Omron MD Series User manual

AMR (Autonomous Mobile Robot)
MD-series Platform
User's Manual
MD-650
I681-E-01

NOTE
All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or
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
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AMR (Autonomous Mobile Robot) MD-series Platform User's Manual (I681)

Manual Information
Page Structure
The following page structure is used in this manual.
A
B
C
C D
E
F
B
C
H
5 Installation
5 - 3
NY-series User's Manual (W555)
5-1 Unpack
5
5-1-1 Unpack Procedure
G
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
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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
Sections in this Manual
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AMR (Autonomous Mobile Robot) MD-series Platform User's Manual (I681)
Operation
Installation
Specifications
Overview
1
2
3
4
1
2
3
4
1
5
6
A
I
Troubleshooting
5
Maintenance
6
Appendices
A
Index
I

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
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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
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4-5-4 Restricted Zones .........................................................................................................................4-9
4-5-5 Operating Hazard Zones...........................................................................................................4-10
4-5-6 Payload Transfer Stations .........................................................................................................4-10
4-6 Ramps ................................................................................................................................... 4-11
4-7 Clearances............................................................................................................................4-13
4-7-1 Rotational Clearances...............................................................................................................4-13
4-7-2 Docking Clearances ..................................................................................................................4-14
4-8 Narrow Passageway Behavior (Linear)..............................................................................4-16
4-9 Narrow Passageway Behavior (Non-linear).......................................................................4-17
4-9-1 U-Turn in a Narrow Passageway ..............................................................................................4-17
4-9-2 U-Turn Through a Narrow Doorway ..........................................................................................4-17
4-10 Minimum Lane Width...........................................................................................................4-19
4-11 Immobilization......................................................................................................................4-20
4-12 Battery and Charging ..........................................................................................................4-21
4-12-1 Battery Indicators and Controls.................................................................................................4-21
4-12-2 Charging Station .......................................................................................................................4-23
4-12-3 Charging the Battery .................................................................................................................4-25
4-12-4 Balancing the Battery ................................................................................................................4-27
4-12-5 Storing Batteries........................................................................................................................4-28
4-13 Operator Panel .....................................................................................................................4-29
4-13-1 Brake Release Button ...............................................................................................................4-29
4-13-2 Emergency Stop Button ............................................................................................................4-29
4-13-3 Main Screen ..............................................................................................................................4-29
4-13-4 ON Button .................................................................................................................................4-30
4-13-5 OFF Button................................................................................................................................4-30
4-13-6 Mode Selection Switch..............................................................................................................4-30
4-13-7 Pendant Port .............................................................................................................................4-31
4-14 Maintenance Ethernet Port .................................................................................................4-32
4-15 Main Disconnect Switch......................................................................................................4-33
4-16 Releasing the Brakes...........................................................................................................4-34
4-16-1 Electronic Brake Release..........................................................................................................4-34
4-16-2 Mechanical Brake Release .......................................................................................................4-34
4-17 Manually Pushing the AMR.................................................................................................4-36
4-18 Emergency Stop...................................................................................................................4-37
4-18-1 Emergency Stop Recovery Procedure......................................................................................4-37
4-19 Protective Stops...................................................................................................................4-39
4-19-1 AMR Response During Protective Stops ..................................................................................4-39
4-20 Overspeed Protection..........................................................................................................4-41
4-21 Light Discs and Optional Beacon States...........................................................................4-42
4-21-1 Driving Straight..........................................................................................................................4-42
4-21-2 Turn Signal ................................................................................................................................4-42
4-21-3 Emergency Stop........................................................................................................................4-42
4-21-4 Lost ...........................................................................................................................................4-42
4-21-5 Stopped.....................................................................................................................................4-43
4-21-6 Stopped with Warning ...............................................................................................................4-43
