Omron HD Guía del usuario

Safety Manual

I647-E-01

Mobile Robot

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.

MPEG Layer-3 audio coding technology licensed from Fraunhofer IIS and Thomson.

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Created in the United States of America

Terms and Conditions Agreement

Warranties

a. Exclusive Warranty. Omron’s exclusive warranty is that the Products will be free from

defects in materials and workmanship for a period of twelve months from the date of

sale by Omron (or such other period expressed in writing by Omron). Omron disclaims

all other warranties, express or implied.

b. 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.

c. 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-complying Product, (ii) repair the non-com-

plying 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 responsible 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 inap-

propriate modification. Return of any Products by Buyer must be approved in writing

by Omron before shipment. Omron Companies 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 sub-

stances 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.

Limitation on Liability; Etc.

OMRON COMPANIES SHALL NOT BE LIABLE FOR SPECIAL, INDIRECT, INCIDENTAL, OR

CONSEQUENTIAL 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 Companies exceed the individual price of the

Product on which liability is asserted.

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4 Mobile Robot HDSafety Manual 31500-100 RevA

Suitability of Use.

Omron Companies shall not be responsible for conformity with any standards, codes or reg-

ulations which apply to the combination of the Product in the Buyer’s application or use of the

Product. At Buyer’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 com-

bination with the end product, machine, system, or other application or use. Buyer shall be

solely responsible for determining appropriateness of the particular Product with respect to

Buyer’s application, product or system. Buyer shall take application responsibility 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 INSTALLED 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.

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 rep-

resent the result of Omron’s test conditions, and the user must correlate it to actual application

requirements. Actual performance is subject to the Omron’s Warranty and Limitations of Liab-

ility.

Change in Specifications

Product specifications and accessories may be changed at any time based on improvements

and other reasons. It is our practice to change part numbers when published ratings or fea-

tures are changed, or when significant construction changes are made. However, some spe-

cifications of the Product may be changed without any notice. When in doubt, special part

numbers may be assigned to fix or establish key specifications for your application. Please con-

sult with your Omron’s representative at any time to confirm actual specifications of pur-

chased Product.

Errors and Omissions

Information presented by Omron Companies has been checked and is believed to be accurate;

however, no responsibility is assumed for clerical, typographical or proofreading errors or

omissions.

Even if it conforms to all instructions in this safety guide, it isn't possible to guarantee

that a robot system will be free from an accident resulting in injury or death or con-

siderable damage to property caused by the industrial robot. It is the customer's

responsibility to implement appropriate security measures based on their own risk

assessment.

