Omron LD Platform User Manual
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Omron LD Platform User Manual

Mobile robot platform
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LD Platform
User's Guide
I611-E-02

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  • Page 1 LD Platform User’s Guide I611-E-02...
  • Page 2 Copyright Notice The information contained herein is the property of Omron Adept Technologies, Inc., and shall not be reproduced in whole or in part without prior written approval of Omron Adept Technologies, Inc. The information herein is subject to change without notice and should not be construed as a commitment by Omron Adept Technologies, Inc.

  • Page 3: Table Of Contents

    Payload Movement and Transfer Configurable Warning Buzzer Multi-AIV Avoidance 2.4 Environment General Environmental Conditions Public Access Clearance Obstacles Safety Scanning Laser Emergency Stop 2.5 Intended Use Non-intended Use Platform Modifications 2.6 Battery Safety 11970-000 Rev H1 LD Platform OEM User's Guide...
  • Page 4 Warning Label Warning Lights Warning Buzzer 5.2 Considerations Performance Weight Power Consumption Payload Bay Access Dimensions Center of Gravity 5.3 Payload-Related Tradeoffs 5.4 Connections Between Platform and Payload Structure Operator Panel Option Connections LD Platform OEM User's Guide 11970-000 Rev H1...
  • Page 5 Table of Contents Chapter 6: Connectivity 6.1 Required Connections 6.2 Payload Bay Connections LD Platform Core Front, Upper LD Platform Core Rear, Upper Internal LD Platform Core Connections Internal Data Pinouts Internal Power Pinouts Chapter 7: Operation 7.1 Operating Environment...
  • Page 6 Removing Skins Installing Skins Chapter 9: Options Enterprise Manager 1100, for multi-AIV coordination MobilePlanner Software (licensed) Joystick Spare Battery Payload Structure Bumpers Call Buttons/Door Boxes Acuity Localization Touchscreen Side-mount Lasers High-Accuracy Positioning System (HAPS) LD Platform OEM User's Guide 11970-000 Rev H1...
  • Page 7 Table of Contents Electrostatic Discharge (ESD) Skins Chapter 10: Technical Specifications 10.1 Dimension Drawings 10.2 Platform Specifications Physical Performance Sensors Battery Outputs 10.3 Docking Station Specifications 11970-000 Rev H1 LD Platform OEM User's Guide...

  • Page 9: Chapter 1: Introduction

    Its primary guidance uses a laser to navigate, comparing the laser readings to a digital map stored on the platform. The laser is backed up by a low front laser, two rear-facing sonar pairs, a front bumper, a gyroscope mounted on the LD Platform core, and encoders and Hall sensors on each drive wheel.

  • Page 10: Body And Drive

    It also runs the SetNetGo OS. The core is housed inside the platform. ARAM and MARC firmware and the SetNetGo OS are pre-loaded on the LD Platform core. A gyroscope is mounted on the core, and each drive wheel has an encoder and a Hall sensor to complement the navigation laser.

  • Page 11: Optional Components (Partial List)

    For Payload Structure Development Side-mount obstacle-detection lasers Two lasers that scan the vertical plane on each side of the AIV. These detect obstacles that are at heights the navigation laser can’t see. Touchscreen 11970-000 Rev H1 LD Platform OEM User's Guide...

  • Page 12: User-Supplied Components / System Requirements

    ARAM The Advanced Robotics Automation Management software (ARAM) runs on the LD Platform core. It operates ranging sensors like the safety scanning laser and sonar, and performs high- level, autonomous robotics functions like obstacle avoidance, path planning, localization, nav- igation, and so on, culminating in motion commands to the MARC firmware.
  • Page 13 ARCL is a simple text-based command and response server for integrating an AIV (or fleet of AIVs) with an external automation system. ARCL allows you to operate and monitor the AIV, its accessories, and its payload devices over the network, with or without MobilePlanner. 11970-000 Rev H1 LD Platform OEM User's Guide...

  • Page 14: Setnetgo

    1.3  How Can I Get Help? SetNetGo The SetNetGo OS runs on the LD Platform core and Enterprise Manager appliance. It is the host OS in which ARAM and ARAMCentral run. The SetNetGo interface in the MobilePlanner software is for configuring the platform’s Ethernet settings, upgrading software, and performing systems diagnostics, such as retrieving log files.

  • Page 15: Support

    If MobilePlanner is available, use MobilePlanner’s SetNetGo interface to access SetNetGo. Otherwise, open a web browser, enter the URL: https://1.2.3.4, then confirm security certificates. Regardless of how you accessed SetNetGo, you should now have a window similar to the fol- lowing: 11970-000 Rev H1 LD Platform OEM User's Guide...
  • Page 16 1. From the SetNetGo screen, select: System > Debug Info This will display the “Download debug info” button. 2. Click Download debug info. 3. Save the downloaded file, and attach it to your support request. LD Platform OEM User's Guide 11970-000 Rev H1...

  • Page 17: Chapter 2: Safety

    The brakes on the drive wheels can be released with the brake release button. This requires battery power, and an E-Stop must be pressed on the AIV. 11970-000 Rev H1 LD Platform OEM User's Guide...