4-21-7 Obstacle Detected / Protective Stop .........................................................................................4-43
4-21-8 Charging....................................................................................................................................4-43
4-21-9 Booting ......................................................................................................................................4-44
4-21-10 Operating inside a designated MutePersonnelDetectionSector Area .......................................4-44
4-22 Light Strips and Optional Beacon States ..........................................................................4-45
4-22-1 Driving Straight..........................................................................................................................4-45
4-22-2 Turn Signal ................................................................................................................................4-45
4-22-3 Emergency Stop........................................................................................................................4-45
4-22-4 Lost ...........................................................................................................................................4-46
4-22-5 Stopped.....................................................................................................................................4-46
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4-22-6 Stopped with Warning ...............................................................................................................4-46
4-22-7 Obstacle Detected / Protective Stop .........................................................................................4-46
4-22-8 Charging....................................................................................................................................4-47
4-22-9 Booting ......................................................................................................................................4-47
4-22-10 Operating inside a designated MutePersonnelDetectionSector Area .......................................4-47
4-23 Pendant Operation...............................................................................................................4-49
4-23-1 Driving with the Pendant ..........................................................................................................4-50
4-24 Warning Buzzer ....................................................................................................................4-51
4-25 Safety Laser Scanner Zones...............................................................................................4-52
4-25-1 Safety Zone Pairs......................................................................................................................4-52
4-25-2 Alternate Safety Laser Scanner Zones .....................................................................................4-73
4-26 Wireless Considerations .....................................................................................................4-75
4-26-1 Signal Availability ......................................................................................................................4-75
4-26-2 Bandwidth .................................................................................................................................4-75
4-26-3 Port Forwarding.........................................................................................................................4-76
4-27 Motion Limits........................................................................................................................4-77
4-28 Emergency Situations .........................................................................................................4-78
4-29 Tilt Detection ........................................................................................................................4-79
4-30 No Motion Signals................................................................................................................4-80
Section 5 Troubleshooting
5-1 Collecting Troubleshooting Information..............................................................................5-2
5-2 Restoring the Default Configuration ....................................................................................5-3
5-3 Power Supply Box Problems ................................................................................................5-4
5-4 Battery Problems ...................................................................................................................5-6
5-4-1 Low Battery Recovery .................................................................................................................5-6
5-4-2 Battery Charging Problems .........................................................................................................5-6
5-4-3 Leaking Batteries ........................................................................................................................5-7
5-5 Exposure to Liquids ..............................................................................................................5-9
5-6 AMR Start-up Problems.......................................................................................................5-10
5-7 AMR Controller Errors......................................................................................................... 5-11
5-8 Operator Panel Information ................................................................................................5-12
5-8-1 Stop Flags .................................................................................................................................5-12
5-8-2 Text Messages ..........................................................................................................................5-12
5-9 Circuit Breakers and Fuses ................................................................................................5-13
5-9-1 Fuse Panel ................................................................................................................................5-13
5-9-2 Circuit Breaker Panel ................................................................................................................5-13
5-9-3 Battery Fuse..............................................................................................................................5-14
5-10 Other AMR Problems...........................................................................................................5-15
Section 6 Maintenance
6-1 Maintenance Introduction .....................................................................................................6-2
6-2 AMR Lock-out Tag-out Procedure........................................................................................6-4
6-3 Inspection Intervals ...............................................................................................................6-5
6-4 Charging Station Lock-out Tag-out Procedure ...................................................................6-6
6-5 Lifting the AMR ......................................................................................................................6-7
6-6 Mechanical Brake Inspection Procedure.............................................................................6-9
CONTENTS
10 AMR (Autonomous Mobile Robot) MD-series Platform User's Manual (I681)

