Omron LD Series User manual

1
Autonomous Mobile Robots (AMRs)
Omron mobile robots are fully autonomous intelligent vehicles that
increase throughput, reduce machine dwell time, eliminate errors,
improve material traceability, and allow employees to focus on tasks
that require complex human skills. What’s more, unlike traditional AGVs,
our mobile robots navigate by the natural features of the facility and
require no expensive facility modification
LD Series mobile robots are easy to get up and running, requiring
no construction such as the installation of magnets, and minimal
programming. In addition, our software integrates with your other
systems so you can get the solution up and running in minimal time.
• Easy to setup and operate
• Works safely with people
• Autonomous navigation doesn’t require preset routes, magnets,
beacons or facility modifications
• Easy to integrate with MES, ERP, and WMS systems
• Able to operate in fleets of up to 100 robots
Mobile Robots
LD Series
1 2 _ - 3
37 �� 2 - �
1 Robot Type Symbol
LD 60/ LD 90 0
Cart Transporter 1
LD 250 2
2 Speed & Payload Symbol
0.9m/s (Excludes LD 250) 90Kg (LD90) 6
130Kg (Cart transporter)
1.2m/s (LD 250 Only) 250Kg 2
1.3m/s (Excludes LD 250) 90Kg (LD90) 4
105Kg (Cart transporter)
1.8 m/s/ (LD 60 Only) 60Kg 3
3 Configuration Symbol
Protection Applicable Versions Bundle Contents
Standard
LD 60 / LD 90 /
LD 250
Robot 00000
Robot, Dock 00002
Robot, Dock, Joystick, Top Plate 10004
Cart Transporter
Robot 00010
Robot, Dock 00012
Robot, Dock, Joystick, Top Plate, Acuity, Cart 01014
ESD LD 60 / LD 90 /
LD 250
Robot 20000
Robot Dock 20002
Robot, Dock, Joystick, Top Plate 20004
�
�
�
Part Number Configuration

2
LD Series
Components and Functions
LD-60, LD-90
Components and Functions
LD-250
*ESD Model Shown
AUX Power & I/O
Internal connections
to power and control
custom topper models.
Operation Panel
Access to system power,
E-Stop, and the operation
status display.
Low Front Laser
Obstacle sensor detects
low-profile objects when
moving forward.
Light Discs
Status indicator is
located on both sides.
Front Bumper
Stops when in contact
with an obstacle.
Safety Scanning Laser
Safety-rated laser used for SLAM
(Simultaneous Localization and Mapping)
and safety functionality.
Rear Sonar
Detects rear
obstacles using sonar.
Performance Battery
Up to 15 hours of runtime between
charges for up to 7 years.
Charge Dock
Integrated contacts for
automated charging.
Hardened Construction
Metal chassis and skins for
increased duty and durability.
Low Front Laser
Obstacle sensor detects low-profile
objects when moving forward.
Safety Scanning Laser
Safety-rated laser used for SLAM
(Simultaneous Localization and
Mapping) and safety functionality.
E-Stop Buttons
E-stop located on both
sides and top.
Light Discs
Status indicator is located
on both sides.
Rear ToF Sensors
Detects rear obstacles
using infrared light.
Aux Power & I/O
Internal connections to
power and control custom
topper modules.
Performance Battery
Up to 13 hours of runtime
between charges for up to 7 years.
Charge Dock
Integrated contacts for
automated charging.
Operation Panel
Access to system power, E-Stop,
and the operation status display.

