Omron HD-1500 Platform Manual de usuario

I645-E-01

HD-1500 Platform

User’s Manual

The information contained herein is the property of OMRON, and shall not be reproduced in whole or in

part without prior written approval of OMRON. The information herein is subject to change without

notice and should not be construed as a commitment by OMRON. The documentation is periodically

reviewed and revised.

OMRON, assumes no responsibility for any errors or omissions in the documentation.

Any trademarks from other companies used in this publication are the property of those respective com-

panies.

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Created in the United States of America

Table of Contents

Chapter 1: Introduction 10

1.1 Definitions 10

1.2 Product Description 11

HD-1500 Autonomous Navigation 13

HD-1500 Localization 13

Custom Payload Structures 13

Body and Drive Train 14

What's Included - Basic Components 15

Optional Features and Components (Partial List) 20

1.3 Software Overview 20

HD-1500 Software 20

SetNetGo 24

1.4 How Can I Get Help? 25

Related Manuals 25

Support 25

Download a Debuginfo File for Support 26

Network Setup 26

Obtain a DebugInfo File from SetNetGo 26

Chapter 2: Safety 28

2.1 General Hazards 28

2.2 Unprotected Areas 29

2.3 What to Do in an Emergency 32

Releasing the Brakes 33

Releasing an E-Stop 34

2.4 Dangers, Warnings, and Cautions 35

Alert Levels 35

Alert Icons 35

Special Information 36

2.5 User's Responsibilities 38

Electrical Hazards 38

Magnetic Field Hazards 39

Burn Hazard 40

Qualification of Personnel 40

Payload Movement and Transfer 40

Configurable Warning Buzzer 41

Fleet Management 42

2.6 Environment 42

General Environmental Conditions 42

31500-000 Rev A HD-1500 Platform User's Manual 4

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Public Access 43

Operating Clearances 43

Obstacles 45

2.7 Intended and Non-intended Use 46

Intended Use 46

Non-Intended Use 47

HD-1500 Platform Modifications 48

2.8 Protective Stops Initiated by AMR Safety Lasers 49

2.9 Safety System Overspeed Faults 50

2.10 Laser Safety 50

2.11 Interlock Switches 51

2.12 Battery Safety 52

Battery Safety Precautions 53

Battery Maintenance 55

2.13 Charging Station 55

Safety Precautions 56

2.14 Additional Safety Information 58

Mobile Robot HDSafety Manual (Cat. No. I647) 58

2.15 Disposal 58

Chapter 3: Setup 60

3.1 Overview of HD-1500 Setup 60

Tasks 60

3.2 Transport and Storage 60

HD-1500 Shipping and Storage 60

Battery Crate 61

Power Supply Box, and Docking Target Crates 62

3.3 Before Unpacking 63

3.4 Unpacking Considerations 63

HD-1500 Unpacking 65

Battery Unpacking 79

Docking Target Unpacking 88

Power Supply Box Unpacking 95

3.5 Installing the Battery 104

Installation 104

3.6 Attaching the Payload Structure and Options 108

Attach the Payload Structure 108

Attach the No Riding Warning Label 108

Attach HD-1500 Optional Devices 108

E-Stop Jumper on the User Access Panel 109

Warning Buzzer 109

Warning Light 110

5 HD-1500 Platform User's Manual 31500-000 Rev A

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3.7 Installing the Charging Station 110

