Omron LD-60 Operation & User’s Manual

11970-000 Rev M Copyright Notice The information contained herein is the property of Omron Robotics and Safety Technologies, and shall not be reproduced in whole or in part without prior written approval of Omron Robotics and Safety Technologies The information herein is subject to change without notice and should not be construed as a commitment by Omron Robotics and Safety Technologies The documentation is periodically reviewed and revised. Omron Robotics and Safety Technologies, assumes no responsibility for any errors or omis- sions in the documentation. Copyright  2013 - 2021 by Omron Robotics and Safety Technologies All rights reserved. Any trademarks from other companies used in this publication are the property of those respective companies. MPEG Layer-3 audio coding technology licensed from Fraunhofer IIS and Thomson. Copyright 2012 CEPSTRAL LLC http://www.cepstral.com This product may contain copyright material licensed from CEPSTRAL LLC, all right reserved. Created in the United States of America

Table of Contents Chapter 1: Introduction 11 1.1 Definitions 11 1.2 Product Description 11 Body and Drive 13 What's Included - Basic Components 14 Optional Components (Partial List) 16 1.3 Software Overview 17 FLOW Core 18 SetNetGo 19 1.4 How Can I Get Help? 20 Support 20 Related Manuals 20 Including a Debuginfo File 20 Chapter 2: Safety 23 2.1 What to Do in an Emergency /Abnormal Situation 23 Releasing the Brakes 23 General Hazards 23 Releasing an E-Stop 24 2.2 Dangers, Warnings, and Cautions 24 Alert Levels 24 Alert Icons 24 Special Information 26 2.3 User's Responsibilities 27 Electrical Hazards 27 Pinch Hazard 27 Magnetic Field Hazards 27 Qualification of Personnel 28 Payload Movement and Transfer 28 Multi-AMR Avoidance 28 2.4 Environment 29 General Environmental Conditions 29 Public Access 29 Clearance 29 Obstacles 30 Safety Scanning Laser Emergency Stop 30 Safety System Overspeed Faults 30 2.5 Intended and Non-intended Use 31 Intended Use 31 11970-000 Rev M LD-60/90 Platform User's Manual 3

Non-Intended Use 32 Platform Modifications 32 2.6 Battery Safety 33 2.7 Additional Safety Information 33 Mobile Robot LD Safety Guide (Cat. No. I616) 33 2.8 Disposal 33 Chapter 3: Setup 35 3.1 Overview 35 Tasks 35 3.2 Transport and Storage 35 Platform 35 Battery 36 3.3 Before Unpacking 36 3.4 Unpacking 36 Battery 37 Platform 37 3.5 Battery 44 3.6 Installing the Battery 44 Removing the Battery Door Skin 44 3.7 Attaching the Payload Structure and Options 48 3.8 Installing the Docking Station 49 Chapter 4: Configuration 57 4.1 Settings and Configuration 57 Maintenance Ethernet Connection 57 Setting Up Wireless Ethernet 58 4.2 Mapping 60 Mapping Overview 60 Mapping Tasks 61 4.3 Acceleration, Deceleration, and Rotation Limits 61 4.1 Configuring for an Overhanging Payload 62 4.4 Supplemental Information 62 Laser Setup 62 Chapter 5: Payload Structures 65 5.1 Safety 65 Warning Label 65 Warning Lights 66 Warning Buzzer 66 4 LD-60/90 Platform User's Manual 11970-000 Rev M

5.2 Considerations 66 Performance 66 Weight 66 Power Consumption 67 Payload Bay Access 67 Dimensions and Design 67 Center of Gravity (CG) 69 5.3 Connections Between Platform and Payload Structure 74 Operator Panel 74 Option Connections 75 Chapter 6: Connectivity 77 6.1 Required Connections 77 6.2 Payload Bay Connections - Core 77 LD Platform Core Front, Upper 79 Core Right, Upper 79 LD Platform Core Rear, Upper 87 Internal LD Platform Core Connections 95 Internal Data Pinouts 97 Internal Power Pinouts 98 Chapter 7: Operation 101 7.1 Operating Environment 101 Intended Use 101 Clearance 101 Obstacles 102 Environment and Floor 102 103 User's Responsibilities 103 Getting Stuck 104 7.2 Typical Operation 104 7.3 Power and Charging 105 Battery Indicators and Controls 105 Docking Station 106 Manually Charging the Battery 108 Balancing the Battery 110 7.4 Operator Panel 111 Screen 111 E-Stop 113 ON Button 113 OFF Button 114 Brake-Release Button 114 7.5 Other Controls and Indicators 114 Light Discs and Beacon 114 11970-000 Rev M LD-60/90 Platform User's Manual 5

LD Platform Core Status Indicators 120 7.6 Sensors 121 Lasers 121 Sonar 121 Other Sensors 122 7.7 Start up 122 Procedure 122 Pendant 122 Chapter 8: Maintenance 125 8.1 Safety Aspects While Performing Maintenance 126 Electrical Hazards 126 Burn Hazard 126 Pinch Hazard 126 Magnetic Field Hazards 126 8.2 Safety Measures Prior and After Maintenance 127 8.3 Lifting the Platform Safely 127 Front Lifting Points 127 Rear Lifting Area 128 8.4 Safety Inspection 129 Warning Devices 129 Warning Labels 129 8.5 Cleaning 132 Work Area Maintenance 132 Platform Cleaning 132 Cleaning Casters on ESD Platforms 133 8.6 Maintaining and Replacing Batteries 134 Maintaining Batteries 134 Replacing the Battery 134 8.7 Replacing Non-Periodic Parts 136 Docking Station Roller and Bearing 137 Docking Station AC Power Fuse 137 Docking Station Internal Fuse 138 Rear Sonar Units 139 Sonar Controller 140 Light Discs 141 Operator Panel 141 Wheels and Tires 142 Drive Assemblies 142 Front or Rear Casters 145 Safety Scanning Laser 147 LD Platform Core 147 E-Stop and Safety Laser Commissioning 148 Accessing the Payload Bay 149 6 LD-60/90 Platform User's Manual 11970-000 Rev M

Removing and Installing Skins 150 Chapter 9: Options 157 9.1 Fleet Manager, for Multi-AMR Coordination 157 9.2 Pendant 157 9.3 Spare Battery 157 9.4 Payload Structure Bumpers 157 9.5 Call Buttons/Door Boxes 157 9.6 Acuity Localization 157 9.7 Touchscreen 158 9.8 Side-Mount Lasers 159 9.9 High-Accuracy Positioning System (HAPS) 159 9.10 Electrostatic Discharge (ESD) Skins 159 Chapter 10: Technical Specifications 161 10.1 Dimension Drawings 161 10.2 Platform Specifications 162 Physical 162 Performance 164 Sensors 165 Battery Outputs 166 10.3 Docking Station Specifications 166 Chapter 11: Glossary 167 Appendix 174 A.1 Parts List 174 11970-000 Rev M LD-60/90 Platform User's Manual 7