6-7 Docking Target Charging Contacts Inspection.................................................................6-10
6-8 AMR Charging Contact Inspection..................................................................................... 6-11
6-9 Safety and Warning Labels .................................................................................................6-12
6-10 Cleaning................................................................................................................................6-13
6-10-1 Cleaning Intervals .....................................................................................................................6-13
6-10-2 Cleaning AMR Charging Contacts ............................................................................................6-13
6-10-3 Cleaning the Power Supply Box Cooling Ducts ........................................................................6-14
6-10-4 Cleaning Lasers Lenses............................................................................................................6-15
6-10-5 Cleaning Caster Treads ............................................................................................................6-15
6-10-6 Cleaning Drive Wheels..............................................................................................................6-15
6-11 Replacing Items ...................................................................................................................6-17
6-11-1 Removing and Replacing Skins ................................................................................................6-17
Appendices
A-1 Parts List................................................................................................................................ A-2
A-2 Side Laser Configuration ..................................................................................................... A-3
A-3 Input and Output Control ..................................................................................................... A-4
A-4 Shipping the AMR ................................................................................................................. A-5
Index
CONTENTS
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AMR (Autonomous Mobile Robot) MD-series Platform User's Manual (I681)

Terms and Conditions Agreement
Warranty and Limitations of Liability
Warranty
Exclusive Warranty
Omron’s exclusive warranty is that the Products will be free from defects in materials and work-
manship for a period of twelve months from the date of sale by Omron (or such other period ex-
pressed in writing by Omron). Omron disclaims all other warranties, expressed or implied.
Limitations
OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, ABOUT
NON-INFRINGEMENT, MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE OF
THE PRODUCTS. BUYER ACKNOWLEDGES THAT IT ALONE HAS DETERMINED THAT THE
PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE.
Omron further disclaims all warranties and responsibility of any type for claims or expenses based
on infringement by the Products or otherwise of any intellectual property right.
Buyer Remedy
Omron’s sole obligation hereunder shall be, at Omron’s election, to (i) replace (in the form originally
shipped with Buyer responsible for labor charges for removal or replacement thereof) the non-com-
plying Product, (ii) repair the non-complying Product, or (iii) repay or credit Buyer an amount equal
to the purchase price of the non-complying Product; provided that in no event shall Omron be re-
sponsible for warranty, repair, indemnity or any other claims or expenses regarding the Products
unless Omron’s analysis confirms that the Products were properly handled, stored, installed and
maintained and not subject to contamination, abuse, misuse or inappropriate modification. Return
of any Products by Buyer must be approved in writing by Omron before shipment. Omron Compa-
nies shall not be liable for the suitability or unsuitability or the results from the use of Products in
combination with any electrical or electronic components, circuits, system assemblies or any other
materials or substances or environments. Any advice, recommendations or information given orally
or in writing, are not to be construed as an amendment or addition to the above warranty.
See http://www.omron.com/global/ or contact your Omron representative for published information.
Limitations of Liability
OMRON COMPANIES SHALL NOT BE LIABLE FOR SPECIAL, INDIRECT, INCIDENTAL, OR CON-
SEQUENTIAL DAMAGES, LOSS OF PROFITS OR PRODUCTION OR COMMERCIAL LOSS IN ANY
WAY CONNECTED WITH THE PRODUCTS, WHETHER SUCH CLAIM IS BASED IN CONTRACT,
WARRANTY, NEGLIGENCE OR STRICT LIABILITY. Further, in no event shall liability of Omron Com-
panies exceed the individual price of the Product on which liability is asserted.
Terms and Conditions Agreement
12 AMR (Autonomous Mobile Robot) MD-series Platform User's Manual (I681)

Application Considerations
Suitability for Use
Omron Companies shall not be responsible for conformity with any standards, codes or regulations
which apply to the combination of the Product in the Buyer’s application or use of the Product. At Buy-
er’s request, Omron will provide applicable third party certification documents identifying ratings and
limitations of use which apply to the Product. This information by itself is not sufficient for a complete
determination of the suitability of the Product in combination with the end product, machine, system, or
other application or use. Buyer shall be solely responsible for determining appropriateness of the par-
ticular Product with respect to Buyer’s application, product or system. Buyer shall take application re-
sponsibility in all cases.
NEVER USE THE PRODUCT FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR
PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO
ADDRESS THE RISKS, AND THAT THE OMRON PRODUCT(S) IS PROPERLY RATED AND IN-
STALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM.
Programmable Products
• Omron Companies shall not be responsible for the user’s programming of a programmable Product,
or any consequence thereof.
• Omron Companies shall not be responsible for the operation of the user accessible operating sys-
tem (e.g. Windows, Linux), or any consequence thereof.
Disclaimers
Performance Data
Data presented in Omron Company websites, catalogs and other materials is provided as a guide for
the user in determining suitability and does not constitute a warranty. It may represent the result of
Omron’s test conditions, and the user must correlate it to actual application requirements. Actual per-
formance is subject to the Omron’s Warranty and Limitations of Liability.
Change in Specifications
Product specifications and accessories may be changed at any time based on improvements and oth-
er reasons. It is our practice to change part numbers when published ratings or features are changed,
or when significant construction changes are made. However, some specifications of the Product may
be changed without any notice. When in doubt, special part numbers may be assigned to fix or estab-
lish key specifications for your application. Please consult with your Omron’s representative at any
time to confirm actual specifications of purchased Product.
Terms and Conditions Agreement
13
AMR (Autonomous Mobile Robot) MD-series Platform User's Manual (I681)

