Omron MD-650 - Page 54

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rotation. There are also sensors on each motor that are used by the safety system to collect redundant

speed information.

1 Overview

1-16

AMR (Autonomous Mobile Robot) MD-series Platform User's Manual (I681)

Main Page

Intended Audience3
Units3
Manual Information4
Page Structure4
Special Information4
Sections in this Manual7
Table of Contents8
Terms and Conditions Agreement14
Warranty and Limitations of Liability14
Application Considerations15
Disclaimers15
Safety Precautions17
Definition of Precautionary Information17
Symbols17
Dangers18
Warnings18
Cautions24
Precautions for Safe Use26
Precautions for Correct Use29
Regulations and Standards32
Conformance to EU Directives32
Canada / Industry Standards32
Conformance to KC Certification33
Related Manuals34
Glossary35
Revision History38
Overview39
Intended Use41
Features and Components44
Lasers44
Skins46
E-STOP Buttons47
Operator Panel47
Light Discs and Strips48
Charging Contacts48
User Connections Area49
Payload Mounting Surface50
Main Disconnect Switch50
Drive Train and Suspension50
AMR Controller50
Battery51
Pendant51
Speakers52
Charging Station52
Input and Output Control53
Wireless Antennas53
Localization Sensors53
Autonomous Navigation55
Labels57
AMR Information Label57
Docking Target Information Label58
Power Supply Box Information Label58
Battery Information Label59
AMR Safety and Warning Label Locations60
Power Supply Box Safety and Warning Label Locations61
Docking Target Safety and Warning Label Locations61
Part Numbers63
Optional Items64
Fleet Manager64
Additional E-STOP Buttons65
Additional Signal Beacons65
Additional Warning Buzzers66
Side Lasers66
Spare Battery67
Mobile I/O Box67
High Accuracy Positioning System (HAPS)67
Cell Alignment Positioning System67
Maintenance Port Extension Kit68
Wireless Antenna Extension Kit68
Operator Panel Relocation Kit68
FLOW Core Software69
Mobileplanner Software69
Fleet Management Software70
Setnetgo Software71
Mobilefirmware72
Driving and Navigation Software72
Fleet Simulator Software73
Payload Considerations74
Payload Structures75
Power Consumption76
Coordinate System77
Specifications79
Performance Specifications80
Physical Specifications81
Dimensions81
Center of Rotation84
AMR Center of Gravity85
Payload Center of Gravity85
Weights90
Environmental Specifications91
AMR Environmental Specifications91
Charging Station Environmental Specifications92
Battery Environmental Specifications92
Pendant Environmental Specifications92
Other Specifications93
Laser Specifications93
Battery Specifications93
HAPS Specifications93
Charging Station Specifications94
Operator Panel Screen94
Onboard I/O94
USER PWR Connector95
COMMS Connector95
SCPU Connector95
AUX PLC Connector96
LIGHTS Connector96
BUZZ Connector96
REG PWR Connector97
Laser Pwr97
Drive Train97
Safety Function Performance Levels98
Stopping Distance and Time100
Wireless Specifications102
Path Planning Specifications102
Installation Introduction107
Charging Station Installation108
Repositioning the Docking Target Power Connector109
Mechanical Connections109
Charging Paddle Adjustments110
Electrical Connections111
Commissioning Procedure114
Battery Removal and Installation116
Battery Removal Procedure117
Battery Installation Procedure118
Network Connections120
Default Network Settings120
Wired Connection Procedure120
Wireless Connection121
Electrical Connections123
User Connections Area123
Attaching the Payload131
Payload Structure Mounting Points131
Overhanging Payloads132
HAPS Installation and Configuration133
Front HAPS Sensor Installation133
Rear HAPS Sensor Installation134
Tape and Marker Application136