  • Page 18: Releasing An E-Stop

    Rotational speed becomes more significant when the payload’s center of gravity is farther away (vertically and/or horizontally) from the platform’s center of gravity. Do not drop the AIV, run it off a ledge, or otherwise operate it irresponsibly. LD Platform OEM User's Guide 11970-000 Rev H1...

  • Page 19: Falling Hazards

    Never access the interior of the platform with the charger attached. Immediately disconnect the battery after opening the battery compartment door. Avoid shorting the terminals of the battery. Do not use any charger not supplied by Omron Adept Technologies, Inc. 11970-000 Rev H1 LD Platform OEM User's Guide...

  • Page 20: Pinch Hazard

    It is the end-user’s responsibility to ensure that all personnel who will work with or around AIVs have attended an appropriate Omron training course 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.

  • Page 21: Payload Movement And Transfer

    WARNING: Disabling the DriveWarningEnable parameter violates the JIS D 6802 standard. It is strongly recommended that you leave this set to True. DoNotWarnDrivingForwards Default: False DoNotWarnTurningInPlace Default: False DriveWarningLoudMilliseconds Default: 500. If DriveWarningQuietMilliseconds is 0, this parameter is irrelevant. DriveWarningQuietMilliseconds 11970-000 Rev H1 LD Platform OEM User's Guide...

  • Page 22: Multi-Aiv Avoidance

    WARNING: Personnel who work with or around the AIV should not stand close to the AIV when it is turning in place (with no forward motion). LD Platform OEM User's Guide 11970-000 Rev H1...

  • Page 23: Obstacles

    WARNING: The instructions for operation, installation, and main- tenance given in this guide and the AIV user’s guide must be strictly observed. Non-intended Use Non-intended use of LD Platform OEMs can: 11970-000 Rev H1 LD Platform OEM User's Guide...

  • Page 24: Platform Modifications

    The body of the platform must not come into contact with liquids. The drive wheels can tol- erate damp floors, but the body of the platform must remain dry. If there is any doubt concerning the application, ask your local Omron Support to determine if it is an intended use or not.

  • Page 25: Chapter 3: Setup

    Setup also includes generating the map the platform will use for navigation. This manual provides an overview of that process, which is covered in detail in the Mobile Robot Software Suite User's Guide. 11970-000 Rev H1 LD Platform OEM User's Guide...

  • Page 26: Tasks

    Fully recharging a battery every six months is sufficient to keep it charged enough to avoid damage. Always store batteries upright. LD Platform OEM User's Guide 11970-000 Rev H1...

  • Page 27: Before Unpacking

    If the items received do not match the packing slip, or are damaged, do not sign the receipt. If the items received do not match your order, please contact your local Omron Support immediately. Retain the containers and packaging materials. These items may be necessary to settle claims or, at a later date, to relocate the equipment.

  • Page 28: Platform

    2. Remove the two lag screws at the bottom of each end of the crate cover. Figure 3-3. Lag Screw at Bottom of Crate End 3. Undo the four spring-loaded latches and remove the front panel of the crate. LD Platform OEM User's Guide 11970-000 Rev H1...
  • Page 29 Set the front panel aside. It will be used as a ramp later in this procedure. Figure 3-5. Crate with Front Panel Removed 4. Slide off the crate cover to reveal the crate, pallet, and contents. 11970-000 Rev H1 LD Platform OEM User's Guide...
  • Page 30 Two holes in one end of the ramp go over hanger bolts that stick up from the crate base. The other end of the ramp has a short taper at its end. LD Platform OEM User's Guide 11970-000 Rev H1...
  • Page 31 Lift the wheel slightly to relieve pressure on the pin, then remove the pin by pulling the attached ring. See the following figures. Save these pins for later service of the drive assemblies. 11970-000 Rev H1 LD Platform OEM User's Guide...

  • Page 32: Repacking For Relocation

    Reuse the original packing crate and materials and follow all safety notes used for installation. Improper packaging for shipment will void your warranty. Always ship the platform in an upright orientation. LD Platform OEM User's Guide 11970-000 Rev H1...

  • Page 33: Installing The Battery

    No tools are needed for either the removal or installation of the battery door skin. NOTE: After removing the skin, place it inner-side down, so the outer surface doesn't get scratched. Figure 3-10. Pulling the Bottom of the Rear Platform Cover Out 11970-000 Rev H1 LD Platform OEM User's Guide...
  • Page 34 The battery compartment door is lockable, and you might need to unlock it. 3. Lift and slide the new battery into the platform body. The battery weighs 19 kg (42 lbs). The battery has recesses at the front and the back for easier lifting. LD Platform OEM User's Guide 11970-000 Rev H1...
  • Page 35 Figure 3-13. Lifting the Battery The connectors for power and data go toward the rear of the platform. 4. Attach the battery power and data cables to the connectors at the rear of the battery. 11970-000 Rev H1 LD Platform OEM User's Guide...

