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Omron LD User Manual
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Table of Contents
Default Chapter
3
Table of Contents
3
Chapter 1: Introduction
9
Definitions
9
Product Description
9
LD Cart Transporter
11
Cart
13
Coupling
14
Optional Components
14
User-Supplied Components / System Requirements
15
Software Overview
15
Mobile Robot Software Suite
15
Setnetgo
16
How Can I Get Help
17
Related Manuals
17
Support
17
Including a Debuginfo File
17
Chapter 2: Safety
21
Dangers, Warnings, Cautions, and Precautions
21
What to Do in an Emergency /Abnormal Situation
21
Releasing the Brakes
21
Releasing an E-Stop
22
User's Responsibilities
22
General Hazards
22
Falling Hazards
23
Electrical Hazards
23
Pinch Hazards
24
Magnetic Field Hazards
24
Qualification of Personnel
25
Payload Movement and Transfer
26
Configurable Warning Buzzer
26
Multi-Vehicle Avoidance
26
Traffic Control
27
Passing Lanes
27
Environment
27
General Environmental Conditions
27
Public Access
27
Clearance
27
Obstacles
28
Intended Use
28
Non-Intended Use
28
Robot Modifications
29
Battery Safety
29
Additional Safety Information
29
Accidental Cart Separation
29
Mobile Robot LD Safety Guide
29
Chapter 3: Setup
31
Overview
31
Tasks
31
Transport and Storage
32
LD Cart Transporter
32
Battery
32
Standalone Cart
32
Before Unpacking
33
Unpacking
33
Battery
33
LD Cart Transporter
35
Repacking for Relocation
38
Setting up an LD Cart Transporter
38
Mounting the Side Lasers
38
Rolling the LD Cart Transporter off of the Crate Base
42
Installing the Battery
45
Installing the Docking Station
50
Installing the Cart Brake Release
55
Installation
56
Adjustment
59
Chapter 4: Configuration
61
Settings and Configuration
61
Maintenance Ethernet Connection
61
Setting up Wireless Ethernet
62
Mapping
64
Setting up Cart-Parking Goals
65
Marking Cart-Parking Goals on Floor
65
Configuring a Touchscreen
65
Touchscreen Ethernet Setup
65
Operating Modes
66
Localization Goals
68
Screen Logo
69
Screensaver
70
Display Language
71
Contact Information
72
Acceleration, Deceleration, and Rotation Limits
72
Supplemental Information
73
Laser Setup
73
Chapter 5: Payloads
75
Safety
75
Drive Warning Light
75
Turn Warning Lights
75
Considerations
75
Dimensions
75
Pinch Hazard
75
Weight
76
Center of Gravity
76
Payload-Related Tradeoffs
81
Chapter 6: Connectivity
83
Required Connections
83
LD Cart Transporter Connections
83
Core
84
Cart-Specific PCA
85
Standard Platform Connections
89
Robot Core Front, Upper
90
Standard Equipment
95
Robot Core Rear, Upper
97
Internal Robot Core Connections
104
Core Internal Data Pinouts
105
Robot Core Internal Power Pinouts
107
Chapter 7: Operator Interface
109
Touchscreen
109
Touchscreen Initialization
109
Touchscreen Configuration
110
Screen Top Bar
110
Left Screen Pane
110
Right Screen Pane
112
Center Pane
116
Relocalization
116
Choose Dropoff Mode
116
Patrol Route Mode
119
Operator Panel
120
E-Stop Button
120
ON Button
121
OFF Button
121
Brake-Release (BRAKE) Button
121
Keyswitch
121
LATCH Button
121
UNLATCH Button
121
Other Controls and Indicators
121
Light Discs and Beacon
121
Robot Core Indicators
126
Battery and Docking Station
127
Chapter 8: Operation
129
Operating Environment
129
Intended Use
129
Clearance
129
Obstacles
129
Environment and Floor
130
Getting Stuck
130
Typical Operation
131
Power and Charging
132
Battery Indicators and Controls
132
Docking Station
133
Manually Charging the Battery
135
Balancing the Battery
136
Startup
137
Procedure
137
Joystick
137
Working with Carts
138
Goals
138
Operation
138
Cart-Locating
138
Cart Brakes
139
Chapter 9: Options
141
Enterprise Manager 1100
141
Mobileplanner Software (Licensed)
141
Joystick
141
Spare Battery
141
Spare Carts
141
Call Buttons/Door Boxes
141
Acuity Localization
142
High-Accuracy Positioning System
142
Chapter 10: Maintenance
143
Safety Aspects While Performing Maintenance
144
Electrical Hazards
144
Pinch Hazard
145
Magnetic Field Hazards
145
Lifting the Platform Safely
145
Front Lifting Points
145
Rear Lifting Area
146
Safety Inspection
147
Warning Devices
147
Warning Labels
147
Informative Labels
149
Cleaning
150
Work Area Maintenance
150
LD Cart Transporter and Cart
151
Tires
151
Casters
151
Axles
151
Lasers
152
Docking Station Contacts
152
Accessing the Payload Bay
152
Removing Latching Mechanism Cover
152
Removing Top Plate
153
Installing Top Plate
153
Installing Latching Mechanism Cover
153
Removing and Installing LD Cart Transporter Covers
154
Removing Covers
154
Installing Covers
157
Replacing Periodic Parts
159
Replacing Non-Periodic Parts
160
Docking Station Roller and Bearing
160
Safety Scanning Laser
162
Obstacle Detection and Coupling Lasers
163
Rear Sonar Units
166
Sonar Controller
167
Cart Latching Mechanism
168
Light Discs
169
Wheels and Tires
170
Drive Assemblies
172
Platform Casters
173
Cart Casters
175
Cart Brake Release
178
Robot Core
179
E-Stop and Safety Laser Commissioning
181
Chapter 11: Technical Specifications
183
Dimension Drawings
183
Specifications
184
LD Cart Transporter Physical
184
LD Cart Transporter Performance
185
Battery Output
186
Cart
187
Docking Station
187
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Omron LD Specifications
General
Brand
Omron
Model
LD
Category
Robotics
Language
English
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