Omron LD Series - User Manual

Need help?

Do you have a question about the Omron LD Series and is the answer not in the manual?

Summary

Part Number Configuration

Robot Type

Defines the robot model type for part number configuration.

Speed & Payload

Specifies the speed and payload capacity for robot configurations.

Configuration

Details bundle contents and applicable versions for robot configurations.

Mobile Robot Components and Functions

LD-60, LD-90 Components

Details the components and functions of the LD-60 and LD-90 mobile robots.

LD-250 Components

Details the components and functions of the LD-250 mobile robot.

Cart Transporter Components and Functions

LD Series Options and Accessories

Positioning Systems and Sensors

High Accuracy Positioning System, Cell Alignment Positioning System, Side Laser.

Docking Stations, Controllers, and Carts

Docking Stations and Peripherals

Docking station, joystick, breakout cable, and top plates.

Fleet Management Solutions

Fleet Management Software Suite

Fleet Manager, Fleet Simulator, and MobilePlanner software.

Software and System Management

MobilePlanner and Fleet Manager Software

Positioning Systems and Peripherals

Dimensions: Positioning Systems and Peripherals

Overview

Function Description
LD-60, LD-90 Models
LD-250 Model
Cart Transporter Model
Important Technical Specifications
Physical Characteristics
Environmental Conditions
Mobility
Payload
Power System
Safety Features
Usage Features
Navigation
Operator Interface
Connectivity
Optional Accessories
Maintenance Features

The Omron LD Series Mobile Robots are autonomous intelligent vehicles (AMRs) designed to enhance throughput, reduce machine dwell time, eliminate errors, improve material traceability, and allow human employees to focus on more complex tasks. Unlike traditional AGVs, these mobile robots navigate using natural facility features, eliminating the need for expensive facility modifications.

Function Description:

LD Series mobile robots are easy to set up and operate, requiring no construction (such as magnet installation) and minimal programming. Their software integrates with existing systems for quick deployment. They work safely alongside people and navigate autonomously without preset routes, magnets, beacons, or facility modifications. These AMRs can be integrated with MES, ERP, and WMS systems and can operate in fleets of up to 100 robots.

LD-60, LD-90 Models:

These models feature Light Discs on both sides for status indication and a Front Bumper that stops the robot upon contact with an obstacle. Safety is ensured by a Safety Scanning Laser, which is safety-rated for SLAM (Simultaneous Localization and Mapping) and other safety functions. A Low Front Laser detects low-profile objects when moving forward. Rear Sonar detects rear obstacles using sonar. An AUX Power & I/O provides internal connections for power and control of custom topper models. The Operation Panel offers access to system power, E-Stop, and operation status display. They are powered by a Performance Battery, offering up to 15 hours of runtime between charges and a lifespan of up to 7 years. A Charge Dock provides integrated contacts for automated charging.

LD-250 Model:

The LD-250 features Hardened Construction with a metal chassis and skins for increased duty and durability. Like other models, it has Light Discs on both sides for status indication. E-Stop Buttons are located on both sides and the top. A Safety Scanning Laser is safety-rated for SLAM and safety functionality, while a Low Front Laser detects low-profile objects. Rear ToF Sensors detect rear obstacles using infrared light. AUX Power & I/O provides internal connections for custom topper modules. The Operation Panel allows access to system power, E-Stop, and the operation status display. Its Performance Battery offers up to 13 hours of runtime between charges and a lifespan of up to 7 years. A Charge Dock provides integrated contacts for automated charging.

Cart Transporter Model:

This model is equipped with Dual Side Lasers to detect high-level side obstacles and a Rear Laser for high-level rear obstacles. Rear Sonar detects low-level rear obstacles. Light Discs on both sides indicate status, and a Front Bumper stops the robot on contact. A Latch System automatically engages and disengages with cart units. Safety is provided by a Safety Scanning Laser and a Low Front Laser. An Acuity System tracks ceiling features to enhance navigation performance (optional). A Touch Screen provides system control and status monitoring. The Performance Battery offers up to 12 hours of runtime between charges and a lifespan of up to 7 years. A Charge Dock provides integrated contacts for automated charging.

Important Technical Specifications:

Physical Characteristics:

LD-60, LD-90: Polycarbonate materials, 699 x 500 x 383 mm (L x W x H), 62 kg (with battery).
LD-250: Aluminum materials, 963 x 718 x 383 mm (L x W x H), 148 kg (with battery) or 129 kg (without battery).
Cart Transporter: Polycarbonate materials, 894 x 1074 x 1394 mm (L x W x H), 81 kg (vehicle) / 23 kg (cart). Height includes WiFi antenna.

Environmental Conditions:

Ambient Temperature: 5 to 40 °C.
Ambient Humidity: 5 to 95% (non-condensing).
Operating Environment: Indoor usage only, no excessive dust, no corrosive gas. Direct sunlight may cause safety laser false positives.
IP Rating: IP20.
Cleanroom Rating: Fed Class 100, ISO Class 5 (None for Cart Transporter).
Floor Requirements: Linoleum, epoxy, or concrete (no water, no oil, no dirt).
Minimum Floor Flatness: FF25 (ACI 117 standard).