  • Page 36: Attaching The Payload Structure And Options

    E-STOP port (User Interface) for the platform to function. The jumper is provided as part number 12730-000L. An E-Stop button would be user-supplied. Refer to User Interface on page 69. NOTE: See the following figure. LD Platform OEM User's Guide 11970-000 Rev H1...
  • Page 37 Chapter 3: Setup Figure 3-15. E-Stop Jumper on LD Platform Core 11970-000 Rev H1 LD Platform OEM User's Guide...

  • Page 38: Installing The Docking Station

    100 to 240 VAC, 50 to 60 Hz, 8 A The station's power converter automatically detects the source voltage. Ambient operating temperature: 5 to 40°C (41 to 104°F) 5 to 95% humidity, non-condensing LD Platform OEM User's Guide 11970-000 Rev H1...
  • Page 39 2. Screw the two shoulder bolts, each with a washer, into the rear of the docking station. The shoulder bolts are M5 x 4, stainless steel. Their locations are shown in the fol- lowing figure. Tighten to 9 N·m (80 in-lb). 11970-000 Rev H1 LD Platform OEM User's Guide...
  • Page 40 It will be in the crate with the plat- form, right behind the docking station. Attaching the Floor Plate Refer to the following figures. LD Platform OEM User's Guide 11970-000 Rev H1...
  • Page 41 Figure 3-18. Underside of Docking Station Foot, Showing Screw Locations NOTE: These are the three locations for the M4 x 12 flat-head screws. Two are already in place, and need to be removed before attaching the plate. 11970-000 Rev H1 LD Platform OEM User's Guide...
  • Page 42 3.3  Unpacking Figure 3-19. Docking Station, Mounted on Floor Plate 406 [16.0] 495 [19.5] Units are mm [inches] Figure 3-20. Docking Station Floor Plate Dimensions LD Platform OEM User's Guide 11970-000 Rev H1...
  • Page 43 Set the height of the contacts so that the roller is high enough to stay in contact with the plat- form as it is docking, but low enough so that the bi-level of the roller guides the paddle under the platform. 11970-000 Rev H1 LD Platform OEM User's Guide...

  • Page 45: Chapter 4: Configuration

    (The joystick port is also there.) The access panel is held in place with a push-push latch, and retained by a lanyard. See Figure 8-1. This is intern- ally connected to the Ethernet port located on the rear side of the LD Platform core in the pay- load bay.

  • Page 46: Setting Up Wireless Ethernet

    IP Address, Netmask, Gateway, DNS1 Choose Static (DHCP is not recommended), and fill in the IP address, netmask, gateway, and DNS1, as supplied by your network administrator. NOTE: See your IT department for the following settings. LD Platform OEM User's Guide 11970-000 Rev H1...
  • Page 47 WEP 128-bit TKIP/RC4 CCMP/AES TKIP/CCMP/AES Authentication: OPEN WPA-PSK WPA2-PSK WEP Key Number (Key 1 - Key 4) WEP Keys WPA/WPA2-PSK PSK-Type (Passphrase or Raw Hex) Click Apply for your changes to take effect. 11970-000 Rev H1 LD Platform OEM User's Guide...

  • Page 48: Mapping

    Transfer the working map to the Enterprise Manager, or back to the platform, if you have only one AIV, to perform autonomous mobile actions. The Enterprise Manager will automatically download the new map to each AIV in your fleet as soon the AIV becomes idle. LD Platform OEM User's Guide 11970-000 Rev H1...

  • Page 49: Acceleration, Deceleration, And Rotation Limits

    Field Service department can work with your system designer to input your needs into our models. Contact your local Omron Support for details. See Support on page 15. If your payload’s center of gravity is not within the guidelines given in the Center of Gravity on page 54, you will need to adjust the Absolute Movement Maximums parameters in the MobilePlanner software.

  • Page 50: Supplemental Information

    Laser_1 Settings are for the main scanning laser (S300), used both for safety and loc- alization. Laser_2 Settings are for the low front laser (TiM). Laser_3 Tilted and Laser_4 Tilted are for the side lasers (TiM). LD Platform OEM User's Guide 11970-000 Rev H1...

  • Page 51: Chapter 5: Payload Structures

    5.2 Considerations Performance The main performance factors to consider in designing a payload structure are the size, weight, and center of gravity of the payload structure, and power requirements. Adding weight 11970-000 Rev H1 LD Platform OEM User's Guide...

  • Page 52: Weight

    Many customers have found it prudent to build a protective guard over the side lasers, to protect the lasers from impact. Ensure that any such guard does not block the laser beam. LD Platform OEM User's Guide 11970-000 Rev H1...
  • Page 53 In the preceding figure, all of the M6 self-clinching nuts (A) have a torque limit of 3 N·m (26.6 in-lb CAUTION: Do not exceed this torque when attaching your payload structure to these self-clinching nuts. See NOTE that follows. 11970-000 Rev H1 LD Platform OEM User's Guide...

  • Page 54: Center Of Gravity

    LD Platform OEM User's Guide 11970-000 Rev H1...
  • Page 55 You should try to keep your CG as close to the center of these fig- ures as possible. In the following three figures, light blue represents the payload structure, while dark blue rep- resents the platform. 11970-000 Rev H1 LD Platform OEM User's Guide...
  • Page 56 30 kg Isometric View Side View Front View 1500 1500 1400 1300 1200 1000 1100 1000 -300 -100 -200 -300 -200 -100 -100 -500 -200 Figure 5-5. Center of Gravity Graphs, 30 kg LD Platform OEM User's Guide 11970-000 Rev H1...