3
LD Series
Components and Functions
Cart Transporter
Dual side lasers
Detects high level side obstacles
when moving forward.
Latch System
Automatically engages and
disengages with cart units.
Light Discs
Status indicator is located
on both sides.
Low Front Laser
Obstacle sensor detects
low-profile objects when
moving forward.
Front Bumper
Stops when in
contact with obstacle.
Safety Scanning Laser
Safety-rated laser used for SLAM
(Simultaneous Localization and
Mapping) and safety functionality.
Touch Screen
Acuity System
Rear Laser
Detects high level
rear obstacles.
Provides system control and
status monitoring.
Rear Sonar
Detects rear low level obstacles
using sonar. Performance Battery
Up to 12 hours of runtime
between charges up to 7 years.
Charge Dock
Integrated contacts for
automated charging.
Tracks ceiling features
to increase navigation
performance (optional).

4
LD Series Options and Accessories
Appearance Description Specification Configuration & Attachment Part Number
High Accuracy
Positioning
System (HAPS)
Magnetic tape
A combination of sensor and
magnetic tape to achieve
accurate alignment during
forward driving motion, when
the sensor is attached to mobile
robot and magnetic tape is on
the floor.
Single sensor
- LD-60/ LD-90
Sensor × 1, mounting bracket × 1, power connector × 1,
RS-232 connector × 1, 25 mm wide magnetic tape (south
top side, 50 m roll)
13660-100
Double sensor
- LD-60/ LD-90
Sensor × 2 , mounting bracket × 2, power connector × 1,
RS-232 connector × 2, 25 mm wide magnetic tape (south
top side, 50 m roll)
13660-000
Single sensor
- LD-250
Sensor × 1, mounting bracket × 1, power connector × 1,
RS-232 connector × 1, 25 mm wide magnetic tape (south
top side, 50 m roll)
21374-100
Double sensor
- LD-250
Sensor × 2 , mounting bracket × 2, power connector × 1,
RS-232 connector × 2, 25 mm wide magnetic tape (south
top side, 50 m roll)
21374-000
Magnetic tape for the High
Accuracy Positioning System.
The tape is applied to signal the
mobile robot where to stop
25 mm wide
magnetic tape
(south top side,
50 m roll)
14925-000
Cell Alignment
Positioning
System (CAPS)
Add on software license that
improves the AMR's positional
accuracy
Software license License activation for CAPS (Activated on AMR) 20271-805
Acuity
Localization
Upwards facing camera that
maps ceiling features/lights used
where process layout or
obstacle location changes often.
Installed on a payload structure
attached to the mobile robot.
Camera, mounting kit, cables, leveling kit 13700-000
Camera, mounting kit, cables 13700-100
Touchscreen
Allows operators to check the
status of the mobile robot, enter
goals, and pause the mobile
robot. Installed on a payload
structure attached to the mobile
robot.
–
Touchscreen with bracket, power supply with bracket,
power cable from core to power supply (33 cm), power
cable from power supply to touchscreen (183 cm),
Ethernet cable between touchscreen and core (153 cm),
gasket between touchscreen and AMR mounting surface,
software package including touchscreen support
13605-000
Side Laser
Used to detect obstacles that are
at heights the safety scanning
laser of the mobile robot cannot
detect. Installed on a payload
structure attached to the mobile
robot.
Bundle Laser × 2, cable × 1 13456-000
Kit Laser × 2, Cable × 1, mounting kit × 2, metal cover × 2 13456-100
Call/Door Box
Used to issue a request for a
mobile robot to go to the goal or
to open a closed door. Installed
at the goal or door
WiFi Call/door box 13029-802
Wired Call/door box 13029-902
Battery
A battery that is installed in the
mobile robot 72 Ah Battery cell
nominal capacity Battery for all LD Series AMRs 20452000
AMR Legacy
Upgrade Dongle
USB license dongle for AMRs
migrating from MMS 4.x to
FLOW Core
-FLOW Core USB dongle with FLOW Core license (Only for AMRs
migrating from MSS 4.x to FLOW Core) 13131-100F

