wheels, and provide resistance of 1X109Ω (measured from skin to ground). These skins
are available for robot applications in electrostatic discharge protected areas.
lSpare battery
A spare battery can help keep the AMR on the job without stopping to re-charge.
lCall/Door Box
This allows an AMR to be requested from a remote location, or allows the system to con-
trol an automated door, so the AMR can pass through it.
lHigh-Accuracy Positioning System (HAPS)
Allows an AMR to achieve accurate alignment at a specific location, such as a fixed con-
veyor, using a sensor to detect magnetic tape on the floor at that location.
For Payload Structure Development
lSide-mount obstacle-detection lasers
Two lasers that scan the vertical plane on each side of the AMR. These detect obstacles
that are at heights the navigation laser can’t see.
lTouchscreen
Allows an Operator to interact with an AMR at the AMR‘s location, select the AMR’s
next goals, check status, etc.
Refer to the LDPlatform Peripherals User's Guide for details on the touchscreen.
1.3 Software Overview
A fair amount of software is involved in setting up and running an LDPlatform OEM.
The platform comes with the following software:
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1.3 Software Overview
FLOW Core
The FLOW Core includes all of the software used by the LDPlatform OEMs and the Fleet Man-
ager appliance. The SetNetGo OS is not part of the suite, but is included.
User-Supplied Components / System Requirements
PC with Microsoft Windows®
lEthernet (wireless preferred)
Wireless is required for an installation with multiple AMRs.
l100 megabytes of available hard-disk storage
ARAM
The Advanced Robotics Automation Management software (ARAM) runs on the LD Platform
core. It operates ranging sensors like the safety scanning laser and sonar, and performs high-
level, autonomous robotics functions like obstacle avoidance, path planning, localization, nav-
igation, and so on, culminating in motion commands to the MARC firmware. ARAM also con-
trols the battery and light discs, and manages digital and analog I/O, which, along with
platform power, provide for integration of application-specific sensors and effectors that the
user adds.
ARAM manages wired and wireless Ethernet communications with off-board software for
external monitoring, development, and systems coordination, including coordination of a fleet
of AMRs through the optional Fleet Manager. It also manages integration with other systems,
as well as external monitoring, setup, and control with the MobilePlanner application.
ARAMCentral
ARAMCentral is the software that runs on the Fleet Manager appliance. This software and the
appliance combined are referred to as the Enterprise Manager.
For a fleet, the ARAMCentral software manages:
lthe map that all of its AMRs use
lthe configuration that all of its AMRs use
ltraffic control of the AMRs
This includes multi-AMR avoidance, destination, standby, and dock control.
lqueuing of jobs for the AMRs
lremote I/O, if you are using it
MobilePlanner
Before your AMR can perform autonomous mobile activities, you need to make a map of its
operating space, and configure its operating parameters. MobilePlanner software has the tools
to make this map and perform this configuration.

Chapter 1: Introduction
Refer to the separate FLOW Core User's Guide for details on how to map a working space and
prepare the virtual elements, goals, routes, and tasks for your application. In particular, refer
to:
Working With Map Files > Editing a Map File > Using the Drawing Tools >
Adding Goals and Docks
T After generating the map, the Fleet Manager appliance shares the map between multiple
AMRs in one fleet.
MobilePlanner, Operator Mode
MobilePlanner’s Operator Mode allows you to monitor one or more AMR's activities and have
them perform mobile tasks in the mapped space. If you start MobilePlanner without a license
dongle, it automatically starts in Operator Mode. Refer to the separate FLOW Core User's Guide
for details.
Mobile Autonomous Robot Controller (MARC)
At the lowest level, a microcontroller running MARC firmware handles the details of platform
mobility, including maintaining the platform’s drive speed and heading, as well as acquiring
sensor readings, such as from the encoders and gyroscope, and managing the platform’s emer-
gency stop systems, bumper, and Pendant. The MARC firmware computes and reports the plat-
form’s odometry (X, Y, and heading) and a variety of other low-level operating conditions to
ARAM.
Touchscreen Support
Fleet Operations Workspace Core includes support software for the optional touchscreen.
Call/Door Box Support
Call/Door boxes have one software component on the boxes and another on either the Fleet
Manager or on the single AMR, when there is no Fleet Manager.
ARCL Protocol
The Advanced Robotics Command Language (ARCL) is a function of ARAM and ARAMCen-
tral, which is included as part of this suite.
ARCL is a simple text-based command and response server for integrating an AMR (or fleet of
AMRs) with an external automation system.
ARCL allows you to operate and monitor the AMR, its accessories, and its payload devices
over the network, with or without MobilePlanner.
SetNetGo
The SetNetGo OS runs on the LD Platform core and Fleet Manager appliance. It is the host OS
in which ARAM and ARAMCentral run.
The SetNetGo interface in the MobilePlanner software is for configuring the platform’s Ethernet
settings, upgrading software, and performing systems diagnostics, such as retrieving log files.
It is accessible when connected via the maintenance and management Ethernet ports, or via
wireless Ethernet if enabled.
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1.4 How Can I Get Help?
NOTE: You can use a web browser to connect directly to the SetNetGo OSon a
platform. This allows your IT support to set up the network for you, without
using MobilePlanner, which requires a license.
1.4 How Can I Get Help?
Refer to the corporate website:
http://www.ia.omron.com
Support
If, after reading this manual, you are having problems with your platform, contact your local
Omron Support.
Related Manuals
This manual covers the installation, setup, operation, and maintenance of an LDPlatform
OEM. There are additional manuals that cover configuring the platform. See the following
table. These manuals are available on the software media delivered with your system.
Table 1-1. Related Manuals
Manual Title Description
Mobile Robot LD Safety
Guide (Cat. No. I616)
Contains general safety information for all Omron Robotics and
Safety TechnologiesLDPlatform OEM-based AMRs.
FLOW Core User's Guide
(Cat. No. I637)
Covers MobilePlanner software, the SetNetGo OS, and most of
the configuration of an LDPlatform OEM.
EM 2100 Installation
Guide (Cat. No. I634)
Covers the Fleet Manager 2100 system, which is hardware and
software used for managing a fleet of AMRs.
LDPlatform Peripherals
User's Guide(Cat. No.
I613)
Covers peripherals, such as the Touchscreen, Call/Door box, and
Acuity Localization options.
Integrated Toolkit User's
Manual (Cat. No. I637)
Contains information that is necessary to use the Integration
Toolkit facilitating integration between the Fleet Manager and
the end user's client application.
Including a Debuginfo File
If the platform has been set up on a wireless network, skip to SetNetGo Access.
Network Setup
If the platform has not been set up on a wireless network, you will have to set up a local area
network on a separate PC, configured to talk to the platform over a TCP/IP port. Set the IP
address to: 1.2.3.5. The Subnet Mask should be 255.255.255.0.