  • Page 57: Payload-Related Tradeoffs

    MobilePlanner software to compensate for that. If your para- meters differ from those shown here, contact your local Omron Support.In general, you will need to lower the maximum accel, decel, and rotation speeds. Refer to Acceleration, Decel- eration, and Rotation Limits on page 49.

  • Page 58: Connections Between Platform And Payload Structure

    132.Many other connections are available. For details and specifications of available con- nections, refer to Connectivity on page 59. Option Connections The platform provides connectors for user-supplied payload bumpers that you can place on the payload structure. LD Platform OEM User's Guide 11970-000 Rev H1...

  • Page 59: Chapter 6: Connectivity

    These connections are available for use with standard and user-supplied accessories. The antennas come with the platform. The joystick is an option, but at least one is required per fleet for map-making. 11970-000 Rev H1 LD Platform OEM User's Guide...

  • Page 60: Ld Platform Core Front, Upper

    DB9M Port 1 and Port 2, general use CAN Bus B DB9F Consult your local Omron Support for use. Digital I/O (HDB44F) HDB44F 16 digital inputs, in 4 banks of 4. Each bank can be wired as active high or active low depending on the connection of the BANK# terminal.
  • Page 61 0 – 30 V Range, R = ~3.9 kΩ BANK3 Common for INPUT_3.X INPUT_4.1 Input_4.1 0 – 30 V Range, R = ~3.9 kΩ INPUT_4.2 Input_4.2 0 – 30 V Range, R = ~3.9 kΩ 11970-000 Rev H1 LD Platform OEM User's Guide...
  • Page 62 VBAT @ 0.5 A Max 41 - 44 Digital Input Specifications Parameter Value Operational voltage range 0 to 30 VDC OFF state voltage range 0 to 1.3 VDC ON state voltage range 4 to 30 VDC LD Platform OEM User's Guide 11970-000 Rev H1...
  • Page 63 ≤ 500 mA ON state resistance (I = 0.5 A) ≤ 0.14 Ω @ 85°C Output leakage current ≤ 5 μA DC short circuit current limit 0.7 A ≤ I ≤ 1.7 A 11970-000 Rev H1 LD Platform OEM User's Guide...
  • Page 64 ANALOG_OUT4 0 – 20 V Range 13, 14, 15 GND The 0-10 V analog inputs have an input impedance of about 35 kΩ. The 0-30 V analog inputs have an input impedance of about 110 kΩ. LD Platform OEM User's Guide 11970-000 Rev H1...
  • Page 65 /dev/ttyUSB5 (side lasers) RS232_VERT2_RXD /dev/ttyUSB6 (side lasers) RS232_FOOT_RXD /dev/ttyUSB7 (low front laser) 5V_SW3 USB_3_Power 5 V @ 1 A (shared with USB port 3) SW_20V_FOOT Foot_Laser_Power 20 V @ 150 mA (low front laser) 11970-000 Rev H1 LD Platform OEM User's Guide...

  • Page 66: Ld Platform Core Rear, Upper

    RS232_USR#_TXD #=1 or 2 RS232_USR#_RTS #=1 or 2 RS232_USR#_CTS #=1 or 2 LD Platform Core Rear, Upper Figure 6-5. Rear Upper Core NOTE: The connectors in the top row of the rear upper core mate with Molex Mini- Fit Jr™ 5557 series receptacles. Connection...
  • Page 67 * 10 A Switched and 10 A Safe, Switched share the 10 A of current. Each supply has an associated LED which, when lit, indicates that the port is actively powered. See LD Platform Core Indicators on page 94. The Safe 22 - 30 VDC supply automatically gets disconnected when the E-Stop button is pressed, an obstacle is detected, or the bumper touches something.
  • Page 68 VBAT_IO_OUT4 VBAT @ 0.5A Max (shared with DIO) LIGHT_P3 Green LIGHT_P4 Buzzer Standard Equipment User-Supplied Equipment Wiring terminal block VBAT_IO_OUT4 Typical user load LIGHT_P1_N LIGHT_P2_N (equivalent LIGHT_P3_N circuit) LIGHT_P4_N Figure 6-6. Sample Light Pole Diagram LD Platform OEM User's Guide 11970-000 Rev H1...
  • Page 69 12730-000L. An E-Stop button would be user- supplied. CAUTION: If you are using a user-supplied E-Stop, you must run the Safety Commissioning to verify the E-Stop’s functionality before putting the AIV into service. 11970-000 Rev H1 LD Platform OEM User's Guide...
  • Page 70 6.2  Payload Bay Connections Figure 6-7. E-Stop Chain Diagram LD Platform OEM User's Guide 11970-000 Rev H1...
  • Page 71 Pin No. Hardware Software Notes 1, 2, 3 AUX_5V_OUT Aux_5V 5 V @ 1 A max AUX_12V_OUT Aux_12V 12 V @ 1 A max AUX_20V_OUT Aux_20V 20 V @ 1 A max 11970-000 Rev H1 LD Platform OEM User's Guide...
  • Page 72 Notes JOY_XAXIS Analog X input JOY_YAXIS Analog Y input JOY_SPEED Analog SPEED input JOY_GOAL Goal Button Input JOY_EN_1H Enable channel 1 JOY_EN_2L Enable channel 2 No Connection 5 V @ 100 mA LD Platform OEM User's Guide 11970-000 Rev H1...
  • Page 73 HMI_5V_SW HMI_Power 12, 14 OFF_BUTTON FBAT_ALWAYS Sonar 1 Connector type DB9M Platform (rear) sonar NOTE: Sonar 1 is part of the Internal LD Platform Core connections. Designation Pin No. Hardware Software Notes 1, 4, 8 No Connection RS422_SNR_RX+ RS422_SNR_TX+ Connections to Sonar Module...

