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
The information contained herein is the property of Omron Robotics and Safety Technologies,
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-
sions in the documentation.
Copyright 2013 - 2021 by Omron Robotics and Safety Technologies All rights reserved.
Any trademarks from other companies used in this publication are the property of those
respective companies.
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.
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
11970-000 Rev M LD-60/90 Platform User's Manual 3

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
4 LD-60/90 Platform User's Manual 11970-000 Rev M

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
11970-000 Rev M LD-60/90 Platform User's Manual 5

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
6 LD-60/90 Platform User's Manual 11970-000 Rev M

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
11970-000 Rev M LD-60/90 Platform User's Manual 7

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