Software Configuration137
Goals and Tasks138
Attaching Warning Labels140
Commissioning141
Commissioning Procedure141
Map Creation Overview142
Basic Mapping Tasks143
Side Laser Installation144
Mounting Considerations144
Side Laser Wiring Procedure144
Side Laser Configuration147
Maintenance Port Extension Procedure148
Wireless Antenna Relocation Procedure150
Operator Panel Relocation152
Relocation Considerations152
Operator Panel Relocation Procedure152
Operation155
Payload Movement and Transfer157
AMR Start-Up158
AMR Shut-Down159
AMR Controller LED Indicators160
Workspace161
Physical Barriers163
Logical Barriers163
Obstacles164
Restricted Zones164
Operating Hazard Zones164
Payload Transfer Stations164
Ramps165
Clearances167
Rotational Clearances167
Docking Clearances167
Narrow Passageway Behavior (Linear)169
Narrow Passageway Behavior (Non-Linear)170
U-Turn in a Narrow Passageway170
U-Turn through a Narrow Doorway170
Minimum Lane Width172
Immobilization173
Battery and Charging174
Battery Indicators and Controls175
Charging Station176
Charging the Battery178
Balancing the Battery180
Storing Batteries181
Operator Panel182
Brake Release Button182
Emergency Stop Button182
Main Screen182
ON Button183
OFF Button183
Mode Selection Switch183
Pendant Port184
Maintenance Ethernet Port185
Main Disconnect Switch186
Releasing the Brakes187
Electronic Brake Release187
Mechanical Brake Release187
Manually Pushing the AMR189
Emergency Stop190
Emergency Stop Recovery Procedure190
Protective Stops192
AMR Response During Protective Stops192
Overspeed Protection194
Light Discs and Optional Beacon States195
Driving Straight195
Turn Signal195
Emergency Stop195
Lost195
Stopped196
Stopped with Warning196
Obstacle Detected / Protective Stop196
Charging196
Booting197
Operating Inside a Designated Mutepersonneldetectionsector Area197
Light Strips and Optional Beacon States198
Driving Straight198
Turn Signal198
Emergency Stop198
Lost199
Stopped199
Stopped with Warning199
Obstacle Detected / Protective Stop199
Charging200
Booting200
Operating Inside a Designated Mutepersonneldetectionsector Area200
Pendant Operation202
Driving with the pendant203
Warning Buzzer204
Safety Laser Scanner Zones205
Safety Zone Pairs205
Alternate Safety Laser Scanner Zones227
Wireless Considerations228
Signal Availability228
Bandwidth228
Port Forwarding229
Motion Limits230
Emergency Situations231
Tilt Detection232
Tilt Detection Event Recovery232
No Motion Signals233
Collecting Troubleshooting Information236
Restoring the Default Configuration237
Power Supply Box Problems238
Battery Problems240
Low Battery Recovery240
Battery Charging Problems240
Leaking Batteries241
Exposure to Liquids243
AMR Start-Up Problems244
AMR Controller Errors245
Operator Panel Information246
Stop Flags246
Text Messages246
Circuit Breakers and Fuses247
Fuse Panel247
Circuit Breaker Panel247
Battery Fuse248
Localization Problems249
Other AMR Problems250
Maintenance Introduction252
AMR Lock-Out Tag-Out Procedure254
Inspection Intervals255
Charging Station Lock-Out Tag-Out Procedure256
Lifting the AMR257
Mechanical Brake Inspection Procedure259
Docking Target Charging Contacts Inspection260
AMR Charging Contact Inspection261
Safety and Warning Labels262
Cleaning263
Cleaning Intervals263
Cleaning AMR Charging Contacts263
Cleaning the Power Supply Box Cooling Ducts264
Cleaning Lasers Lenses265
Cleaning Caster Treads265
Cleaning Drive Wheels265
Replacing Items267
Removing and Replacing Skins267
Removing and Replacing Operator Panel268
Parts List272
Network Port Allocation274
Input and Output Control276
Shipping the AMR277

Omron MD-650 - Page 54

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