  • Page 74: Internal Ld Platform Core Connections

    They are listed here so that you can reconnect them in the event that they need to be disconnected for parts replacement. Figure 6-8. Internal Connectors on the LD Platform Core (Front) NOTE: The Bumper, Speakers, and Batt Comm. connectors on the internal core mate with Molex Mini-Fit Jr™...

  • Page 75: Internal Data Pinouts

    CAN Communication differential pair 8, 9 SW_12V_WHEEL WheelLight_Power 12 V @ 1 A Max (switched in SW) NOTE: Sonar 1 is covered at the end of LD Platform Core Rear, Upper on page 66. 11970-000 Rev H1 LD Platform OEM User's Guide...
  • Page 76 OSSD1 OSSD2 WF_OUT O3_OUT STANDBY No Connection 10, 18 SW_20V_LIDAR Main_Laser_Power Connections to LIDAR 11 thru 17 GND RS422_LIDAR_TX+ RS422_LIDAR_TX- IN_A1 IN_A2 IN_B1 IN_B2 IN_C1 IN_C2 Pin 10 +  18: Current < 600 mA LD Platform OEM User's Guide 11970-000 Rev H1...

  • Page 77: Internal Power Pinouts

    BUMPER_R1H Right, Channel 1, High BUMPER_L2H Left, Channel 2, High BUMPER_L1H Left, Channel 1, High Speakers ® Connector type Mini-Fit 2 x 2 Speakers Pin No. Designation Notes RIGHT+ Right Speaker RIGHT- LEFT+ Left Speaker LEFT- 11970-000 Rev H1 LD Platform OEM User's Guide...
  • Page 78 6.2  Payload Bay Connections Batt Comm. ® Connector type Mini-Fit 3 x 2 Battery control Pin No. Designation Notes RS232_BATT_RXD RS232_BATT_TXD Connections to the Battery FBAT_ALWAYS START_BUTTON OFF_BUTTON LD Platform OEM User's Guide 11970-000 Rev H1...

  • Page 79: Chapter 7: Operation

    Take care to avoid: glass doors and walls pits without railings or low bumpers floors with access panels removed loose cables, hoses, etc. 11970-000 Rev H1 LD Platform OEM User's Guide...

  • Page 80: Environment And Floor

    Operator assistance. Some examples are shown in the following figure. If the platform has to be lifted to be free to drive again, refer to Lifting the Platform Safely on page 101. LD Platform OEM User's Guide 11970-000 Rev H1...

  • Page 81: Typical Operation

    CAUTION: Protect the MobilePlanner Operator Mode with user ID and pass- word access, to prevent unauthorized operation of an AIV. As configured either by the factory or through your own parameter changes. 11970-000 Rev H1 LD Platform OEM User's Guide...

  • Page 82: Power And Charging

    While powered up, the LEDs scan back and forth from 1 - 4. When on docking station, blinks when battery pack balances. When balancing is com- plete, all LEDs light solid. LD Platform OEM User's Guide 11970-000 Rev H1...

  • Page 83: Docking Station

    If the AIV is powered off, it will turn on automatically when pushed onto the docking station. An AIV cannot be turned off while on the docking station. 11970-000 Rev H1 LD Platform OEM User's Guide...
  • Page 84 Docking Station AC Power Fuse on page 110. The power plug for AC supply is next to the power switch. Power requirements are 100 - 240 VAC, 50 - 60 Hz, and 8 A. LD Platform OEM User's Guide 11970-000 Rev H1...

  • Page 85: Manually Charging The Battery

    Typically, this is done at the start of each shift, so the AIV is available for the entire shift without recharging. Balancing the Battery The battery is composed of multiple cells, which must stay balanced to maintain maximum run-time. There are three ways to manage battery balancing: 11970-000 Rev H1 LD Platform OEM User's Guide...

  • Page 86: Operator Panel

    7.4 Operator Panel The Operator panel comprises a screen, an E-Stop button, ON and OFF buttons, a brake-release button, and a keyswitch. The panel will typically be mounted on the payload structure, so that LD Platform OEM User's Guide 11970-000 Rev H1...