03 February, 2018 Corrections and improvements. 04 October, 2018 Corrections and improvements. 05 February, 2019 Corrections and improvements. 06 April, 2021 Corrections and improvements. 11970-000 Rev M LD-60/90 Platform User's Manual 9

This manual covers the setup, operation, and user maintenance of an LD Platform OEM. Other than the basics, this manual does not cover configuration performed using the software that comes with the platform. That is covered in the FLOW Core User's Guide. 1.1 Definitions AMR (Autonomous Mobile Robot): A platform with a payload structure attached to it. This is your complete mobile robot, which will transport your products, parts, or data. When referring to the initial setup, configuration, and connections, we will refer to the plat- form. We use the term AMR when talking about controlling or monitoring the full mobile robot with attached payload structure. Fleet Manager: A system that manages a fleet of AMRs. This includes the Fleet Manager appli- ance and the software that runs on it. Fleet: Two or more AMRs operating in the same workspace. Platform: The most basic part of the robot. It includes the chassis, drive assemblies, sus- pension, wheels, battery, lasers, sonar, an on-board LD Platform core with a built-in gyroscope, navigation software, connectors for interfacing with and powering the payload structure, and the platform skins (external covers). LD Platform OEM: Either the LD-60 or LD-90 platform for 60 or 90 kg payloads. Payload Structure: Anything you attach to the platform. This could be as simple as a box for holding parts or documents that you want transported, or as complicated as a robotic arm that will be used to pick up parts to transport. 1.2 Product Description The LD Platform OEM is a general-purpose, mobile robot platform, designed to work indoors and around people. It is self-guided and self-charging, with an automated docking station. The LD Platform OEM is available in two versions, designed to carry loads up to 60 kg (132 lb) for the LD-60 and 90 kg (198 lb) for the LD-90 platform. Where appropriate, differences between the models are called out. Otherwise, this manual applies to both platforms. NOTE: The LD-90x is a variant of the LD-90, with the drive train of the Cart Transporter CT130. In general, it is not covered in this manual, although it is mentioned in a few places where its higher gear ratio is a factor. 11970-000 Rev M LD-60/90 Platform User's Manual 11

11970-000 Rev M 1.2  Product Description Figure 1-1. LD Platform OEM Layout Callout Description Callout Description A LD Platform Core F Safety Scanning Laser B Platform Sonar Controller G Low Front Laser C Rear Sonar X4 (2 pairs transducers) H Light Disc x2 D Battery Door Skin J Front Bumper E Pendant/Ethernet Access Panel K Front Caster x2, Drive Wheel x2, Rear Caster x2 The platform combines hardware and mobile-robotics software to provide an intelligent, mobile platform to transport your payload. Once it scans its environment, the platform knows where it is within a workspace, and can navigate safely and autonomously to any accessible destination within that workspace, continuously and without human intervention. The LD Platform OEM uses a Safety Scanning Laser as its primary guidance to navigate, com- paring the laser readings to a digital map stored in the platform's Core. 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. For situations that are so dynamic that laser localization becomes difficult, we offer the Acuity Localization option, which localizes the platform using an upward-facing camera to recognize overhead lighting patterns. This is covered in detail in the LD Platform Peripherals User's Guide. This would apply to areas where objects, such as pallets or carts, are moved so frequently that they can’t be mapped, or where they block the laser’s view of the mapped features. For most applications, you will want to customize the platform with a payload structure, attached to the top of the platform, for some combination of picking up, transporting, and

dropping off your parts, samples, or documents. Refer to Payload Structures on page 65 for guidelines on designing a payload structure. The platform provides a variety of interfaces and power connections to support your applic- ation-specific sensors and accessories, mounted on your payload structure. Refer to Con- nectivity on page 77, for information on the available connectors on the platform. Body and Drive The LD Platform OEMs are relatively small, lightweight, and highly maneuverable. Their strong aluminum chassis and solid construction make them very durable, and they have an IP rating of IP20. Each platform uses a two-wheel, differential-drive, with spring-loaded passive casters front and rear for balance. The drive-wheels have independent spring-suspension, with solid, foam- filled tires. The wheels are at the platform's mid-line, so the platform can turn in place. Figure 1-2. Drives in LD Platform (in red) 11970-000 Rev M LD-60/90 Platform User's Manual 13

11970-000 Rev M 1.2  Product Description Figure 1-3. LD Drives What's Included - Basic Components l One fully-assembled LD Platform OEM The platform includes a navigation laser, front bumper with low front laser, and two rear-facing sonar pairs. Each pair is a transmitter and a receiver. l LD Platform Core, includes an integrated computer, running Advanced Robotics Auto- mation Management (ARAM) and a microcontroller with Mobile Autonomous Robot Controller (MARC) firmware. It also runs the SetNetGo OS. The core is housed inside the platform. Figure 1-4. LD Platform OEM Core location The core comes pre-loaded with ARAM and MARC firmware, and the SetNetGo OS.

The core has an internally mounted gyroscope, and each drive wheel has an encoder and a Hall sensor to complement the safety scanning laser. l One battery Shipped separately from the platform to comply with dangerous goods shipping reg- ulations. l Operator Panel The operator panel includes a screen, an E-Stop button, ON and OFF buttons, a brake- release button, and a keyswitch (which you can lock, in either position, and remove the key). Figure 1-5. Operator Panel This will usually be mounted on the user-designed and -built payload structure. An optional touchscreen is available. See Touchscreen on page 158. l Automated docking station This allows the platform to charge itself, without user intervention. It includes a wall- mount bracket and a floor plate, for a choice of installation methods. See Installing the Docking Station on page 49. Also included is a manual charging cord, so you can charge the battery or a spare bat- tery outside of the platform. l Pendant (option) This is used for manually controlling the platform, mostly when making a scan to be used for generating a map. 11970-000 Rev M LD-60/90 Platform User's Manual 15

11970-000 Rev M 1.2  Product Description Figure 1-6. Pendant Connection Point You need at least one Pendant for each fleet of AMRs. Once a map is generated, the map can be shared with multiple AMRs working in the same space. l User documentation Optional Components (Partial List) Refer also to Options on page 157. l Fleet Manager system This system manages a fleet of AMRs, for multi-AMR coordination and job man- agement. It includes the Fleet Manager appliance running the FLOW Core. l Acuity Navigation For dynamic environments in which a map can’t be kept current, or where the area is too large for the navigation laser to see, the robot can use Acuity to navigate using over- head light patterns seen with an upward-facing camera. l Electrostatic Discharge (ESD) Skins ESD skins are black. They are made of a conductive thermoplastic sheet, grounded to the chassis in a way that prevents electrostatic buildup.