Errors and Omissions
Information presented by Omron Companies has been checked and is believed to be accurate; how-
ever, no responsibility is assumed for clerical, typographical or proofreading errors or omissions.
Terms and Conditions Agreement
14 AMR (Autonomous Mobile Robot) MD-series Platform User's Manual (I681)

Safety Precautions
Definition of Precautionary Information
The following notation is used in this manual to provide precautions required to ensure safe usage of
the AMR. The safety precautions that are provided are extremely important to safety.
Always read and heed the information provided in all safety precautions.
The following notation is used.
DANGER
Identifies an imminently hazardous situation which, if not avoid-
ed, is likely to result in serious injury, and might result in fatality
or severe property damage.
WARNING
Indicates a potentially hazardous situation which, if not avoid-
ed, could result in death or serious injury. Additionally, there
may be severe property damage.
CAUTION
Indicates a potentially hazardous situation which, if not avoid-
ed, may result in minor or moderate injury, or property damage.
Symbols
The circle and slash symbol indicates operations that you must not do. The specific opera-
tion is shown in the circle and explained in text.
This example indicates prohibiting disassembly.
The triangle symbol indicates precautions (including warnings).
The specific operation is shown in the triangle and explained in text.
This example indicates a precaution for electric shock.
The triangle symbol indicates precautions (including warnings).
The specific operation is shown in the triangle and explained in text.
This example indicates a general precaution.
The filled circle symbol indicates operations that you must do.
The specific operation is shown in the circle and explained in text.
This example shows a general precaution for something that you must do.
The triangle symbol indicates precautions (including warnings).
The specific operation is shown in the triangle and explained in text.
This example indicates a precaution for high temperatures.
The triangle symbol indicates precautions (including warnings).
The specific operation is shown in the triangle and explained in text.
This example indicates a precaution for laser radiation.
Safety Precautions
15
AMR (Autonomous Mobile Robot) MD-series Platform User's Manual (I681)

Dangers
DANGER
The AMR can cause serious injury to personnel or damage to itself or other equipment if
it drives off of a ledge, such as a loading dock, or down stairs.
Improper operation of the AMR on inclined floors that do not comply with the applicable
operating specifications can result in the AMR tipping over, and consequently a serious
personal injury.
The end-user of the AMR must perform a risk assessment to identify and mitigate any
additional personal and property damage hazards caused by the payload.
Warnings
WARNING
General
Implementing methods to circumvent the need for a person to enable the AMR's motor
power at start-up is prohibited.
Equipment used to lift the AMR must be adequately rated. It is the end user's responsibil-
ity to review lifting equipment and apply appropriate safety factors before lifting.
When working near the encoder cables, take care not to disconnect or damage them.
Improper connection or disconnection of encoder cables may result in erratic motion of
the AMR during operation. Operating the AMR with damaged, disconnected, or improp-
erly connected encoder signals can cause potentially hazardous uncommanded rotation.
Safety Precautions
16 AMR (Autonomous Mobile Robot) MD-series Platform User's Manual (I681)