  • Page 87: Screen

    NOTE: If the backlight times out, tapping lightly on the screen will turn it back on. NOTE: This is not the same as the Touchscreen option. Default/Sample Screen Contents The following image shows the first screen that appears during boot-up: Figure 7-5. Initial Boot Screen 11970-000 Rev H1 LD Platform OEM User's Guide...

  • Page 88: E-Stop

    This can be done either with the MobilePlanner (with Map > Show Robot on) software, or with an ARCL command. See the following figure: Figure 7-7. Motor Enable Pop-up Dialog In normal use, the E-Stop button has three primary purposes: LD Platform OEM User's Guide 11970-000 Rev H1...

  • Page 89: On Button

    A user-supplied beacon, typically mounted on the AIV dome, can provide extra signaling. The beacon indicates movement, and signals an Operator that the AIV is waiting for assistance. Their states are described here, and summarized in the following tables. 11970-000 Rev H1 LD Platform OEM User's Guide...
  • Page 90 Slow pulse: Driving with Warning (doesn't prevent driving, such as low battery) The light disc will be orange instead of blue for Stopped, Driving, and Turn Signals. Beacon alternates green then yellow. LD Platform OEM User's Guide 11970-000 Rev H1...
  • Page 91 NOTE: There is a two-second delay between the end of an obstacle-detection con- dition and the platform resuming its activity. During the two seconds, the platform scans its path for potential obstacles. It will remain stopped until its path is clear. 11970-000 Rev H1 LD Platform OEM User's Guide...
  • Page 92 0 to 90 ccw full circle full circle 100% NOTE: The state of charge displayed is continuous, not limited to 25% increments. E-Stop The light discs blinks red in an E-Stop condition. Beacon blinks red. LD Platform OEM User's Guide 11970-000 Rev H1...
  • Page 93 Blue Pulse Green Solid Stopped, all ok Orange Moving Green Drive with warning, Circle /Yellow doesn't prevent driving e.g. low battery Orange/Orange Moving Green Turn with warning @front Circle/ /Yellow Blinking signal 11970-000 Rev H1 LD Platform OEM User's Guide...

  • Page 94: Ld Platform Core Indicators

    E-Stop, stops driving Blue Left+Right Green/Yellow/Red Booting Half-circles LD Platform Core Indicators Figure 7-8. LD Platform Core Indicators The left end of the platform core has 12 indicator lights. The following table gives their mean- ings: Indicator Meaning Left Column LOGIC...

  • Page 95: Battery And Docking Station Indicators

    Other Sensors Encoders and Gyroscope Each wheel has an encoder that tells the navigation system how far the wheel has turned, and in which direction. Each wheel also has a Hall sensor. 11970-000 Rev H1 LD Platform OEM User's Guide...

  • Page 96: Startup

    CAUTION: We recommend locking the joystick up when not in use, to pre- vent an unauthorized person from operating an AIV. LD Platform OEM User's Guide 11970-000 Rev H1...
  • Page 97 CAUTION: The safety scanning laser is not tied into the E-Stop chain when driving with the joystick. The Operator should maintain control of the joystick and the platform when the joystick is connected to the platform. 11970-000 Rev H1 LD Platform OEM User's Guide...

  • Page 99: Chapter 8: Maintenance

    Access Panel Rear Sonar Safety Battery Light Disc Scanning Access Laser Door Bumper Front Laser Front Caster x2 Drive Wheel x2 Rear Caster x2 Figure 8-1. Location of Parts on the Platform 11970-000 Rev H1 LD Platform OEM User's Guide...

  • Page 100: Safety Aspects While Performing Maintenance

    Platform Skins WARNING: Magnetic fields can be hazardous to medical implant wearers. Medical implant wearers stay back 30 cm (12 inches) from the platform skins, which are held in place with strong magnets. LD Platform OEM User's Guide 11970-000 Rev H1...

  • Page 101: Lifting The Platform Safely

    Lift on each side of the laser, under the upper side of the laser slot. Do not lift at the center - there is no supporting frame. Do not lift anywhere else! Refer to the following illustration: Figure 8-2. The upper surface of the laser slot, at both sides, not the center. 11970-000 Rev H1 LD Platform OEM User's Guide...

  • Page 102: Rear Lifting Area

    Check the light discs on each side of the AIV for proper function every week. Buzzer Check the warning buzzer for proper function. To comply with applicable standards, it is important that the buzzer be audible in all operating conditions and environments. LD Platform OEM User's Guide 11970-000 Rev H1...

  • Page 103: Warning Labels

    This magnet is only exposed during maintenance, when the platform is tipped on its side. Yellow circle surrounding the E-Stop button, 11229-167 This is labeled EMERGENCY STOP. No Riding Label, 18178-000 11970-000 Rev H1 LD Platform OEM User's Guide...
  • Page 104 The Incline label is placed on the front-right of the top plate. Automatic Vehicle Label, 18623-000 CAUTION AUTOMATIC VEHICLE An Automatic Vehicle label is attached to the rear skin of the platform. LD Platform OEM User's Guide 11970-000 Rev H1...