Figure 1-7. LD Platform OEM with ESD Skins They do this by providing a path to ground through the skin, to the robot’s chassis and wheels, and provide resistance of 1X109 Ω (measured from skin to ground). These skins are available for robot applications in electrostatic discharge protected areas. l Spare battery A spare battery can help keep the AMR on the job without stopping to re-charge. l Call/Door Box This allows an AMR to be requested from a remote location, or allows the system to con- trol an automated door, so the AMR can pass through it. l High-Accuracy Positioning System (HAPS) Allows an AMR to achieve accurate alignment at a specific location, such as a fixed con- veyor, using a sensor to detect magnetic tape on the floor at that location. For Payload Structure Development l Side-mount obstacle-detection lasers Two lasers that scan the vertical plane on each side of the AMR. These detect obstacles that are at heights the navigation laser can’t see. l Touchscreen Allows an Operator to interact with an AMR at the AMR‘s location, select the AMR’s next goals, check status, etc. Refer to the LD Platform Peripherals User's Guide for details on the touchscreen. 1.3 Software Overview A fair amount of software is involved in setting up and running an LD Platform OEM. The platform comes with the following software: 11970-000 Rev M LD-60/90 Platform User's Manual 17

11970-000 Rev M 1.3  Software Overview FLOW Core The FLOW Core includes all of the software used by the LD Platform OEMs and the Fleet Man- ager appliance. The SetNetGo OS is not part of the suite, but is included. User-Supplied Components / System Requirements PC with Microsoft Windows® l Ethernet (wireless preferred) Wireless is required for an installation with multiple AMRs. l 100 megabytes of available hard-disk storage 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. ARAM also con- trols the battery and light discs, and manages digital and analog I/O, which, along with platform power, provide for integration of application-specific sensors and effectors that the user adds. ARAM manages wired and wireless Ethernet communications with off-board software for external monitoring, development, and systems coordination, including coordination of a fleet of AMRs through the optional Fleet Manager. It also manages integration with other systems, as well as external monitoring, setup, and control with the MobilePlanner application. ARAMCentral ARAMCentral is the software that runs on the Fleet Manager appliance. This software and the appliance combined are referred to as the Enterprise Manager. For a fleet, the ARAMCentral software manages: l the map that all of its AMRs use l the configuration that all of its AMRs use l traffic control of the AMRs This includes multi-AMR avoidance, destination, standby, and dock control. l queuing of jobs for the AMRs l remote I/O, if you are using it MobilePlanner Before your AMR can perform autonomous mobile activities, you need to make a map of its operating space, and configure its operating parameters. MobilePlanner software has the tools to make this map and perform this configuration.

Refer to the separate FLOW Core User's Guide for details on how to map a working space and prepare the virtual elements, goals, routes, and tasks for your application. In particular, refer to: Working With Map Files > Editing a Map File > Using the Drawing Tools > Adding Goals and Docks T After generating the map, the Fleet Manager appliance shares the map between multiple AMRs in one fleet. MobilePlanner, Operator Mode MobilePlanner’s Operator Mode allows you to monitor one or more AMR's activities and have them perform mobile tasks in the mapped space. If you start MobilePlanner without a license dongle, it automatically starts in Operator Mode. Refer to the separate FLOW Core User's Guide for details. Mobile Autonomous Robot Controller (MARC) At the lowest level, a microcontroller running MARC firmware handles the details of platform mobility, including maintaining the platform’s drive speed and heading, as well as acquiring sensor readings, such as from the encoders and gyroscope, and managing the platform’s emer- gency stop systems, bumper, and Pendant. The MARC firmware computes and reports the plat- form’s odometry (X, Y, and heading) and a variety of other low-level operating conditions to ARAM. Touchscreen Support Fleet Operations Workspace Core includes support software for the optional touchscreen. Call/Door Box Support Call/Door boxes have one software component on the boxes and another on either the Fleet Manager or on the single AMR, when there is no Fleet Manager. ARCL Protocol The Advanced Robotics Command Language (ARCL) is a function of ARAM and ARAMCen- tral, which is included as part of this suite. ARCL is a simple text-based command and response server for integrating an AMR (or fleet of AMRs) with an external automation system. ARCL allows you to operate and monitor the AMR, its accessories, and its payload devices over the network, with or without MobilePlanner. SetNetGo The SetNetGo OS runs on the LD Platform core and Fleet 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. It is accessible when connected via the maintenance and management Ethernet ports, or via wireless Ethernet if enabled. 11970-000 Rev M LD-60/90 Platform User's Manual 19

11970-000 Rev M 1.4  How Can I Get Help? NOTE: You can use a web browser to connect directly to the SetNetGo OS on a platform. This allows your IT support to set up the network for you, without using MobilePlanner, which requires a license. 1.4 How Can I Get Help? Refer to the corporate website: http://www.ia.omron.com Support If, after reading this manual, you are having problems with your platform, contact your local Omron Support. Related Manuals This manual covers the installation, setup, operation, and maintenance of an LD Platform OEM. There are additional manuals that cover configuring the platform. See the following table. These manuals are available on the software media delivered with your system. Table 1-1. Related Manuals Manual Title Description Mobile Robot LD Safety Guide (Cat. No. I616) Contains general safety information for all Omron Robotics and Safety TechnologiesLD Platform OEM-based AMRs. FLOW Core User's Guide (Cat. No. I637) Covers MobilePlanner software, the SetNetGo OS, and most of the configuration of an LD Platform OEM. EM 2100 Installation Guide (Cat. No. I634) Covers the Fleet Manager 2100 system, which is hardware and software used for managing a fleet of AMRs. LD Platform Peripherals User's Guide(Cat. No. I613) Covers peripherals, such as the Touchscreen, Call/Door box, and Acuity Localization options. Integrated Toolkit User's Manual (Cat. No. I637) Contains information that is necessary to use the Integration Toolkit facilitating integration between the Fleet Manager and the end user's client application. Including a Debuginfo File If the platform has been set up on a wireless network, skip to SetNetGo Access. Network Setup If the platform has not been set up on a wireless network, you will have to set up a local area network on a separate PC, configured to talk to the platform over a TCP/IP port. Set the IP address to: 1.2.3.5. The Subnet Mask should be 255.255.255.0.