The following actions are strictly prohibited and could result in injury or damage to the
equipment.
•Riding on the AMR.
•Towing applications.
•Exceeding the maximum payload limit.
•Operating in environments with life support systems.
•Operating in residential areas.
•Operating on non-stationary areas, including moving floors or any type of land vehicle,
watercraft, or aircraft.
•Exceeding the maximum recommended speed, acceleration, deceleration, or rotation
limits. Rotational speed becomes more significant when the payload’s center of gravity
is increasingly offset from the AMR's center of gravity.
•Dropping, driving off a ledge, or operating irresponsibly.
•Allowing the AMR to drive through an opening that has an automatic gate or door, un-
less the door and AMR are configured correctly with the Call / Door Box option.
•Throwing an object in front of the AMR or suddenly stepping into the path of the AMR.
The AMR braking system cannot be expected to function as designed and specified in
such instances.
•Exposing the AMR to rain or moisture.
•Using unauthorized parts to repair the AMR.
•Powering ON the AMR without its wireless antennas in place.
•Operating the AMR in hazardous environments where there is explosive gas, an oil
mist, or a corrosive atmosphere.
•Operating the AMR in an environment that contains ionizing radiation.
•Using non-approved batteries or charging systems.
The Charging Station, battery, and AMR transfer high electric power and contain hazard-
ous voltages. You must take necessary precautions to avoid electric shock. Follow ap-
propriate Lock-Out, Tag-Out (LOTO) instructions prior to any installation and mainte-
nance work performed on or near these items.
No modification is allowed that may affect functionality unless a complete risk assess-
ment is performed. Any modifications made to the AMR can lead to loss of safety or
functionality of the AMR therefore it is the end-user's responsibility to perform complete
risk assessment after making any modifications to the AMR, and to confirm that all safety
features of the AMR are fully functional.
The AMR as a partly-completed machine is intended to be incorporated into other machi-
nery and must not be put into service until the final machinery into which it is to be incor-
porated has been declared in conformity with the provisions of EC Machinery Directive
2006/42/EC, where appropriate.
The assembly instructions shall then form part of the technical file for the final machine.
Use only the specified tools, equipment, and OMRON-supplied spare parts to service
and maintain the AMR according to the specified service intervals. Failure to do so could
result in an unsafe operating state that might result in personal injury or damage to prop-
erty.
It is the end-user's responsibility to perform a task-based risk assessment and to imple-
ment appropriate safety measures at the point of use of the AMR in accordance with lo-
cal regulations.
If you are using a user-supplied E-STOP, you must perform commissioning to verify the
emergency stop functionality before putting the AMR into service.
It is the end-user's responsibility to make sure that the AMR design and implementation
complies with all local standards and legal requirements.
Safety Precautions
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AMR (Autonomous Mobile Robot) MD-series Platform User's Manual (I681)

It is the end-user's responsibility to make sure that the AMR is operated within its specifi-
cations, intended use, and intended environments.
The user is responsible for the safety of the AMR, which includes confirming that the sys-
tem is stable with any payload, payload structure, or other attachments while functioning
in the specified operating environment.
Although the AMR is commissioned at the factory, the user must perform commissioning
as part of the initial setup upon receipt.
If the AMR transports containers of liquid or other non-solid material, consider the effect
on the AMR's stability if their contents can shift. It is the end user's responsibility to en-
sure that the payload is properly secured to the AMR, and that payload shifting does not
create AMR instability.
The motor and motor assemblies will be exposed when the side skins are removed, ex-
posing potential pinch points. Take necessary precautions when moving an AMR without
its skins attached. The rear and top of the AMR also pose pinch hazards when the rear
skin and the top plate are removed.
You need to modify the safety zones if your payload overhangs the AMR's default dimen-
sions and if operating on a floor surface that has poor traction to the extent that the AMR
cannot stop reliably within the default zones. OMRON is not responsible for any risks in-
curred by modifying safety zone sizes or other Safety Laser Scanner settings.
While it is possible to generally reduce AMR deceleration settings for normal operation,
the maximum deceleration used in the case of emergency stops, or stops due to Safety
Laser Scanner intrusions cannot be lowered below 1300 mm/s2. It is your responsibility
to ensure that the AMR and its load will remain stable in your operating environment at
all times, including during an emergency stop.
Lifting straps must be fastened with consideration to even weight distribution to ensure
that the AMR is level and stable when lifted. Uneven weight distribution while lifting may
cause the AMR to shift or become unstable which may result in injury or damage to
equipment.
Do not use organic solvents to clean any part of the AMR unless directed in the cleaning
instructions. Organic solvents might damage electronics resulting in an unsafe operating
state that could cause injury or damage to equipment.
Follow all unpacking safety instructions and use appropriate tools and equipment. Failure
to do so could result in personal injury or property damage.
Use safe lifting practices when moving the heavy objects such as the Power Supply Box,
Battery, Docking Target, and AMR.
The rare-earth magnet embedded in the AMR charging contacts creates a strong mag-
netic field. Magnetic fields can be hazardous if you have a medical implant. Keep a mini-
mum of 30 cm away from the AMR charging contacts.
Do not attempt to lift the AMR from the bottom with a forklift or similar devices. Doing so
could damage the AMR.
When operating the AMR with the pendant, it is the operator's responsibility to make sure
that no people or objects are in the immediate vicinity of the moving AMR.
Safety Precautions
18 AMR (Autonomous Mobile Robot) MD-series Platform User's Manual (I681)