Table of Contents

Chapter 1: Alerts and Special Information 7

1.1 Alert Levels 7

1.2 Alert Icons 7

Falling Hazards 8

1.3 Special Information 9

Chapter 2: Operational Safety 11

2.1 Definitions 11

2.2 General Hazards 11

2.3 Unprotected Areas 13

2.4 What to Do in an Emergency 16

Releasing the Brakes 17

Releasing an E-Stop 19

2.5 User's Responsibilities 20

Electrical Hazards 21

Magnetic Field Hazards 21

Burn Hazard 22

Qualification of Personnel 22

Payload Movement and Transfer 23

Configurable Warning Buzzer 23

Speakers 24

Mechanical Brakes 24

Fleet Management 25

Other Hazards 26

2.6 Risk Assessment 26

Exposure 26

Severity of Injury 26

Obstacle Avoidance 26

Safety System Behavior 27

2.7 Environment 27

General Environmental Conditions 27

Public Access 28

Operating Clearances 28

Obstacles 30

2.8 Intended and Non-intended Use 31

Intended Use 31

Non-Intended Use 31

HD-1500 Platform Modifications 33

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Table of Contents

2.9 Safety Considerations when Performing Maintenance 33

Electrical Hazards 34

Electrical Hazard Precautions 34

Burn Hazard 34

ESD Hazards 35

2.10 Safety Measures Prior and After Maintenance 35

Lock-Out, Tag-Out Procedure 35

2.11 Safety Inspection 39

Safety and Warning Devices 39

Warning Labels 40

2.12 Protective Stops Initiated by AMR Safety Lasers 41

2.13 Safety System Overspeed Faults 42

2.14 Laser Safety 42

2.15 Interlock Switches 44

2.16 Battery Safety 45

Battery Safety Precautions 46

Battery Maintenance 48

2.17 Charging Station 48

Safety Precautions 49

2.18 Payload Structure 53

Safety 54

Considerations 55

2.19 Additional Safety Information 63

Mobile Robot HDSafety Manual (Cat. No. I647) 64

2.20 Additional Safety Information 64

Mobile Robot HDSafety Manual (Cat. No. I647) 64

2.21 Disposal 64

Chapter 3: Safety Function Description 65

PL and PFH 65

6 Mobile Robot HDSafety Manual 31500-100 RevA

Chapter 1: Alerts and Special Information

This chapter provides information on the alters and special safety information you need to

safely operate or work around an AMR.

1.1 Alert Levels

There are three levels of alert notation used in this document. In descending order of import-

ance, they are:

DANGER: Identifies an imminently hazardous situation which, if not

avoided, is likely to result in serious injury, and might result in fatality or

severe property damage.

WARNING: Identifies a potentially hazardous situation which, if not avoided,

will result in minor or moderate injury, and might result in serious injury, fatal-

ity, or significant property damage.

CAUTION: Identifies a potentially hazardous situation which, if not avoided,

might result in minor injury, moderate injury, or property damage.

1.2 Alert Icons

The icon that starts each alert can be used to indicate the type of hazard. These will be used

with the appropriate signal word - Danger, Warning, or Caution - to indicate the severity of the

hazard. The text following the signal word will specify what the risk is, and how to avoid it.

Icon Meaning Icon Meaning

This is a generic alert

icon. Any specifics on the

risk will be in the text fol-

lowing the signal word.

This identifies a haz-

ardous burn-related situ-

ation, or a Hot surface.

This identifies a haz-

ardous electrical situ-

ation.

This identifies a haz-

ardous ESD situation.

This warning icon warns

against riding on the

AMR.

This identifies a fire risk.

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1.2 Alert Icons

Icon Meaning Icon Meaning

This warning icon warns

against hazardous

magnetic field.

This identifies a tip haz-

ard.

This warning icon warns

against a pinch hazard.

Falling Hazards

WARNING: PERSONALINJURYORPROPERTYDAMAGERISK

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.

Physical Barriers

Use physical barriers together with logical barriers (map restrictions) to prevent the AMR from

approaching any fall hazard that is within its operating area. Such hazards include:

lThe edge of a loading dock or ramp.

lEntrance to downward stairs.

lAny other vertical drop that exceeds the AMR's maximum step height.

Required characteristics of physical barriers are:

lStrength—The barrier must be attached to a solid wall or floor and should be strong

enough to stop a fully-laden AMR traveling at maximum speed.

lContinuity—The barrier must extend around the hazard completely.

lVisibility—Mark all physical barriers to make sure that the AMR's safety lasers can

detect them easily. Barriers must extend above and below the laser's sensing plane, par-

ticularly if the floor is not flat.

Logical Barriers

In addition to physical barriers, use MobilePlanner to create forbidden areas or lines on the

workspace map to prevent AMRs from closely approaching a fall hazard. These restrictions

must be continuous so that the AMR cannot plan a path around the logical barrier.

The map features mentioned in the preceding paragraph are not interlocked methods of pre-

venting an AMR from entering a specific zone. These map features assume proper AMR loc-

alization, and therefore, if the AMR is not able to properly localize its current position it may

enter the forbidden zones. You must always install physical barriers where there is a risk of

property damage or safety hazard.

You can also use the configuration parameters FrontPaddingAtSlowSpeed and FrontPad-

dingAtFastSpeed to increase the AMR's safety clearances. This causes the AMR to decelerate as

it approaches a hazard. See: Fleet Operations Workspace Core User's Manual (Cat. No. I635).

Chapter 1: Alerts and Special Information

1.3 Special Information

This manual uses the following typographic styles to identify specific types of information:

IMPORTANT: Information to ensure safe use of the product.

NOTE: Information for more effective use of the product.

Additional Information: Offers helpful tips, recommendations, and best prac-

tices.

Version Information: Information on differences in specifications for different

versions of hardware or software.

31500-100 RevA Mobile Robot HDSafety Manual 9

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