(Windows 7) Start > Control Panel > (Network and Internet >) Network and Sharing Center > Change adapter settings (Windows 10) Start > Settings > Network and Internet > Change adapter options Right-click on the LAN Connection, and click on Properties. In the Properties dialog, scroll to and double-click the Internet Protocol (TCP/IP or TCP/IPv4) option. In Internet Protocol Properties, click both “Use the following…” radio buttons to enable them, and then type in the IP and Subnet mask values. See the following figure: Figure 1-8. Internet Protocol Properties Pop-up Dialog SetNetGo Access 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 M LD-60/90 Platform User's Manual 21

11970-000 Rev M 1.4  How Can I Get Help? Figure 1-9. SetNetGo Pop-up Window 1. From the SetNetGo screen, select: System > Debug Info This will activate the “Download debug info” button. 2. Click Download debug info. 3. Save the downloaded file, and attach it to your support request. NOTE: Before preparing a support request, the AMR's internal clock needs to be correctly set to ensure accurate timestamps in the debug file. For more information, please refer to the FLOW Core User's Manual.

2.1 What to Do in an Emergency /Abnormal Situation Press the E-Stop button (a red push-button on a yellow background) and then follow the internal procedures of your company or organization for a robot emergency situation. If a fire occurs, use a type ABC or type BC extinguisher: foam, dry chemical, or CO2. Releasing the Brakes In case of an emergency or abnormal situation, the AMR can be manually moved. However, only qualified personnel who have read and understood this manual and the Mobile Robot LD Safety Guide (Cat. No. I616) should manually move the platform. 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 AMR. NOTE: The LD-90x has a high gear ratio, and is very difficult to move, even with the brakes released. This NOTE does not apply to the standard LD-90. General Hazards IMPORTANT: The following situations could result in injury or damage to the equipment. l Do not ride on the platform. l Do not exceed the maximum weight limit. Payload decreases as slope increases. l Do not exceed the maximum recommended speed, acceleration, deceleration, or rotation limits. See Center of Gravity (CG) on page 69 and Acceleration, Deceleration, and Rota- tion Limits on page 61. 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. l Do not drop the AMR, run it off a ledge, or otherwise operate it irresponsibly. l Do not allow the AMR to drive through an opening that has an automatic gate/door unless the door and AMR are configured correctly with the Call/Door Box option. Refer to the LD Platform Peripherals User's Guide for details on the Call/Door Box. l Do not get the AMR wet. Do not expose the AMR to rain or moisture. l Do not continue to run the AMR after hair, yarn, string, or any other items have become wound around the platform’s axles, casters, or wheels. l Do not use unauthorized parts. l Do not turn on the platform without the antennas in place. l Although the lasers used are Class 1 (eye-safe), we recommend you not look into them. 11970-000 Rev M LD-60/90 Platform User's Manual 23

11970-000 Rev M 2.2  Dangers, Warnings, and Cautions Releasing an E-Stop ! CAUTION: PERSONAL INJURY OR PROPERTY DAMAGE RISK If the AMR’s E-Stop is triggered, ensure that the cause of the E-Stop is resolved, and all surrounding areas are clear before releasing the E-Stop. After the E-Stop button has been manually released, the AMR will wait until the motors are manually enabled. There are two ways to enable the motors: l Use MobilePlanner l Press the green ON button on the Operator Panel or the GO button on the Touchscreen. Once the motors are enabled, the AMR will wait two seconds and then resume commanded motion, if there is adequate space to maneuver. 2.2 Dangers, Warnings, and Cautions Alert Levels There are three levels of alert notation used in our manuals. In descending order of import- ance, they are: ! DANGER: Identifies an imminently hazardous situation which, if not avoided, is likely to result in serious injury, and might result in fatality or severe property damage. ! WARNING: Identifies a potentially hazardous situation which, if not avoided, will result in minor or moderate injury, and might result in serious injury, fatal- ity, or significant property damage. ! CAUTION: Identifies a potentially hazardous situation which, if not avoided, might result in minor injury, moderate injury, or property damage. Alert Icons The icon that starts each alert can be used to indicate the type of hazard. These will be used with the appropriate signal word - Danger, Warning, or Caution - to indicate the severity of the hazard. The text following the signal word will specify what the risk is, and how to avoid it.

Icon Meaning Icon Meaning ! This is a generic alert icon. Any specifics on the risk will be in the text following the signal word. This identifies a hazardous entan- glement situation. This identifies a hazardous elec- trical situation. This identifies a fire risk. This identifies a hazardous burn-related situation. This identifies a laser emitter eye damage situation. This identifies a hazardous ESD situation. Falling Hazards ! DANGER: PERSONAL INJURY OR PROPERTY DAMAGE RISK The AMR can cause serious injury to personnel or damage to itself or other equipment if it drives off of a ledge, such as a loading dock, or down stairs. Physical Barriers The edge of a loading dock, the entrance to downward stairs, or any other substantial drop that is within the AMR’s expected operating area should be physically marked so that the AMR’s navigation laser will see the barrier, and stop before reaching it. The AMR is designed to detect objects up to 200 mm in height, so the barrier must be at least that tall. However, because of variations in floor flatness, we recommend a barrier that is 250 mm tall. The barrier needs to be continuous at the site, so that the AMR can’t drive around or through it to the dropoff. Logical Barriers You should also use forbidden areas, sectors, or lines with several feet of safety zone (padding) before the actual dropoff, to ensure the the AMR will not try to drive there. These need to be continuous at the site, so that the AMR can’t plan a path to drive around or between them to the dropoff. 11970-000 Rev M LD-60/90 Platform User's Manual 25

11970-000 Rev M 2.2  Dangers, Warnings, and Cautions Special Information There are several types of notation used to call out special information. IMPORTANT: Information to ensure safe use of the product. NOTE: Information for more effective use of the product. Additional Information: Offers helpful tips, recommendations, and best prac- tices. Version Information: Information on differences in specifications for different versions of hardware or software.