Required Tools and Fasteners 111

Charging Station Features and Parts 112

Charging Station Environmental Requirements 115

Power Supply Box Installation 116

Docking Target Installation 120

Chapter 4: Configuration 124

4.1 Settings and Configuration 124

Maintenance Ethernet Connection 124

Setting Up Wireless Ethernet 127

4.2 Create a Workspace Map 130

Map Creation Overview 130

Mapping Tasks 132

4.3 Acceleration, Deceleration, and Rotation Limits 132

4.4 Supplemental Information 133

Laser Setup 133

Chapter 5: Payload Structures 136

5.1 Safety 136

Warning Labels 136

Warning Lights 136

Warning Buzzer 137

5.2 Considerations 137

Performance 137

Weight Constraints 137

Power Consumption 138

Power Limits 138

Payload Attachment Location 139

Payload Dimensions and Design 139

Mounting Locations in the Platform 141

AMR Coordinate System 142

Center of Gravity (CG) 143

5.3 Payload-Related Tradeoffs 146

5.4 Connections Between the HD-1500 Platform and Payload Structure 147

Operator Panel on the Payload 147

Optional Connections 148

Chapter 6: Connectivity 150

6.1 Required Connections 151

Platform Required Connections 151

Charging Station Required Connections 154

6.2 User Access Panel Connections 155

31500-000 Rev A HD-1500 Platform User's Manual 6

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USERPWR 159

REG PWR 159

SCPU 161

USER_PROTECTIVE_STOP input Behavior 162

LIGHTS 163

I/O 1 163

I/O 2 164

COMMS - RS-232, RS-422, CANBus 164

6.3 Electronics Bay Connections 165

AMR Controller 166

AMR Controller Connections 168

Ethernet Switches 172

Chapter 7: Operation 178

7.1 Operating Environment 178

Intended Use 178

Clearance 178

Obstacles 181

Environment and Floor 181

Getting Stuck (Immobilization Risk) 182

7.2 Typical Operation 183

7.3 Power and Charging 184

Battery Indicators and Controls 184

Charging Station 185

Safety Precautions 186

Manually Charging the AMR's Battery 191

Balancing the Battery 192

7.4 Operator Panel 194

Screen 194

E-Stop Buttons 196

Positioning an Optional Payload E-Stop 197

ON Button 197

OFF Button 197

Brake Release Button 198

Pendant Port 198

Maintenance Ethernet Connection 198

7.5 Other Controls and Indicators 199

Light Discs and Beacon 199

Front and Back Light Strips 202

7.6 Sensors 207

Lasers 207

Other Sensors 209

7.7 Start up 209

Procedure 209

Pendant Controls and Operation Description 209

7 HD-1500 Platform User's Manual 31500-000 Rev A

Table of Contents

Chapter 8: Maintenance 214

8.1 Safety Considerations when Performing Maintenance 215

Electrical Hazards 215

Electrical Hazard Precautions 215

Burn Hazard 216

ESD Hazards 216

8.2 Safety Measures Prior and After Maintenance 216

Lock-Out, Tag-Out Procedure 216

8.3 Lifting the Platform Safely 220

8.4 Safety Inspection 223

Warning Devices 223

Warning Labels 223

8.5 Cleaning 224

Work Area Maintenance 224

Platform and Charging Station Cleaning 224

8.6 Maintaining and Replacing Batteries 228

Maintaining Batteries 228

Replacing the Battery 229

8.7 Replacing Non-Periodic Parts 238

Light Discs 239

Light Strips 243

Operator Panel 245

Side-Mount Lasers (Side Lasers) 246

Wifi Antennas 249

AMR Charging Contacts 250

E-Stop and Safety Laser Commissioning 252

Removing and Installing Skins 253

8.8 Field-Replaceable Periodic Parts 266

Caster and Drive Wheel Treads 266

Caster, Drive Wheel, and Drive Assembly 266

8.9 Restoring the Configuration 267

Chapter 9: Options 268

9.1 Fleet Manager, for Multi-AMR Coordination 268

9.2 Pendant 268

9.3 Spare Battery 268

9.4 Side-Mount Lasers 268

9.5 High-Accuracy Positioning System (HAPS) 268

9.6 Charging Station 269

31500-000 Rev A HD-1500 Platform User's Manual 8

Table of Contents

Chapter 10: Technical Specifications 270

10.1 Dimension Drawings 270

HD-1500 Platform 270

HD-1500 Charging Station 273

10.2 HD-1500 Platform Specifications 274

Physical 274

Performance 275

Sensors 276

10.3 HD-1500 Charging Station Specifications 276

Power Supply Box Specifications 276

Docking Target Specifications 277

Chapter 11: HD-1500 Default Safety Zones 278

11.1 Default Safety Zones 278

Chapter 12: Glossary 300

9 HD-1500 Platform User's Manual 31500-000 Rev A

Chapter 1: Introduction

This manual is OMRON's Original instructions describing the setup, operation, and user main-

tenance of an HD-1500 Autonomous Mobile Robot (AMR).

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

plied with an HD-1500. The Fleet Operations Workspace Core User's Manual (Cat. No. I635)

describes configuration, and use of the HD-1500.

1.1 Definitions

This document uses the following terms to describe the HD-1500:

AMR (Autonomous Mobile Robot):This term describes the HD-1500 with an attached pay-

load structure, creating a complete Mobile Robot.

We use the term AMR when talking about controlling or monitoring the full mobile robot with

attached payload structure.

Fleet Manager: The operational mode of the computing appliance (EM2100 appliance) that

runs the FLOW Core software to control a fleet of AMRs.

Fleet Operations Workspace (FLOW): A computing system that consists of software and hard-

ware packages, and is used to set up, integrate and manage a fleet of AMRs within a factory

environment. FLOW consists of two main elements: FLOW Core and FLOW iQ.

FLOW Core: All of the software used by Fleet Operations Workspace. The software runs on

the EM2100 appliance(s), the AMRs, and the user's PC.

FLOW iQ: A software package that captures, analyzes, and reports data to users in order to

measure, evaluate and constantly improve their AMR fleet performance in the factory.

Fleet: Two or more AMRs operating in the same workspace.

HD-1500: This is the model name of the AMR platform. This document uses the model name

HD-1500 when describing the setup, configuration, and connections.

Mobile Robot: An alternative industry term for AMR.

Payload Structure: Any passive or dynamic device attached to and possibly powered by the

HD-1500. This could be as simple as a crate for carrying objects such as factory parts or as

sophisticated as a robotic arm that picks up and manipulates factory parts.

Platform: The most basic part of the AMR. It includes:

oThe chassis, drive assemblies, light discs, light strips, suspension, casters, battery and

lasers.

oAn on-board AMR controller with built-in Inertial Measurement Units (IMU), nav-

igation software, data and power connectors for a payload structure.

oAn Operator Panel.

oThe HD-1500 skins (external covers), and the chassis where you attach a payload struc-

ture.

31500-000 Rev A HD-1500 Platform User's Manual 10

11 HD-1500 Platform User's Manual 31500-000 Rev A

1.2 Product Description

1.2 Product Description

The HD-1500 is a general-purpose mobile robot, designed to work in an indoor industrial

environment and around trained personnel. It is self-guided and self-charging, with an auto-

mated charging station. It has a maximum capacity of 1500 kg. Capacity includes the payload

structure and any load carried by that structure.

It’s Electrostatic Discharge (ESD) drive wheels discharge any accumulated electrical charge in

the AMR to ground which, if discharged into sensitive components of the AMR, could result

in serious damage of those components.

CAUTION: PROPERTYDAMAGE RISK

The AMR skins can accumulate electrical charge which, if discharged into ESD

sensitive devices, can cause damage to those devices.

Figure 1-1. HD-1500 Platform Features

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