Omron Md series User manual

AMR (Autonomous Mobile Robot)

MD-series Platform

User's Manual

MD-650

I681-E-01

NOTE

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.

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.

Introduction

Thank you for purchasing the MD-series Autonomous Mobile Robot (referred to as AMR in this docu-

ment).

This manual is OMRON's original instructions describing the setup, operation, and user maintenance

of the AMR.

This manual does not describe all configuration steps that you perform using the software supplied

with an AMR. The Fleet Operations Workspace Core User's Manual (Cat. No. I635) describes configu-

ration and use of the AMR.

Please read this manual and make sure you understand the functionality and performance of the AMR

before attempting to use it.

Keep this manual in a safe place where it will be available for reference during operation.

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 for normal, abnormal, and emergency situations.

• 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

All units are metric unless otherwise noted.

Distances are provided in mm unless otherwise noted.

Introduction

AMR (Autonomous Mobile Robot) MD-series Platform User's Manual (I681)

Manual Information

Page Structure

The following page structure is used in this manual.

C D

5 Installation

5 - 3

NY-series User's Manual (W555)

5-1 Unpack

5-1-1 Unpack Procedure

5-1 Unpack

This section provides details on how to unpack the Industrial Panel PC.

5-1-1 Unpack Procedure

1Check the package for damage.

If there is any visible damage:

• Take photos of the package and save them.

• Inform your supplier immediately.

2Open the package.

Ensure not to damage the contents.

3Ensure that all items are present.

Additional Information

Refer to 5-1-2 Items Supplied with the Product for the items supplied.

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

Special Information

Special information in this manual is classified as follows:

Manual Information

2AMR (Autonomous Mobile Robot) MD-series Platform User's Manual (I681)

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

AMR (Autonomous Mobile Robot) MD-series Platform User's Manual (I681)

Manual Information

4AMR (Autonomous Mobile Robot) MD-series Platform User's Manual (I681)

Sections in this Manual

AMR (Autonomous Mobile Robot) MD-series Platform User's Manual (I681)

Operation

Installation

Specifications

Overview

Troubleshooting

Maintenance

Appendices

Index

CONTENTS

Introduction .............................................................................................................. 1

Intended Audience...........................................................................................................................................1

Units.................................................................................................................................................................1

Manual Information.................................................................................................. 2

Page Structure.................................................................................................................................................2

Special Information ..........................................................................................................................................2

Sections in this Manual ........................................................................................... 5

Terms and Conditions Agreement........................................................................ 12

Warranty and Limitations of Liability ..............................................................................................................12

Application Considerations ............................................................................................................................13

Disclaimers ....................................................................................................................................................13

Safety Precautions................................................................................................. 15

Definition of Precautionary Information..........................................................................................................15

Symbols .........................................................................................................................................................15

Dangers .........................................................................................................................................................16

Warnings........................................................................................................................................................16

Cautions.........................................................................................................................................................22

Precautions for Safe Use ...................................................................................... 24

Precautions for Correct Use ................................................................................. 27

Regulations and Standards .................................................................................. 30

Conformance to EU Directives ......................................................................................................................30

U.S. / Canada / Industry Standards ...............................................................................................................30

Conformance to KC Certification ...................................................................................................................31

Related Manuals..................................................................................................... 32

Glossary.................................................................................................................. 33

Section 1 Overview

1-1 Intended Use ..........................................................................................................................1-3

1-2 Features and Components....................................................................................................1-6

1-2-1 Lasers .........................................................................................................................................1-6

1-2-2 Skins ...........................................................................................................................................1-8

1-2-3 E-STOP Buttons..........................................................................................................................1-9

1-2-4 Operator Panel............................................................................................................................1-9

1-2-5 Light Discs and Strips ..............................................................................................................1-10

1-2-6 Charging Contacts ....................................................................................................................1-10

1-2-7 User Connections Area .............................................................................................................1-11

1-2-8 Payload Mounting Surface ........................................................................................................1-12

1-2-9 Main Disconnect Switch ............................................................................................................1-12

1-2-10 Drive Train and Suspension ......................................................................................................1-12

1-2-11 AMR Controller..........................................................................................................................1-12

1-2-12 Battery.......................................................................................................................................1-13

1-2-13 Pendant.....................................................................................................................................1-13

1-2-14 Speakers ...................................................................................................................................1-14

1-2-15 Charging Station .......................................................................................................................1-14

CONTENTS

6AMR (Autonomous Mobile Robot) MD-series Platform User's Manual (I681)

1-2-16 Input and Output Control...........................................................................................................1-15

1-2-17 Localization Sensors .................................................................................................................1-15

1-3 Autonomous Navigation .....................................................................................................1-16

1-4 Labels....................................................................................................................................1-18

1-4-1 AMR Information Label .............................................................................................................1-18

1-4-2 Docking Target Information Label .............................................................................................1-18

1-4-3 Power Supply Box Information Label ........................................................................................1-19

1-4-4 Battery Information Label ..........................................................................................................1-20

1-4-5 AMR Safety and Warning Label Locations................................................................................1-20

1-4-6 Power Supply Box Safety and Warning Label Locations ..........................................................1-21

1-4-7 Docking Target Safety and Warning Label Locations................................................................1-22

1-5 Part Numbers .......................................................................................................................1-24

1-6 Optional Items ......................................................................................................................1-25

1-6-1 Fleet Manager ...........................................................................................................................1-25

1-6-2 Additional E-STOP Buttons.......................................................................................................1-26

1-6-3 Additional Signal Beacons ........................................................................................................1-26

1-6-4 Additional Warning Buzzers ......................................................................................................1-27

1-6-5 Side Lasers ...............................................................................................................................1-27