2.3 User's Responsibilities Safe use of the AMR is your responsibility. Safe use includes: l Reading the installation and operation instructions, as well as the Mobile Robot LD Safety Guide (Cat. No. I616), before using the equipment. l Ensuring that the environment is suitable for safe operation of the AMR. If a fleet of AMRs (two or more) is installed, the Fleet Manager must be used, unless no two AMRs will ever operate in the same area. l Ensuring that anyone working with or near an AMR has been adequately trained, and is following this guide and the Mobile Robot LD Safety Guide (Cat. No. I616) for safe AMR operation. l Maintaining the AMRs so that their control and safety functions are working properly. Electrical Hazards WARNING: ELECTROCUTION RISK The docking station has AC power inside. Its covers are not interlocked. l Do not use power extension cords with the docking station unless properly rated. l Never access the interior of the platform with the charger attached. l Immediately disconnect the battery after opening the battery compartment door. Avoid shorting the terminals of the battery. l Do not use any charger not supplied by Omron Robotics and Safety Technologies, inc. l If any liquid is spilled on the AMR, power off the AMR, clean up all possible liquid, and allow the AMR to air dry thoroughly before restoring power. Pinch Hazard Platform Skins ! CAUTION: PINCH RISK Strong magnets hold the skins in place, and can pinch you if you are not care- ful. Follow the instructions in the Maintenance chapter for handling skins. Magnetic Field Hazards Platform Skins ! WARNING: MAGNETIC FIELD - MEDICAL IMPLANT RISK Magnetic fields can be hazardous to medical implant wearers. Medical Implant wearers stay back 30 cm from the platform skins, which are held in place with strong magnets. 11970-000 Rev M LD-60/90 Platform User's Manual 27

11970-000 Rev M 2.3  User's Responsibilities Docking Funnel ! WARNING: MAGNETIC FIELD - MEDICAL IMPLANT RISK Magnetic fields can be hazardous to medical implant wearers. Medical Implant wearers stay back 30 cm from the underside of the platform, which is exposed during certain maintenance procedures when the platform is tipped on its side. Qualification of Personnel It is the end-user’s responsibility to ensure that all personnel who will work with or around AMRs 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. As noted in this and the Mobile Robot LD Safety Guide (Cat. No. I616), certain procedures should be performed only by skilled or instructed persons. For a description of the level of qual- ification, we use the standard terms: l Skilled persons have technical knowledge or sufficient experience to enable them to avoid the dangers, electrical and/or mechanical l Instructed persons are adequately advised or supervised by skilled persons to enable them to avoid the dangers, electrical and/or mechanical All personnel must observe industry-prescribed safety practices during the installation, oper- ation, and testing of all electrically-powered equipment. IMPORTANT: Before working with the AMR, every entrusted person must con- firm that they: l Have the necessary qualifications l Have received the guides (both this user’s guide, and the Mobile Robot LD Safety Guide (Cat. No. I616)) l Have read the guides l Understand the guides l Will work in the manner specified by the guides Payload Movement and Transfer You should actively monitor and confirm the status of AMR payload movement, and transfer to or from facility equipment. Payload transfer problems must trigger an AMR E-Stop that prevents the AMR from moving until an Operator resolves the problem and confirms the system is safe to use. Your facility should provide an interlock between the AMR and facility equipment. Multi-AMR Avoidance When multiple AMRs are operating in the same workspace, they must be connected to an Fleet Manager via WiFi. The Fleet Manager helps prevent collisions by sharing AMRs’ dynamic X,

Y, Theta, size, and path-planning information with each other. AMRs then factor this data into their obstacle avoidance. This is not a physical method of preventing collisions, such as inter- locked gateways or barriers. Ultimately, it is the end-user/integrator's responsibility to provide an interlocked method of preventing collisions. IMPORTANT: When two AMRs approach each other directly, neither can prop- erly determine the other's physical size. Their lasers scan several inches into the other's laser slot, returning an incorrect distance estimate. Because of this, any installation that has two or more AMRs working in the same operating space must be managed by the same Fleet Manager. NOTE: Software-based means of collision avoidance are not safety rated. Care should be taken to control traffic flow using map features, and apply proper soft- ware-based clearances. It is the user/integrators responsibility to evaluate if hard- ware methods of collision avoidance are necessary for the application or operating space. These could include physical barriers or interlocks in the oper- ating space that are specific to your application. 2.4 Environment General Environmental Conditions You must always ensure that the platform‘s operating environment remains safe for the plat- form. If there are unsafe areas for the platform, physically block those areas off so the plat- form’s scanning laser will detect the barriers, and the platform will not attempt to drive there. You can also block off these area using forbidden zones in the MobilePlanner software, but that should be in addition to physical barriers. Public Access The platform is designed for operating in indoor industrial or professional environments. It must be deployed in a manner that takes into account potential risks to personnel and equip- ment. The product is not intended for use in uncontrolled areas without risk analysis, for example, areas open to general public access. Use in such areas may require deployment of additional safety measures. Clearance The platform is designed to operate in an environment that is generally level and has no doors or other restricted areas too narrow for the AMR. It is the user’s responsibility to ensure that adequate clearance is maintained on each side of the AMR, so that a person cannot get trapped between the AMR and a wall or other fixed object. You should consult the applicable standards for your area. An exception to side clearance can exist at pickup and dropoff loc- ations where the AMR must get close to conveyors or other fixed objects. The primary direction of travel of the platform is forward. When the platform is turning in place, with no forward movement, the detection of an obstacle in its path of rotation will not trigger an obstacle-detection condition. ! CAUTION: PERSONAL INJURY RISK Personnel who work with or around the AMR should not stand close to the AMR when it is turning in place (with no forward motion). 11970-000 Rev M LD-60/90 Platform User's Manual 29

11970-000 Rev M 2.4  Environment Obstacles If the AMR will be entering high-traffic areas, the user must take appropriate precautions to alert people in those areas that a AMR will enter. If the traffic consists of other machines, the user must adjust the AMR‘s and/or the other machine’s parameters to reduce the risk of a col- lision. Safety Scanning Laser Emergency Stop If an obstacle enters the AMR’s immediate path, the safety scanning laser will trigger an emer- gency stop. After the AMR has come to a complete stop, it will wait a minimum of two seconds before resuming commanded motion, with no human intervention necessary. l If the obstacle is still in the AMR’s path, and there is adequate room, it will first attempt to safely path plan and maneuver around the obstacle. l If the AMR can’t simply maneuver around the obstacle, it will search for another path to reach its goal. l If it cannot find another path, it will react based on the configuration settings. Refer to the FLOW Core User's Manual (Cat. No. I635) for more information. Safety System Overspeed Faults A CPLD Channel 1 or 2 fault, is a system fault, reported by independent safety system to the firmware controlling the robot. Safety standards EN1525 and ANSI B56.5 state that sensing in the reverse direction of motion is not relied on as part of the AMR's safety system. This is because it is used only by software- based obstacle detection, the LD's reverse travel is limited to <300 mm/s If an AMR exceeds the reverse speed limit, the safety system will report a fault. During normal operation, the AMR will perform a controlled stop. This fault may also occur when moving the AMR manually using its brake-release function. In this the case the safety system cannot stop the LD Platform because motor power is disabled. Normal operation can continue when the fault is cleared. If this error is occurring, you may decrease the max speed parameter in question. In the Robot Physical section and Absolute Movement Maximums sub-section of Robot Configuration, the parameters AbsoluteMaxTransVel and AbsoluteMaxTransNegVel can be set to control the maximum velocity of the robot. These parameters cannot be set higher than the forward and reverse limit of the hardware platform currently being used. Lowering these parameters will prevent the robot from moving at a speed that would cause an overspeed fault. Following table displays overspeed fault conditions. NOTE: The motion settings such as AbsoluteTransVelMax, that limit maximum allowable velocities in the robot software (ARAM), have no effect on the safety system.

