Omron LD-250 Manuale utente

I642-E-02

LD-250 Platform

User’s Guide

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

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

Technologies, Inc. The information herein is subject to change without notice and should not be con-

strued as a commitment by Omron Robotics and Safety Technologies, Inc. The documentation is peri-

odically reviewed and revised.

Omron Robotics and Safety Technologies, Inc., assumes no responsibility for any errors or omissions in

the documentation. Critical evaluation of the documentation by the user is welcomed. Your comments

assist us in preparation of future documentation. Please submit your comments to:

techpubs@omron.com.

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

panies.

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Acapela© voice technology licensed from ACAPELAGROUP(https://www.acapela-group.com) Copy-

Created in the United States of America

Table of Contents

Chapter 1: Introduction 11

1.1 Definitions 11

1.2 Product Description 11

LD-250 Autonomous Navigation 12

LD-250 Localization 13

Acuity Localization Option 13

Custom Payload Structures 13

Chassis and Drive Train 14

What's Included - Basic Components 15

Optional Features and Components (Partial List) 18

Options for Enhancing Your Payload Structures 18

1.3 Software Overview 19

LD-250 Software 19

SetNetGo 23

1.4 How Can I Get Help? 24

Related Manuals 24

Support 24

Download a Debuginfo File for Support 24

Configure the Maintenance Network 25

Obtain a DebugInfo File from SetNetGo 26

Chapter 2: Safety 29

2.1 General Hazards 29

2.2 What to Do in an Emergency 30

Releasing the Brakes to Move the LD-250 Manually 30

Releasing an E-Stop 31

2.3 Dangers, Warnings, and Cautions 32

Alert Levels 32

Alert Icons 32

Special Information 34

2.4 User's Responsibilities 34

Understanding Electrical Hazards 34

Magnetic Field Hazards 35

Qualification of Personnel 35

Payload Movement and Transfer 36

Configurable Warning Buzzer 36

Fleet Management 37

2.5 Environment 37

General Environmental Conditions 37

20472-000 Rev B LD-250 Platform User's Guide 3

Table of Contents

Public Access 38

Clearances when Operating 38

Obstacles 39

Emergency Stops that are Initiated by AMR Safety Lasers 39

Safety System Overspeed Faults 40

2.6 Intended and Non-intended Use 40

Intended Use 40

Non-Intended Use 41

LD-250 Modifications 42

2.7 Battery Safety 42

Battery Safety Precautions 43

Battery Maintenance 43

2.8 Additional Safety Information 43

Mobile Robot LDSafety Guide 43

2.9 Disposal 43

Chapter 3: Setup 45

3.1 Overview of LD-250 Setup 45

Tasks 45

3.2 Transport and Storage 46

LD-250 Shipping and Storage 46

Battery Shipment 47

3.3 Before Unpacking 47

3.4 Unpacking Considerations 48

LD-250 Packaging 48

Battery Carton 53

3.5 Installing the Battery 53

Access the Battery Compartment 53

Battery Installation Procedure 55

3.6 Attaching the Payload Structure and Options 57

Attach the Payload Structure 57

Attach LD-250 Options 57

E-Stop Jumper on the LD-250 Core 57

3.7 Installing the Docking Station 58

Docking Station Features and Parts 59

Docking Station Requirements 60

Required Tools and Fasteners 60

Wall Bracket Mount 61

3.8 Installing Software on your Windows PC 65

Chapter 4: Configuration 67

4.1 Settings and Configuration 67

4 LD-250 Platform User's Guide 20472-000 Rev B

Table of Contents

Maintenance Ethernet Connection 67

Setting Up Wireless Ethernet 70

4.2 Create a Workspace Map 72

Map Creation Overview 72

Mapping Tasks 73

4.3 Acceleration, Deceleration, and Rotation Limits 74

4.4 Supplemental Information 75

Laser Setup 75

Chapter 5: Payload Structures 77

5.1 Safety 77

Warning Label 77

Warning Lights 77

Warning Buzzer 78

5.2 Considerations 78

Performance 78

Weight Constraints 78

Power Consumption 79

Power Limits 79

Payload Bay Access 79

Payload Dimensions and Design 80

Mounting Locations in the Payload Bay 81

AMR Coordinate System 86

Center of Gravity (CG) 86