5
LD Series
Appearance Description Specification Configuration & Attachment Part Number
Docking
Station
A docking station to charge the
battery installed in the mobile
robot.
– Docking station, AC power cable 12477-000
Extended
Wall mount
Docking station, AC power cable, extended wall mount
(for Cart Transporter) 12477-050
Joystick
Used for manually controlling
the mobile robot
Cable length: 0.6
to 3 m – 13558-000
Breakout Cable
A D-SUB44 pin cable for digital
I/O interface of the mobile robot. –DB44HD breakout cable (D-SUB44 pin cable for digital I/O interface) 14165-000
Top Plate - LD-
60, LD-90
A upper plate of the mobile
robot OEM. It is not necessary for
building customer payload
Top cover for
OEM type
LD-60
LD-90 12944-000
Top Plate -
LD-250
A upper plate of the mobile
robot OEM. It is not necessary for
building customer payload
Top cover for
OEM type LD-250 20458-002
Cart*
A cart designed to work
seamlessly with the mobile
robot cart transporter.
–The cart only applies to LD-CT models. 75020-000
Battery
charging cable
A cable to connect a battery
and docking station to charge
the battery outside of the
mobile robot
Cable length: 0.45 m – 12676-000L
Fleet Management Solutions
Appearance Product Name Specification Configuration & Attachment Part
Number
Primary Fleet Manager EM2100 Appliance with 120 day temporary Fleet
Operations Workspace License 20271-900
Secondary Fleet Manager EM2100 Appliance with 120 day temporary Fleet
Operations Workspace License 20271-901
Fleet Simulator Simulation of up to
10 AMRs EM2100 Appliance with Simulation license included 20271-903
5 Year License (Primary Fleet Management) 5 year license activation for primary fleet management 20271-806
5 Year License (Secondary Fleet
Management) 5 year license activation for secondary fleet management 20271-807
Fleet Simulator License Simulation of up to
10 AMRs
License activation for Fleet Simulation (Add-on License
for Primary or Secondary Fleet Managers) 20271-804
MobilePlanner Version 4.x
Installer (USB)*
License Dongle
MSS 4.x compatible only (NOT COMPATIBLE with
FLOW Core)
13495-200
* To obtain the latest version of the Fleet Operations Workspace (FLOW) Core software, contact your local OMRON representative.

6
LD Series
Specifications
Mobile Robots-LD Platform
LD-60, LD-90, LD-250, and Cart Transporter
Item LD-60, LD-90 LD-250 Cart Transporter Note
37032- 37042- 37222- 000 37142- 37162-
Materials Polycarbonate Aluminum Polycarbonate
Dimension (L × W × H) 699 × 500 × 383 mm * 963 × 718 × 383 mm * 894 × 1074 × 1394 mm * *1 Height to top plate
*2 Height includes WiFi antenna
Weight (with Battery) 62 kg 148kg (with battery)
129kg (without battery) 81 kg (Vehicle)/23 kg (Cart)
Environment
Ambient temperature 5 to 40 °C
Ambient humidity 5 to 95 % (non-condensing)
Operating Environment Indoor usage only, no excessive dust, no corrosive gas Direct sunlight may cause safety laser false
positive
IP rating IP20
Cleanroom rating Fed Class 100, ISO Class 5 None
Floor Conditions
Floor Requirements Linoleum, epoxy, or concrete (no water, no oil, no dirt)
Minimum floor flatness FF25 (ACI 117 standard)*3
*3 ACI 117 is the American Concrete
Institute standard for concrete floors. FF is
flatness, FL is the level. Higher FF numbers
represent flatter floors. FF25 is a fairly
lenient specification.
Traversable step 15 mm max*410 mm max*410 mm max *55 mm max. * 5 mm max. * *4 A speed of 250-300 mm/s and 250
mm/s, for the LD-60 and LD-90, is required
for these steps. Faster or frequent driving
over such steps or gaps will shorten the
lifespan of the drivetrain components.
Lower speeds may not traverse the step.
Steps should have smooth, rounded
profiles.
*5 For LD-250, the robot should traverse
the 10mm step at 600 mm/s or slower for
best performance of the laser and battery
*6 The Cart Transporter with a cart is
capable of driving over a gap or step of
5 mm at a speed of 250 mm/s, but this
should not be regarded as normal use.
Regular driving over such gaps or steps
will shorten the lifespan of the drivetrain
components.
Traversable gap 15 mm max 15 mm max 15 mm max 5 mm max. * 5 mm max. *
Climb grade Below 1: 12 (60 kg max.)
Flat floor only (over 60 kg) Flat floor only (full payload) Flat floor only
Navigation
Routing Autonomous routing by localizing with safety scanning laser based on environment mapping
Environmental map
making method Scan by walking the mobile robot through the environment, and upload the scan data in the MobilePlanner
Payload
Maximum Weight 60 kg 90 kg 250 kg 105 kg* 130 kg* *7 Excluding cart weight
Mobility
Maximum Speed 1800 mm/s 1350 mm/s 1200mm/s 1350 mm/s 900 mm/s
Maximum Rotation Speed 180°/s 180°/s 120°/s 100°/s