Table 2-1. Overspeed Limits for Different LD Models Model Forward recom- mended Speed (mm/s) Reverse recom- mended Speed (mm/s) Forward Limit (mm/s)i Reverse Limit (mm/s) LD-60 2050 250 2100 300 LD-90 1525 175 1575 225 LD- 90x 1000 100 1050 150 LD- 105CT 1525 175 1575 225 LD- 130CT 1000 100 1050 150 LD- 250 2050 175 2100 225 i The forward limits indicate where the safety system will report a fault. These speeds may not be achievable by the robot under its own power. The max forward speed, should always be set to the defined maximum (or lower) speed, found in the default configuration shipped with the robot. 2.5 Intended and Non-intended Use Intended Use The LD Platform OEM is designed to operate in indoor industrial or professional envir- onments. In general, if a wheelchair can safely and easily navigate the environment (open, with gentle slopes), then it is safe for the robot. Guidelines for safe use: l Clean, dry floors — floors that are regularly swept, and routinely kept free of debris and liquids. IMPORTANT: Since the robot is not water proof, floors must be kept rel- atively dry, as any dampness can cause the wheels to slip. This can cause problems for braking as well as navigation. Refer to ISO Standard 13849-2 for instructions on how to test the robot in non-standard environments. l Gentle slopes — wheelchair ramps are a good example of the amount of slope the robot can safely climb. l Temperature — 5 to 40°C, with a recommended humidity range of 5% to 95%, non-con- densing. 11970-000 Rev M LD-60/90 Platform User's Manual 31

11970-000 Rev M 2.5  Intended and Non-intended Use Non-Intended Use You must deploy the robot in a manner that takes into account potential risks to personnel and equipment. The product is not intended for use in uncontrolled areas without risk ana- lysis, for example, areas open to general public access. Use in such areas may require deploy- ment of additional safety measures. The LD Platform OEMs are not intended for use in any of the following situations: l In hazardous (explosive) atmospheres l In the presence of ionizing or non-ionizing radiation l In life-support systems l In residential installations l Where the equipment will be subject to extremes of heat or humidity l In mobile, portable, marine, or aircraft systems NOTE: The gyroscope used to assist in platform navigation requires a sta- tionary environment for optimum accuracy. Therefore, we do not recom- mend them for use on a ship, train, aircraft, or other moving environment. IMPORTANT: The instructions for operation, installation, and main- tenance given in this guide and the AMR user’s guide must be strictly observed. Non-intended use of LD Platform OEMs can: l Cause injury to personnel l Damage itself or other equipment l Reduce system reliability and performance IMPORTANT: Since the robot is not water proof (IP20), floors must be kept relatively dry, as any dampness can cause the wheels to slip. This can cause problems for braking as well as navigation. Refer to 13849-2 for instructions on how to test the robot in non-standard environments. If there is any doubt concerning the application, ask your local Omron Support to determine if it is an intended use or not. Platform Modifications If the user or integrator makes any changes to the platform, it is their responsibility to ensure that there are no sharp edges, corners, or protrusions. Note that any change to the platform can lead to loss in safety or functionality. The user or integrator must ensure that all safety features are operational after modifications.

2.6 Battery Safety ! CAUTION: BATTERY DAMAGE RISK After receiving the battery, immediately charge to a full charge to avoid dis- charging the battery below a usable state, which would require battery replace- ment. Effective April 1, 2016, IATA regulations (UN 3480, PI 965) require that air-shipped lithium ion batteries must be transported at a state of charge not exceeding 30%. To avoid total discharge, fully charge the battery immediately upon receipt. NOTE: If the battery was not sent by air, it may be fully-charged. Safety Precautions l Store batteries upright at: nn One month: +5 to 45°C nn One year: 20 to 25°C l Never expose the battery to water. If the battery is leaking, submerge in mineral oil and contact your local Omron Support. l In case of fire, use a type ABC or type BC extinguisher: foam, dry chemical, or CO2. Maintenance Every six months: l Inspect battery for damage or leaks l Place battery on a charger and allow to fully balance (battery shows all solid LEDs when fully balanced). For more information please refer to Balancing the Battery on page 110 2.7 Additional Safety Information Contact your local Omron Support for other sources of safety information: Mobile Robot LD Safety Guide (Cat. No. I616) The Mobile Robot LD Safety Guide (Cat. No. I616) provides detailed information on safety for LD Platform OEMs. It also gives resources for information on relevant standards. It ships with each platform. 2.8 Disposal Dispose of in accordance with applicable regulations. Customers can contribute to resource conservation and protecting the environment by the proper disposal of WEEE (Waste Electronics and Electrical Equipment). All electrical and 11970-000 Rev M LD-60/90 Platform User's Manual 33

11970-000 Rev M 2.8  Disposal electronic products should be disposed of separately from the municipal waste system via des- ignation collection facilities. For information about disposal of your old equipment, contact your local Omron Support.

3.1 Overview In general, setup is physically and logically preparing the platform, configuring the wireless network, and installing the docking station. Physically preparing the platform includes attach- ing your payload structure to the platform. 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 FLOW Core User's Guide. Tasks Most of the steps in setting up a platform are straightforward. You need to tailor the design and construction of the payload structure to your application. l Install the docking station. See Installing the Docking Station on page 49. l Fully charge the battery, either outside of or inside the platform. l Install the battery in the platform. See Installing the Battery on page 44. l Set up the wireless Ethernet for the platform. See Settings and Configuration on page 57. l Design, build, and install a payload structure to suit your application. See Payload Struc- tures on page 65. This is the most involved task in getting your AMR working the way you want. l Configure the AMR for your environment, so it can perform useful tasks. This includes generating the map that the AMR will use for its navigation. Mapping is covered briefly in Mapping on page 60 and in detail in the FLOW Core User's Guide. 3.2 Transport and Storage Platform Ship and store the platform in a temperature-controlled environment, from -20 to 60°C . The recommended humidity range is 5% to 95%, non-condensing. It should be shipped and stored in the supplied shipping crate, which is designed to prevent damage from normal shock and vibration. You should protect the crate from excessive shock and vibration. Use a forklift, pallet jack, or similar device to move the shipping crate. Always ship and store the platform in an upright position in a clean, dry area that is free from condensation. Do not lay the crate on its side or any other non-upright position. This could damage the platform. The crate with pallet for the platform measures 1441 x 787 x 762 mm , and weighs 70 kg . 11970-000 Rev M LD-60/90 Platform User's Manual 35