  • Page 105: Cleaning

    Keep the axles free of carpet, hair, string, or anything that could wrap around and bind up the platform’s drive. Lasers Occasionally clean the lenses of the navigation laser and any other lasers used. Use only alco- hol-based, non-abrasive cleaners, and wipe thoroughly. 11970-000 Rev H1 LD Platform OEM User's Guide...

  • Page 106: Maintaining And Replacing Batteries

    The battery is expected to last for approximately ≥ 2000 recharge cycles. NOTE: There are no user-serviceable parts inside the battery case. Do not open it. WARNING: Replace the battery only with a Omron Adept Technologies, Inc. factory-supplied battery. Dispose of the battery according to all local and national environmental regulations regarding electronic components.
  • Page 107 The battery compartment door is lockable, and you might need to unlock it. 3. Lift and slide the new battery into the platform body. The battery weighs 19 kg (42 lbs). The battery has recesses at the front and the back for easier lifting. 11970-000 Rev H1 LD Platform OEM User's Guide...
  • Page 108 Figure 8-5. Lifting the Battery The connectors for power and data go toward the rear of the platform. 4. Attach the battery power and data cables to the connectors at the rear of the battery. LD Platform OEM User's Guide 11970-000 Rev H1...

  • Page 109: Replacing Non-Periodic Parts

    1. Remove the shoulder bolt from the center of the roller. Retain the shoulder bolt. 2. Remove the roller and bearing from the docking station. 3. Install the new roller and bearing, using the retained shoulder bolt. 11970-000 Rev H1 LD Platform OEM User's Guide...

  • Page 110: Docking Station Ac Power Fuse

    WARNING: Unplug power from the docking station before starting. Remove the power cord from the charger. Remove the fuse assembly by squeezing the two tabs toward each other, and pulling it away from the docking station. See the following figure. LD Platform OEM User's Guide 11970-000 Rev H1...

  • Page 111: Docking Station Internal Fuse

    NOT interlocked. Remove the power cord at the charger. 1. Remove the ten screws from the back cover of the docking station. Two of these are on the sides, near the bottom. 11970-000 Rev H1 LD Platform OEM User's Guide...

  • Page 112: Rear Sonar Units

    4. Press the new sonar unit through the hole in the rear outer cover, from the outside. 5. Connect the sonar cable to the new sonar unit's lead. 6. Reinstall the rear covers. Sonar Controller The sonar controller is located in the payload bay. LD Platform OEM User's Guide 11970-000 Rev H1...

  • Page 113: Light Discs

    Operator Panel The Operator panel will typically be located on a user-supplied payload structure, so the removal and replacement of this will vary from one AIV to another. It plugs into the HMI 11970-000 Rev H1 LD Platform OEM User's Guide...

  • Page 114: Wheels And Tires

    Refer to Removing and Installing Skins on page 123. The light disc PCA cable will still be attached. 5. Disconnect the cable from the light disc PCA, so the side skin can be moved completely away from the platform. LD Platform OEM User's Guide 11970-000 Rev H1...
  • Page 115 Remove the three nuts and four screws (and their washers) holding the drive assembly to the platform. Retain these nuts, screws, and washers for attaching the new drive assembly. Figure 8-12. Mounting Studs and Nuts at top of Drive Assembly 11970-000 Rev H1 LD Platform OEM User's Guide...
  • Page 116 5. Put the side skin next to the platform, and attach the cable to the light disc PCA. 6. Reinstall the side skin. 7. Connect the battery power and data cables, and close the battery compartment door. 8. Reinstall the rear skin. LD Platform OEM User's Guide 11970-000 Rev H1...

  • Page 117: Front Or Rear Casters

    Regardless of whether your removed the battery: 1. Remove the M10 x 30 mm screw holding the caster to the platform. The screw was installed with Loctite 263. Retain the screw for attaching the new caster. 11970-000 Rev H1 LD Platform OEM User's Guide...

  • Page 118: Cleaning Casters On Esd Platforms

    You will need the following tools: Gloves Wipes Isopropyl Alcohol Protective, supporting material on which to rest the platform (e.g., foam) LD Platform OEM User's Guide 11970-000 Rev H1...

  • Page 119: Safety Scanning Laser

    This will free the laser from the plate. Retain the two screws, lock washers, and flat washers for reassembly. 3. Disconnect the laser cable from the cable to the LD Platform core. Cut the cable ties holding the cable to the cable tie anchors.

  • Page 120: Ld Platform Core

    7. Cable-tie excess cable to the two anchors so it cannot touch the floor or the tires. LD Platform Core The LD Platform core is an enclosed unit, with internal fans as the only moving parts. 1. Move the payload structure out of the way, so you can access the payload bay.
  • Page 121 The Left Motor and Right Motor connectors use the same type of plug, and can be inad- vertently reversed. Ensure that you can clearly identify the left from the right. See Internal LD Platform Core Connections on page 74. 10. Remove the old core.

  • Page 122: E-Stop And Safety Laser Commissioning

    300 mm/s, so if the maximum speed is 1500, five zones should be reported. (When you press the Drive button in the wizard, the wizard will display the maximum AIV speed.) Maximum Speed (mm/s) LD-90 Zone LD-60 LD-130CT LD-105CT 1200 LD Platform OEM User's Guide 11970-000 Rev H1...

  • Page 123: Accessing The Payload Bay

    CAUTION: Pinch hazard. The magnets holding the skins in place are strong enough to pinch you if you are not careful. NOTE: In general, it is better to install the payload structure first, and then the skins. 11970-000 Rev H1 LD Platform OEM User's Guide...

  • Page 124: Removing Skins

    8.8  Removing and Installing Skins Figure 8-17. LD Platform OEM Skins The skins are: 1. Access Panel 2. Left Side Skin 3. Right Side Skin Both side skins include a light disc and cover. 4. Battery Door Skin 5. Rear Skin 6.
  • Page 125 This skin attaches to the chassis the most tightly of any of the skins. 1. Grip the skin at the two outer edges. 2. Pry the skin away from the chassis. Bumper Skin This is the only skin that requires tools to remove. 11970-000 Rev H1 LD Platform OEM User's Guide...
  • Page 126 Refer to the following two figures. Figure 8-18. Sonar Leads, with Connectors Still in Chassis 3. Unscrew all four sonar connectors. Ensure that both sides of all connectors are labeled, and match. If not, label them. LD Platform OEM User's Guide 11970-000 Rev H1...

  • Page 127: Installing Skins

    1. Grip the skin at the two outer edges. 2. Align the bottom edge of the skin so it slides under the chassis support. 3. Tilt the top of the skin into position. 11970-000 Rev H1 LD Platform OEM User's Guide...
  • Page 128 This should allow the side skin to snap into place, so both sides of the gap stick out the same amount. Repeat for the other side skin. LD Platform OEM User's Guide 11970-000 Rev H1...
  • Page 129 Hold the skin at the bottom, in the center, with two hands. 2. Hold the skin near the center and, with both hands, tilt the bottom of the skin down, towards the platform chassis. 11970-000 Rev H1 LD Platform OEM User's Guide...

  • Page 131: Chapter 9: Options

    AIV. Door Boxes are used to open an automated door, so the AIV can pass through. See LD Platform Peripherals User's Guide. 11970-000 Rev H1 LD Platform OEM User's Guide...

  • Page 132: Acuity Localization

    ESD sensitive components, could destroy the electronic components. The optional ESD skins (P/N: 18452-001) encase the AIV in an electro-conductive surface that provides a skin-to-chassis-to-wheel grounding path that drains off any charge the AIV might accumulate during operation. LD Platform OEM User's Guide 11970-000 Rev H1...

  • Page 133: Chapter 10: Technical Specifications

    Figure 10-1. Platform Top, Side, and Front Dimensions NOTE: Refer also to Platform Deck Dimensions, with M6-threaded Holes on page 53 and Platform Deck Dimensions, with M5-threaded Holes on page 54 for mount- ing hole dimensions for the payload structure. 11970-000 Rev H1 LD Platform OEM User's Guide...

  • Page 134: Platform Specifications

    Rating IP Rating IP20 Cleanroom rating Fed Class 100, ISO Class 5 NOTE: Fed Class 10 (ISO Class 4) is attainable in many cases. Contact your local Omron Support Joystick IP rating IP56 LD Platform OEM User's Guide 11970-000 Rev H1...

  • Page 135: Performance

    LD-60 and LD-90: 15 mm (0.6 inch) Climb grade, 60 kg max 1:12 Traversable terrain Generally wheelchair accessible Minimum floor flatness 25 (based on the ACI 117 standard) NOTE: ACI 117 is the American Concrete Institute’s standard for 11970-000 Rev H1 LD Platform OEM User's Guide...

  • Page 136: Sensors

    2 on sides of payload structure, user-mounted Low Front Laser 1 in bumper Upward-facing camera 1 on payload structure, user-mounted (Acuity option) Payload Structure bumpers 6 inputs, user-designed and mounted (option) sensors (3 front, 3 rear) LD Platform OEM User's Guide 11970-000 Rev H1...

  • Page 137: Battery Outputs

    Switched 22 - 30 VDC battery 10 A Switched 22 - 30 VDC battery 10 A Safe, Switched * 10 A Switched and 10 A Safe, Switched share the 10 A of current. 11970-000 Rev H1 LD Platform OEM User's Guide...

  • Page 138: Docking Station Specifications

    495 x 495.5 x 317 mm [16 x 19.5 x 12.5 inches] Weight 8.2 kg (18 lbs) Mounting Wall bracket, directly to floor, or on floor with floor plate Indicators Power on - blue Charging - yellow Connector For out-of-platform battery charging LD Platform OEM User's Guide 11970-000 Rev H1...
  • Page 140 OMRON ADEPT TECHNOLOGIES, INC. No. 438A Alexandra Road # 05-05/08 (Lobby 2), 4550 Norris Canyon Road, Suite 150, San Ramon, CA 94583 U.S.A. © OMRON Corporation 2017-2018 All Rights Alexandra Technopark, Tel: (1) 925-245-3400/Fax: (1) 925-960-0590 Reserved. In the interest of product improvement,...

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