7
LD Series
Item LD-60, LD-90 LD-250 Cart Transporter Note
37032- 37042- 37222- 000 37142- 37162-
Stop Position Accuracy ± 100 mm position*, ± 2° rotation
*±10 mm position, ±0.5° rotation with
HAPS option
±25 mm position, ±1.0° rotation with
CAPS option
Drive wheel
Materials Non-marking nylon foam-filled
rubber, non-conductive Aluminum with polyurethane tread Non-marking nylon foam-filled rubber, non-conductive
Size 200 dia. × 50 mm nominal, 2 wheels
Passive caster
Materials Conductive thermoplastic rubber
on polyolefin Conductive solid polyurethane Conductive thermoplastic rubber on polyolefin
Size 75 dia. × 41 mm nominal, 4 casters 127 dia. × 51 mm nominal, 4 casters 75 dia. × 41 mm nominal, 4 casters
Power
Battery 22-30 VDC
Capacity 72 Ah Battery cell nominal capacity
Run Time 15 hours (continuous) approx. 13 hours (continuous) approx 15 hours (continuous) approx. With no payload condition
Recharge Time 4 hours (5:1 ratio) approx.
Battery Life Cycles 2,000 recharge cycles (battery cell nominal)
Charging Method Automatic / manual
Auxiliary Power
5 VDC±5%, 1 A switched Aux power
12 VDC±5%, 1 A switched Aux power
20 VDC±5%, 1 A switched Aux power
22-30 VDC, 4 A switched × 2
22-30 VDC, 10 A switched*10
22-30 VDC, 10 A safe, switched*10
5, 12, 20, and 22-30 VDC power can be
provided to external devices
*10. 10 A switched and 10 A safe, switched
share the 10 A of current
Standard
Harmonized Standard EN IS0 12100 / EN ISO 13849-1 / EN 60204-1
Relevant Standard EN 1525 / ANSI B56.5
Wireless IEEE 802.11 a/b/g
Safety Features
Safety Scanning Laser
1 at front
Class 1
PLd safety per ISO13849-1
3 m maximum radius from laser for safety zones
40 m radius for general sensing
240° field of view
Emergency Stop 1 at operator panel 1 at operator panel, 1 on each side
(3 total)
1 at HMI post touchscreen, 1 at
operator panel
Rear Sonar 2 at rear, 2 m range Time of flight (TOF) sensors 2 at rear, 2 m range Each pair includes one emitter and one
receiver working together
Front Bumper 1 at front of platform, 2 pairs of
sensors Fixed, non-sensing 1 at front of platform, 2 pairs of sensors
Low Front Laser
1 at front of platform
Class 1
4 m maximum range
126° field of view
Side Laser Option*11
2 on horizontal tubes of HMI post
Class 1
4 m maximum range
270° field of view
*11. 2 on sides of payload structure,
usermounted
Indicators Light disc on each side Light disc in each side, beacon on
HMI post
Speaker 3.5 in., 80 W max.
Operator Interface
Screen / Touch Panel 3.5 in. TFT 320 × 240 pixels, color screen 7.0 in. TFT LCD touch panel, 18/24
bit RGB
Button
On button: green
Off button: red
Brake-release button: orange
Keyswitch (disabled off button) *12
On button: green
Off button: red
Brake-release button: orange
Keyswitch (disabled off button) *12,
Latch button, unlatch button
*12. Key switch can be used to disable
the off button to avoid accidental
shutdown or tampering.
User Interface
Wireless IEEE 802.11 a/b/g
Ethernet Port 1 x user LAN, 1 x maintenance LAN, Auto-MDIX
Serial RS-232 × 2
Digital I/O 16 inputs, 16 outputs
Analog I/O 8 inputs (0 to 30 V), 4 outputs (0-20 V)
Audio Digital audio out, audio in / audio out
Cart Latching
Latching Method Not available Automatic