11970-000 Rev M 3.3  Before Unpacking Battery NOTE: If you purchased a spare battery, this section applies to it also. Storage Requirements If the battery needs to be stored, the manufacturer recommends: ll One month: +5 to 45°C ll One year: 20 to 25°C The battery should start storage fully-charged. If storing the battery for an extended period, recharge the battery periodically to avoid total discharge, which would damage the battery. Fully recharging a battery every six months is sufficient to keep it charged enough to avoid damage. Always store batteries upright. Maintenance Every six months: l Inspect the battery for damage or leaks l Place the battery on a charger and allow to fully balance (battery shows all solid LEDs when fully balanced). Fully recharging a battery every six months is sufficient to keep it charged enough to avoid damage. 3.3 Before Unpacking Carefully inspect all shipping boxes and containers for evidence of damage during transit. If any damage is indicated, request that the carrier’s agent be present at the time the container is unpacked. 3.4 Unpacking Before signing the carrier’s delivery sheet, compare the actual items received (not just the pack- ing slip) with your equipment purchase order. Verify that all items are present and that the shipment is correct and free of visible damage. l If the items received do not match the packing slip, or are damaged, do not sign the receipt. l If the items received do not match your order, contact your local Omron Support imme- diately. Retain the containers and packaging materials. These items may be necessary to settle claims or, at a later date, to relocate the equipment.

Battery The battery ships in a separate container, not inside the platform. The battery box measures 311 x 540 x 457 mm . Locate the cardboard carton that contains the battery before continuing. Refer to the following figure. Figure 3-1. Battery Shipping Carton Remove the battery from the carton. The battery has recessed hand grips at the ends of the bat- tery, for lifting. Platform The platform comes packed in a box, wrapped with cling wrap, and secured by plastic bands on a pallet. Refer to the following figure. The Docking station and Starter kit, if present, are packed in a separate box sitting on top of the platform box. The Docking station carton's dimensions in cm are 50.165 x 50.169 x 41.103. 11970-000 Rev M LD-60/90 Platform User's Manual 37

11970-000 Rev M 3.4  Unpacking 1. Remove plastic bands and unwrap the cling film. Figure 3-2. Boxes Ship Wrapped with Cling Wrap 2. Unload the top box, if present. This contains the Docking station and Starter kit. Figure 3-3. Unloading Top Box

3. Open lower box containing the Platform. Figure 3-4. Padding at the Corners 4. Remove the rectangular box cap, placed on top of the Platform for protection. Figure 3-5. Rectangular Box Cap 11970-000 Rev M LD-60/90 Platform User's Manual 39

11970-000 Rev M 3.4  Unpacking 5. Remove all corner padding. Figure 3-6. Corner and Top Padding 6. Lift the outer box up. Figure 3-7. Outer Box Slides up 7. Lift the robot using two people holding the grips at each side of the cardboard carrier. WARNING: Heavy object. To avoid muscle strain or back injury, lifting with two people and proper lifting techniques is required.

Figure 3-8. Robot Being Lifted by its Cardboard Carrier 8. Remove the plastic protective sheet. Figure 3-9. Protective Plastic Sheet Being Removed 11970-000 Rev M LD-60/90 Platform User's Manual 41

11970-000 Rev M 3.4  Unpacking 9. Roll the robot off of the cardboard and onto the floor. Since the wheels are pinned up, the LD is just sitting on its casters, so no brake release is needed. Figure 3-10. Robot Rolled onto the Floor 10. If the robot came with a top plate, connect the antennas as shown in following figure. Figure 3-11. Robot Antennas Circled in Red 11. Remove the two wheel pins that held the wheels up during transit. The wheels are pinned up to protect the motors and drives. When you receive your plat- form, the drive wheels will not touch the ground until you remove the wheel pins. For each side of the platform: a. Remove the platform side skins. See Removing and Installing Skins on page 150.

b. 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. Figure 3-12. Wheel Pin Hole (Yellow Arrow) Figure 3-13. Wheel Pin c. Reinstall the two side skins. 12. Install the battery in the platform. The platform brakes cannot be released until the battery is installed. Refer to Installing the Battery on page 44. 11970-000 Rev M LD-60/90 Platform User's Manual 43

11970-000 Rev M 3.5  Battery 3.5 Battery NOTE: If you purchased a spare battery, this section applies to it also. Storage Requirements If the battery needs to be stored, the manufacturer recommends: ll One month: +5 to 45°C ll One year: 20 to 25°C The battery should start storage fully-charged. If storing the battery for an extended period, recharge the battery periodically to avoid total discharge, which would damage the battery. Fully recharging a battery every six months is sufficient to keep it charged enough to avoid damage. Always store batteries upright. Maintenance Every six months: l Inspect the battery for damage or leaks l Place the battery on a charger and allow to fully balance (battery shows all solid LEDs when fully balanced). Fully recharging a battery every six months is sufficient to keep it charged enough to avoid damage. 3.6 Installing the Battery Your platform comes fully-assembled, less the battery. NOTE: Air shipping regulations require that the battery be shipped separately. Removing the Battery Door Skin Accessing the battery compartment requires removing the platform's rear battery skin, which is held in place with magnets. ! CAUTION: PINCH RISK The magnets holding the skin in place are strong enough to pinch you if you are not careful. 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 3-14. Pulling the Bottom of the Rear Platform Cover Out Figure 3-15. Lowering the Battery Door Platform Skin 11970-000 Rev M LD-60/90 Platform User's Manual 45

11970-000 Rev M 3.6  Installing the Battery Refer to Removing and Installing Skins on page 150 for details on removing and installing skins. 1. Remove the battery door skin. a. Pull the bottom of the skin away from the platform chassis. This is easiest if you grip it with two hands, toward the center. b. Lower the skin down enough that its top tab clears the rear skin. 2. Unlatch and open the battery compartment door. 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. The battery has recesses at the front and the back for easier lifting. Figure 3-16. Battery Recesses, for Gripping A single person can lift and replace the battery. Use one hand in each of the grips, as shown in the following figure.