1-6-6 Spare Battery ............................................................................................................................1-28

1-6-7 High-accuracy Positioning System............................................................................................1-28

1-6-8 Cell Alignment Positioning System ...........................................................................................1-29

1-7 Software................................................................................................................................1-30

1-7-1 System Requirements...............................................................................................................1-31

1-7-2 ARAM Software.........................................................................................................................1-31

1-7-3 ARAMCentral Software .............................................................................................................1-32

1-7-4 MobilePlanner Software ............................................................................................................1-32

1-7-5 ARCL Programming Language .................................................................................................1-33

1-7-6 Integration Toolkit ......................................................................................................................1-33

1-7-7 SetNetGo Software ...................................................................................................................1-34

1-8 Payload Considerations ......................................................................................................1-35

1-8-1 Payload Structures....................................................................................................................1-35

1-8-2 Power Consumption..................................................................................................................1-37

1-9 Coordinate System ..............................................................................................................1-38

Section 2 Specifications

2-1 Performance Specifications..................................................................................................2-2

2-2 Physical Specifications .........................................................................................................2-3

2-2-1 Dimensions .................................................................................................................................2-3

2-2-2 Center of Rotation .......................................................................................................................2-6

2-2-3 AMR Center of Gravity ................................................................................................................2-7

2-2-4 Payload Center of Gravity ...........................................................................................................2-7

2-2-5 Weights .......................................................................................................................................2-8

2-3 Environmental Specifications...............................................................................................2-9

2-3-1 AMR Environmental Specifications .............................................................................................2-9

2-3-2 Charging Station Environmental Specifications ..........................................................................2-9

2-3-3 Battery Environmental Specifications........................................................................................2-10

2-3-4 Pendant Environmental Specifications......................................................................................2-10

2-4 Other Specifications ............................................................................................................ 2-11

2-4-1 Laser Specifications ..................................................................................................................2-11

2-4-2 Battery Specifications................................................................................................................2-11

2-4-3 HAPS Specifications ................................................................................................................. 2-11

2-4-4 Charging Station Specifications ................................................................................................ 2-11

2-4-5 Operator Panel Screen .............................................................................................................2-12

2-4-6 Onboard I/O ..............................................................................................................................2-12

2-4-7 USER PWR Connector .............................................................................................................2-12

2-4-8 COMMS Connector...................................................................................................................2-13

CONTENTS

AMR (Autonomous Mobile Robot) MD-series Platform User's Manual (I681)

2-4-9 SCPU Connector.......................................................................................................................2-13

2-4-10 AUX PLC Connector .................................................................................................................2-13

2-4-11 LIGHTS Connector....................................................................................................................2-14

2-4-12 BUZZ Connector .......................................................................................................................2-14

2-4-13 REG PWR Connector ...............................................................................................................2-14

2-4-14 LASER PWR .............................................................................................................................2-15

2-4-15 Drive Train.................................................................................................................................2-15

2-4-16 Safety Function Performance Levels ........................................................................................2-15

2-4-17 Stopping Distance and Time .....................................................................................................2-18

2-4-18 Wireless Specifications .............................................................................................................2-19

Section 3 Installation

3-1 Installation Introduction ........................................................................................................3-2

3-2 Charging Station Installation ................................................................................................3-3

3-2-1 Repositioning the Docking Target Power Connector...................................................................3-4

3-2-2 Mechanical Connections .............................................................................................................3-4

3-2-3 Charging Paddle Adjustments.....................................................................................................3-5

3-2-4 Electrical Connections.................................................................................................................3-6

3-2-5 Commissioning Procedure ..........................................................................................................3-8

3-3 Battery Removal and Installation .......................................................................................3-10

3-3-1 Battery Removal Procedure ......................................................................................................3-11

3-3-2 Battery Installation Procedure ...................................................................................................3-11

3-4 Network Connections ..........................................................................................................3-13

3-4-1 Default Network Settings...........................................................................................................3-13

3-4-2 Wired Connection Procedure ....................................................................................................3-13

3-4-3 Wireless Connection .................................................................................................................3-14

3-5 Electrical Connections ........................................................................................................3-16

3-5-1 User Connections Area .............................................................................................................3-16

3-6 Attaching the Payload .........................................................................................................3-24

3-6-1 Payload Structure Mounting Points...........................................................................................3-24

3-6-2 Overhanging Payloads..............................................................................................................3-25

3-7 HAPS Installation and Configuration .................................................................................3-26

3-7-1 Tape and Marker Application.....................................................................................................3-26

3-7-2 Software Configuration..............................................................................................................3-27

3-7-3 Goals and Tasks........................................................................................................................3-28

3-8 Attaching Warning Labels...................................................................................................3-30

3-9 Commissioning ....................................................................................................................3-31

3-9-1 Commissioning Procedure ........................................................................................................3-31

3-10 Map Creation Overview .......................................................................................................3-32

3-10-1 Basic Mapping Tasks ................................................................................................................3-33

3-11 Operator Panel Relocation..................................................................................................3-34

Section 4 Operation

4-1 Payload Movement and Transfer..........................................................................................4-3

4-2 AMR Start-up ..........................................................................................................................4-4

4-3 AMR Shut-down .....................................................................................................................4-5

4-4 AMR Controller LED Indicators ............................................................................................4-6

4-5 Workspace..............................................................................................................................4-7

4-5-1 Physical Barriers .........................................................................................................................4-8

4-5-2 Logical Barriers ...........................................................................................................................4-9

4-5-3 Obstacles ....................................................................................................................................4-9

CONTENTS

8AMR (Autonomous Mobile Robot) MD-series Platform User's Manual (I681)