8
LD Series
Touchscreen
Part Number 13605-000
Touch Panel PCAP touch sensor, black-bordered cover lens
TFT Display TFT LCD panel, 18/24 bit RGB parallel interface, 7.0 in.
WVGA - wide viewing angles, 5-touch
Backlight Constant current LED supply
Power Input 5 VDC supplied through power connector
Power Consumption 6.5 W maximum
Call/Door Box
Part Number WiFi 13029-802
Wired 13029-902
Dimensions- W × D × H 141.4 × 74.7 × 30 mm
Weight 190 g
Mounting method Mount to the provided wall frame with four screws
Power Supply 12 VDC
Power Consumption 0.5 A, 6 W typical
WiFi IEEE 802.11 a/b/g/n
Communication Port Ethernet
I/O Input × 2, output × 2 (30 VDC, 2 A max.)
Battery
Run Time (No Payload) 15 hours (continuous) approx. (LD-60/90)
13 hours (continuous) approx. (LD-250)
Weight 19 kg
Voltage 22-30 VDC
Capacity 72 Ah (battery cell nominal)
Recharge Time 4 hours approx.
Life Expectancy
2,000 times 80% DOD (battery cell nominal),
7 years, approx., 16 hrs/day, 5 days/wk
4 years, approx., 19/7 (full-time)
Docking Station
Part Number 12477-000, 12477-050
Current 8 A*1
Contacts 2
Power 100 to 240 VAC, 50 to 60 Hz
Power Consumption 800 W
Humidity 5 to 95 %, non-condensing
Temperature 5 to 40° C
Dimensions
(W × D × H)
349 × 369 × 315 mm
495 × 495.5 × 317 mm (with floor plate)
Weight 8.2 kg
Mounting Wall bracket, directly to floor, or on floor with
floor plate
Indicators Power on: blue
Charging: yellow
Connector For out-of-platform battery charging
*1 Thermal fuse in AC power switch (10 A time-lag fuse at switch for legacy
Joystick
Part Number 13558-000
Weight 0.55 kg
IP Rating IP56
Cart
Part Number 75020-000
Dimensions (L × W × H) 592 × 846 × 480 mm
Weight 23 kg
Rating ESD-rated
Passive Casters 2 front, 2 rear, spring-loaded
Caster Diameter 100 mm nominal
Caster Brakes At 2 rear casters
MobilePlanner Software
Operating System Windows 10 (32-bit/64-bit version)
CPU 1.5 GHz dual-core CPU recommended
Main Memory 1.5 GB min. (4 GB min. recommended)
Hard Disk At least 200 MB of available space
Video Memory 256 MB min.
Display XGA 1024 × 768, 16 million colors
Supported Languages Japanese, English, German
Fleet Manager
Dimensions - W × D × H 430 × 495.3 × 43.7 mm
Weight 9.1 kg
Mounting method 1U rack mount in a standard 19-inch
equipment rack
Power Supply 100-240 VAC (typical 100 W)
Power Consumption 200W max.
Operating Temperature 10 to 35 °C
Storage Temperature -25 to 60 °C
Operating Humidity 8 to 90%, non-condensing
Storage Humidity 5 to 95%, non-condensing
Chassis protection class IP20
CPU Intel® Xeon® CPU
Main Memory 32 GB DDR3
Storage 60 GB SSD
Archive Storage 4 TB HDD
Communication port 10/100/1000 Ethernet × 4, USB × 4, VGA
Status Display Multi-segment LCD
High Accuracy Positioning System
Part Number 13660- 00 (LD-60/90/105CT/130CT)
21374- 00 (LD-250)
Sensor
Depth 30 mm
Width 160 mm
Rating IP64
Environment -40 to 85 °C
LEDs Power, tape present, left marker, right
marker
Magnetic Tape Width 25 mm
Orientation South up
Markers
(Magnetic Tape)
Length 25 mm
Orientation 300 mm min. for 500 mm/s drive speed
North up
Separation
From Tape 15 - 30 mm
Connections
Front Sensor RS232-1 (/dev/ttyUSB9) on the core
Rear Sensor RS232-2 (/dev/ttyUSB10) on the core
Power, Both
Sensors
Aux power using the included
splitter cable
Acuity Localization
Part Number 13700- 00
Field of View 140°
Power Input 12 VDC (±10%) supplied from platform through power
connector
Power Consumption 3.3 W maximum
Cell Alignment Positioning System (CAPS)
Stop Position Accuracy * ±25 mm position, ±1.0° rotation
Type Software license