Figure 3-17. 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. Figure 3-18. Battery Cable Connectors, (A) Battery Charge Level, (B) Power Connector, (C) Data Connector 5. Close the battery compartment door to secure the battery in place. Closing the battery compartment door holds the battery tightly in place to keep it from shifting inside the compartment. 6. Reinstall the battery door platform skin. 11970-000 Rev M LD-60/90 Platform User's Manual 47

11970-000 Rev M 3.7  Attaching the Payload Structure and Options 3.7 Attaching the Payload Structure and Options Payload Structure You will need to attach the payload structure you designed and built to the platform. Because the payload structure is user-designed, we only provide the hole pattern for how you can attach it. Refer to Dimensions and Design on page 67. The connections, both power and signal, that are available on the platform are covered in Con- nectivity on page 77. Options You may need to attach any accessories that were shipped separately or detached for safety. See Payload Structures on page 65. NOTE: There must be either an E-Stop jumper or a user-supplied E-Stop button attached to the E-STOP port (User Interface) for the platform to function. The jumper is provided as P/N 12730-000L. An E-Stop button would be user-sup- plied. Refer to User Interface on page 90. NOTE: See the following figure. Figure 3-19. E-Stop Jumper on LD Platform Core

Warning Buzzer The Light Pole connector on the core can power a warning buzzer. You can install it in either the platform or in a location of your choice in your payload structure. In either case, the buzzer will sound intermitently whenever the AMR is moving in reverse. How you install the buzzer in the payload structure depends on the payload design, and is not covered here. To conform to applicable standards, the buzzer must be audible in all oper- ating conditions and environments. The buzzer is configured with MobilePlanner, using the following parameters: NOTE: These parameters are only available with the Mobile Robot Software FLOW Core 1.0 and later. Table 3-1. Default Parameters Parameter Default Setting DriveWarningEnable True NOTE: If this parameter is set to False, the remaining parameters will not be displayed. IMPORTANT: Disabling the DriveWarn- ingEnable parameter violates the JIS D 6802 standard. It is strongly recommended that you leave this set to True. DoNotWarnDrivingForwards False DoNotWarnTurningInPlace False DriveWarningLoudMilliseconds 500; If DriveWarningQuietMilliseconds is 0, this parameter is irrelevant. DriveWarningQuietMilliseconds 500; This is the length of time between warnings that the buzzer is silent. Setting this to 0 will cause a continuous warn- ing. Warning Light Each AMR must have a readily visible flashing light, to warn people that the AMR is ready to move or is moving. The exact nature of this light depends on how the payload is designed and built. The user-suppled warning light can be driven from the Light Pole connector on the core. You should ensure the light remains visible under all operating conditions, so that, regardless of your payload structure design, any people near the AMR can see it. 3.8 Installing the Docking Station The automated docking station can either manually or automatically charge your platform's battery. 11970-000 Rev M LD-60/90 Platform User's Manual 49

11970-000 Rev M 3.8  Installing the Docking Station The docking station sits on the floor. You can attach it to a wall with the wall bracket, directly to the floor with screws through its base, or it can sit stand-alone on the floor with the floor plate, all of which will keep the docking station from moving when the AMR docks. Each docking station includes both the wall bracket and floor plate. NOTE: It is very important that you mount the docking station with one of these methods, or the AMR will simply move the docking station when it tries to dock, rather than docking successfully. For all mounting methods: l Place the docking station near an AC outlet with 1 - 2 m of clear space around the unit to ease the AMR’s maneuvers, especially automated ones, onto the docking station. l The top of the docking station foot is spring-loaded, and lifts off of the bottom of the base slightly to accommodate variations in the floor surface. The weight of the AMR will push the top of the foot down. Requirements l 100-240 VAC, 50/60 Hz, 8 A The station's power converter automatically detects the source voltage. l Ambient operating temperature: 5 to 40°C l 5% to 95% humidity, non-condensing Wall Bracket Mount 1. Attach the docking station mounting bracket to a wall, with the bottom edge of the bracket 98±20 mm above the floor, using user-supplied anchors and screws. There is lee- way, so you can adjust the height a little bit.

Refer to the following figure: Figure 3-20. Docking Station, (A) Wall Mount and (B) Wall Mount Bracket (units are mm [inches]) 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. 11970-000 Rev M LD-60/90 Platform User's Manual 51

11970-000 Rev M 3.8  Installing the Docking Station Figure 3-21. Rear View of Docking Station with Wall Bracket 3. Lower the docking station down, so the two bolts on the back of the docking station slide into the bracket, to secure the docking station to the wall. Floor-mount, without Floor Plate Screw the base of the docking station directly to the floor, using three user-supplied screws. For dimensions of the available holes in the base, refer to Figure 3-20. We recommend M5 self- tapping screws for this. Floor-mount, with Floor Plate This mounting method uses the floor plate. The floor plate is not shipped attached to the dock- ing station, so you must attach it for this type of mount. It will be in the crate with the plat- form, right behind the docking station. Attaching the Floor Plate Refer to the following figures. 1. Tip the docking station onto its back, so you can access the underside. 2. Remove the two lowest screws (M4 x 12 flat-head), if present. In the following figure, these screws are circled. The location of the third screw hole is also circled. 3. Attach the floor plate to the base of the docking station with three M4 x 12 flat-head stainless steel screws. The floor plate comes with three screws, so you will have two spares. The docking station and floor plate do not need to be attached to the floor, as the weight of the AMR on the floor plate will keep the docking station from moving.

Figure 3-22. 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 M LD-60/90 Platform User's Manual 53

11970-000 Rev M 3.8  Installing the Docking Station Figure 3-23. Docking Station, Mounted on Floor Plate Figure 3-24. Docking Station Floor Plate Dimensions (units are mm [inches])

All Mounting Methods Install the power cord and turn the power switch to ON. The power switch is next to the power plug. The blue power LED indicator should light. Docking Station Contact Adjustment The contacts on the docking station have five height settings. The station ships with the height in the highest setting. The height can be changed by tilting the station enough to see the bot- tom of the base, making the adjustment accessible. Additional Information: Squeeze and keep the docking station’s foot against the base to make this adjustment easier. Adjust the height of the contacts by using the pull-knob on the bottom of the dock. The height changes by 4 mm for each notch. See the following figure. Figure 3-25. Docking Station Contact Adjusting Pull-Knob 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 M LD-60/90 Platform User's Manual 55

This chapter describes the steps needed to configure your new platform. The LD Platform OEM comes with firmware and on-board software installed. The platform navigates using a map, generated with the MobilePlanner software. The map must be generated and downloaded to the platform before you can perform the steps covered in the Operation chapter of this manual. Though the platform is autonomous, you can monitor and manually control the robot through the MobilePlanner software, which also allows you to configure parameters. The FLOW Core User's Manual (Cat. No. I637) covers using this software, and downloading a map to the plat- form. IMPORTANT: Turn off the software when not in use. Other setup, mostly for communication, is handled with the SetNetGo OS, which is accessed through the MobilePlanner software. It can also be accessed through a direct connection, so your IT support can set up your wireless without needing the MobilePlanner license. 4.1 Settings and Configuration Maintenance Ethernet Connection To prepare your platform for autonomous mobile operation, attach a PC to the platform’s main- tenance Ethernet port, and connect with the SetNetGo OS through the MobilePlanner SetNetGo interface. