Omron LD-60 Manual de usuario

LD-60/90 Platform

User's Manual

I611-E-06

2 LD-60/90 Platform User's Manual 11970-000 Rev M

The information contained herein is the property of Omron Robotics and Safety Technologies,

and shall not be reproduced in whole or in part without prior written approval of Omron

Robotics and Safety Technologies The information herein is subject to change without notice

and should not be construed as a commitment by Omron Robotics and Safety Technologies

The documentation is periodically reviewed and revised.

Omron Robotics and Safety Technologies, assumes no responsibility for any errors or omis-

sions in the documentation.

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

respective companies.

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

Created in the United States of America

Table of Contents

Chapter 1: Introduction 11

1.1 Definitions 11

1.2 Product Description 11

Body and Drive 13

What's Included - Basic Components 14

Optional Components (Partial List) 16

1.3 Software Overview 17

FLOW Core 18

SetNetGo 19

1.4 How Can I Get Help? 20

Support 20

Related Manuals 20

Including a Debuginfo File 20

Chapter 2: Safety 23

2.1 What to Do in an Emergency /Abnormal Situation 23

Releasing the Brakes 23

General Hazards 23

Releasing an E-Stop 24

2.2 Dangers, Warnings, and Cautions 24

Alert Levels 24

Alert Icons 24

Special Information 26

2.3 User's Responsibilities 27

Electrical Hazards 27

Pinch Hazard 27

Magnetic Field Hazards 27

Qualification of Personnel 28

Payload Movement and Transfer 28

Multi-AMR Avoidance 28

2.4 Environment 29

General Environmental Conditions 29

Public Access 29

Clearance 29

Obstacles 30

Safety Scanning Laser Emergency Stop 30

Safety System Overspeed Faults 30

2.5 Intended and Non-intended Use 31

Intended Use 31

11970-000 Rev M LD-60/90 Platform User's Manual 3

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Non-Intended Use 32

Platform Modifications 32

2.6 Battery Safety 33

2.7 Additional Safety Information 33

Mobile Robot LD Safety Guide (Cat. No. I616) 33

2.8 Disposal 33

Chapter 3: Setup 35

3.1 Overview 35

Tasks 35

3.2 Transport and Storage 35

Platform 35

Battery 36

3.3 Before Unpacking 36

3.4 Unpacking 36

Battery 37

Platform 37

3.5 Battery 44

3.6 Installing the Battery 44

Removing the Battery Door Skin 44

3.7 Attaching the Payload Structure and Options 48

3.8 Installing the Docking Station 49

Chapter 4: Configuration 57

4.1 Settings and Configuration 57

Maintenance Ethernet Connection 57

Setting Up Wireless Ethernet 58

4.2 Mapping 60

Mapping Overview 60

Mapping Tasks 61

4.3 Acceleration, Deceleration, and Rotation Limits 61

4.1 Configuring for an Overhanging Payload 62

4.4 Supplemental Information 62

Laser Setup 62

Chapter 5: Payload Structures 65

5.1 Safety 65

Warning Label 65

Warning Lights 66

Warning Buzzer 66

4 LD-60/90 Platform User's Manual 11970-000 Rev M

Table of Contents

5.2 Considerations 66

Performance 66

Weight 66

Power Consumption 67

Payload Bay Access 67

Dimensions and Design 67

Center of Gravity (CG) 69

5.3 Connections Between Platform and Payload Structure 74

Operator Panel 74

Option Connections 75

Chapter 6: Connectivity 77

6.1 Required Connections 77

6.2 Payload Bay Connections - Core 77

LD Platform Core Front, Upper 79

Core Right, Upper 79

LD Platform Core Rear, Upper 87

Internal LD Platform Core Connections 95

Internal Data Pinouts 97

Internal Power Pinouts 98

Chapter 7: Operation 101

7.1 Operating Environment 101

Intended Use 101

Clearance 101

Obstacles 102

Environment and Floor 102

103

User's Responsibilities 103

Getting Stuck 104

7.2 Typical Operation 104

7.3 Power and Charging 105

Battery Indicators and Controls 105

Docking Station 106

Manually Charging the Battery 108

Balancing the Battery 110

7.4 Operator Panel 111

Screen 111

E-Stop 113

ON Button 113

OFF Button 114

Brake-Release Button 114

7.5 Other Controls and Indicators 114

Light Discs and Beacon 114

11970-000 Rev M LD-60/90 Platform User's Manual 5

Table of Contents

LD Platform Core Status Indicators 120

7.6 Sensors 121

Lasers 121

Sonar 121

Other Sensors 122

7.7 Start up 122

Procedure 122

Pendant 122

Chapter 8: Maintenance 125

8.1 Safety Aspects While Performing Maintenance 126

Electrical Hazards 126

Burn Hazard 126

Pinch Hazard 126

Magnetic Field Hazards 126

8.2 Safety Measures Prior and After Maintenance 127

8.3 Lifting the Platform Safely 127

Front Lifting Points 127

Rear Lifting Area 128

8.4 Safety Inspection 129

Warning Devices 129

Warning Labels 129

8.5 Cleaning 132

Work Area Maintenance 132

Platform Cleaning 132

Cleaning Casters on ESD Platforms 133

8.6 Maintaining and Replacing Batteries 134

Maintaining Batteries 134

Replacing the Battery 134

8.7 Replacing Non-Periodic Parts 136

Docking Station Roller and Bearing 137

Docking Station ACPower Fuse 137

Docking Station Internal Fuse 138

Rear Sonar Units 139

Sonar Controller 140

Light Discs 141

Operator Panel 141

Wheels and Tires 142

Drive Assemblies 142

Front or Rear Casters 145

Safety Scanning Laser 147

LD Platform Core 147

E-Stop and Safety Laser Commissioning 148

Accessing the Payload Bay 149

6 LD-60/90 Platform User's Manual 11970-000 Rev M

Table of Contents

Removing and Installing Skins 150

Chapter 9: Options 157

9.1 Fleet Manager, for Multi-AMR Coordination 157

9.2 Pendant 157

9.3 Spare Battery 157

9.4 Payload Structure Bumpers 157

9.5 Call Buttons/Door Boxes 157

9.6 Acuity Localization 157

9.7 Touchscreen 158

9.8 Side-Mount Lasers 159

9.9 High-Accuracy Positioning System (HAPS) 159

9.10 Electrostatic Discharge (ESD) Skins 159

Chapter 10: Technical Specifications 161

10.1 Dimension Drawings 161

10.2 Platform Specifications 162

Physical 162

Performance 164

Sensors 165

Battery Outputs 166

10.3 Docking Station Specifications 166

Chapter 11: Glossary 167

Appendix 174

A.1 Parts List 174

11970-000 Rev M LD-60/90 Platform User's Manual 7

Revision History

Revision

Code Date Revised Content

01 April, 2017 Original release

02 August, 2017 Corrections and improvements.

03 February,

2018

Corrections and improvements.

04 October, 2018 Corrections and improvements.

05 February,

2019

Corrections and improvements.

06 April, 2021 Corrections and improvements.

11970-000 Rev M LD-60/90 Platform User's Manual 9

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