9
LD Series
Dimensions CAD data can be downloaded from Omron's website. https://automation.omron.com/en/us/support/cad-library (Unit: mm)v
Mobile Robots-LD Platform
LD-60, LD-90
383
201
379
50
500
699
Mounting
Surface
Top of
cove
rs
LD-250
380
40
190
969
MOUNTING
SURFACE
720

10
LD Series
Dimensions (Unit: mm)v
Cart Transporter
431
48
699
894
84.0
195.0
96
144.6
626.6
1306.7
1393.2
133.1
504.9
500
416.0
1073.3
38 38
Ø 101.6
Fleet Manager EM2100 Appliance

11
LD Series
Dimensions (Unit: mm)v
High Accuracy Positioning System
Acuity Localization
Touchscreen
Cart


85
215
179.7
166.9
107.6
103 85.9
10.8
16
6
227
4x Ø
4.5 Thru
13.2
4.2
7.6
7.6
20 20
34.4
227
Docking Station
Joystick
40
6
495
Free Standing
89
114
267
247
123
121
356
315
369
384
Wall Mount
and Floor Mount
Wall Mount Bracket
98 ± 20
3x Ø6
8x 25
18x Ø6
349
146°
146°
 

141.37
50
123
15 74.69
Base only
30
40
76
Ø2.4طdeep7.5
×4
Call/Door Box

12
Related Manuals
Manual No. English Title
I611 Mobile Robots LD Platform User Guide
I612 Mobile Robots LD Cart Transporter User Guide
I613 Mobile Robots LD Platform Peripherals Guide
I614 Mobile Robots Software Suite User Guide
I615 Enterprise Manager User Guide
I616 Mobile Robot LD Safety Guide
I617 Advanced Robotics Command Language Reference Guide
I618 Advanced Robotics Command Language Enterprise Manager Integration Guide
I634 EM2100 Installation Guide
I635 Fleet Operations Workspace Core User Guide
I636 Fleet Operations Workspace Core Migration Guide
I637 Fleet Operatiom Workspace Core Integration Toolkit User Guide
I642 LD-250 Platform User Guide
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• The product photographs and figures that are used in this catalog may vary somewhat from the actual products.
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