Mobility:

Maximum Speed:
- LD-60: 1800 mm/s
- LD-90: 1350 mm/s
- LD-250: 1200 mm/s
- Cart Transporter: 1350 mm/s (105 kg payload), 900 mm/s (130 kg payload)
Maximum Rotation Speed:
- LD-60, LD-90: 180°/s
- LD-250: 120°/s
- Cart Transporter: 100°/s
Traversable Step:
- LD-60, LD-90: 15 mm max (at 250-300 mm/s)
- LD-250: 10 mm max (at 600 mm/s or slower)
- Cart Transporter: 5 mm max (at 250 mm/s, not for normal use)
Traversable Gap:
- LD-60, LD-90: 15 mm max
- LD-250: 15 mm max
- Cart Transporter: 5 mm max (at 250 mm/s, not for normal use)
Climb Grade: Below 1:12 (60 kg max.) for LD-60, LD-90; Flat floor only for LD-250 and Cart Transporter.
Stop Position Accuracy:
- ±100 mm position, ±2° rotation (standard)
- ±10 mm position, ±0.5° rotation with HAPS option
- ±25 mm position, ±1.0° rotation with CAPS option

Payload:

Maximum Weight:
- LD-60: 60 kg
- LD-90: 90 kg
- LD-250: 250 kg
- Cart Transporter: 105 kg, 130 kg (excluding cart weight)

Power System:

Battery: 22-30 VDC, 72 Ah nominal capacity.
Run Time (No Payload):
- LD-60, LD-90: 15 hours (continuous) approx.
- LD-250: 13 hours (continuous) approx.
- Cart Transporter: 15 hours (continuous) approx.
Recharge Time: 4 hours (5:1 ratio) approx.
Battery Life Cycles: 2,000 recharge cycles (battery cell nominal).
Charging Method: Automatic/manual.
Auxiliary Power: 5, 12, 20, and 22-30 VDC power can be provided to external devices.

Safety Features:

Safety Scanning Laser: Class 1, PLd safety per ISO13849-1, 3 m maximum radius for safety zones, 40 m radius for general sensing, 240° field of view.
Emergency Stop: 1 at operator panel (LD-60, LD-90, Cart Transporter); 1 at operator panel, 1 on each side (3 total) for LD-250.
Rear Sonar: 2 at rear, 2 m range (LD-60, LD-90, Cart Transporter); Time of flight (TOF) sensors for LD-250.
Front Bumper: 1 at front of platform, 2 pairs of sensors (LD-60, LD-90, Cart Transporter); Fixed, non-sensing for LD-250.
Low Front Laser: 1 at front of platform, Class 1, 4 m maximum range, 126° field of view (LD-60, LD-90); 2 on horizontal tubes of HMI post, Class 1, 4 m maximum range, 270° field of view (Cart Transporter).

Usage Features:

Routing: Autonomous routing by localizing with safety scanning laser based on environment mapping.
Environmental Map Making: Scan by walking the mobile robot through the environment and uploading scan data in the MobilePlanner software.

Operator Interface:

Screen/Touch Panel:
- LD-60, LD-90: 3.5 in. TFT 320 x 240 pixels, color screen.
- Cart Transporter: 7.0 in. TFT LCD touch panel, 18/24 bit RGB.
Buttons: On (green), Off (red), Brake-release (orange), Keyswitch (disabled off button). Cart Transporter also has Latch and Unlatch buttons.

Connectivity:

Wireless: IEEE 802.11 a/b/g.
Ethernet Port: 1 x user LAN, 1 x maintenance LAN, Auto-MDIX.
Serial: RS-232 x 2.
Digital I/O: 16 inputs, 16 outputs.
Analog I/O: 8 inputs (0 to 30 V), 4 outputs (0-20 V).
Audio: Digital audio out, audio in / audio out.

Optional Accessories:

High Accuracy Positioning System (HAPS): Combines sensors and magnetic tape for precise alignment during forward driving. Available in single or double sensor configurations for different LD models.
Magnetic Tape: 25 mm wide magnetic tape (south top side, 50 m roll) for HAPS.
Cell Alignment Positioning System (CAPS): Software license to improve positional accuracy.
Acuity Localization: Upwards-facing camera that maps ceiling features for improved navigation, especially in dynamic environments.
Touchscreen: Allows operators to check status, enter goals, and pause the robot.
Side Laser: Detects obstacles at heights the safety scanning laser cannot.
Call/Door Box: WiFi or wired box to request a mobile robot or open a door.
Battery: 72 Ah Battery cell nominal capacity for all LD Series AMRs.
USB License Dongle (FLOW Core): For AMRs migrating from MMS 4.x to FLOW Core.
Docking Station: For charging the battery, available in standard or extended wall mount versions.
Joystick: For manual control of the mobile robot.
Breakout Cable: D-SUB44 pin cable for digital I/O interface.
Top Plate: Upper plate for OEM type, not necessary for building customer payload.
Cart: Designed to work seamlessly with the mobile robot cart transporter.
Battery Charging Cable: To connect a battery and docking station for charging outside the mobile robot.

Maintenance Features:

Battery Life: Performance batteries are designed for up to 7 years or 2,000 recharge cycles (80% DOD).
Software Updates: MobilePlanner software (Version 4.x) is available for fleet management.
Manuals: Comprehensive manuals are available for user guides, peripherals, software suite, enterprise manager, safety, command language, installation, and integration toolkits.