5.3 Payload-Related Tradeoffs 90

5.4 Connections Between the LD-250 and a Payload Structure 90

Operator Panel (HMI)on the Payload 90

E-Stop Considerations when Removing the Operator Panel 91

Optional Connections 91

Chapter 6: Connectivity 93

6.1 Connections Required for Set Up 93

6.2 Payload Bay Connections - LD-250 Core 93

LD-250 Core Front, Upper 94

LD-250 Core Rear Upper Connectors 100

Internal LD-250 Core Connections 107

Internal Data Pinouts 109

Internal Power Pinouts 110

Chapter 7: Operation 113

7.1 Operating Environment 113

Intended Use 113

Side Clearance 114

20472-000 Rev B LD-250 Platform User's Guide 5

Table of Contents

Obstacles 115

Environment and Floor 115

Avoiding Potential Immobilization Risks 116

7.2 Typical Operation 117

7.3 Power and Charging 118

Battery Indicators and Controls 118

Docking Station 119

Manually Charging the Battery 121

Balancing the Battery 122

7.4 Operator Panel 123

LD-250 Status Screen 124

E-Stop Buttons 125

Positioning an Optional Payload E-Stop 126

ON Button 126

OFF Button 126

Brake Release Button 127

7.5 Other Controls and Indicators 127

Indications Provided by Light Discs Light Outputs 127

LD-250 Core Status Indicators 132

7.6 Sensors 133

Lasers 133

Rear Sensor 134

Other Sensors 137

7.7 Start up the LD-250 137

LD-250 Start Up Procedure 137

Joystick Controls and Description 138

Chapter 8: Maintenance 141

8.1 Considerations During Maintenance 142

8.2 After Completing Maintenance 142

8.3 Safety Considerations when Performing Maintenance 144

Understanding Electrical Hazards 145

Understanding Burn Hazards 145

Understanding Magnetic Field Hazards 145

8.4 Lifting the LD-250 Safely 145

8.5 Wheel Lift Tool 146

8.6 Engage and Disengage the Drive Wheel Motors 148

8.7 Safety Inspection 150

Warning Devices 150

Warning Labels 150

8.8 Cleaning 152

Work Area Maintenance 152

6 LD-250 Platform User's Guide 20472-000 Rev B

Table of Contents

Platform Cleaning 152

Lubricating ESDCasters 154

Cleaning ESDCasters 156

Cleaning the Rear Sensor 157

8.9 Maintaining and Replacing Batteries 158

Maintaining Batteries 158

Replacing the Battery 158

8.10 Replacing Non-Periodic Parts 161

Distance Traveled by the AMR 162

Docking Station Roller and Bearing 162

Docking Station ACPower Fuse 164

Docking Station Internal Fuse 165

Light Discs 167

Operator Panel 168

Replace the Motor Brushes 168

Replace the Drive Wheels 169

Replacing Drive Wheels 169

Replace Front or Rear Casters 171

LD-250 Core 174

E-Stop and Safety Laser Commissioning 176

Accessing the Payload Bay 178

Removing and Installing Skins 178

Restoring the Configuration 186

Chapter 9: Options 187

9.1 Fleet Manager for Multi-AMR Coordination 187

Hybrid LD-60, LD-90, and LD-250 AMR Fleets 187

9.2 Spare Battery 187

9.3 Payload Structure Bumpers 188

9.4 Call Buttons and Door Boxes 188

9.5 Acuity Localization 188

9.6 Touchscreen 188

9.7 Rear-Facing Laser 188

9.8 Side Lasers (Supplemental) Lasers 189

Install Side Lasers 189

Configure Side Lasers 190

9.9 High-Accuracy Positioning System (HAPS) 190

Chapter 10: Technical Specifications 191

10.1 Dimension Drawings 191

Width Measurements 192

Component Weight 192

Capabilities 193

20472-000 Rev B LD-250 Platform User's Guide 7

Table of Contents

10.2 LD-250 Specifications 193

Physical Dimensions 193

Performance 193

Overhanging Payloads and the AMR Swing Radius 194

Sensors 195

ESD Compliance 195

10.3 Docking Station Specifications 196

Chapter 11: Modify the Safety Zones 197

11.1 Default Safety Zones 197

11.2 Relevant AMR Operating Parameters 198

11.3 Equipment Required to Modify OS32C Safety Zones 199

Chapter 12: Glossary 201

8 LD-250 Platform User's Guide 20472-000 Rev B

Revision History

Revision

Code Date Revised Content

1.0, Rev (A) November 2019 Original Release.

2.0, Rev (B) December 2019 lAdded missing information.

lCorrection of errors.

20472-000 Rev B LD-250 Platform User's Guide 9

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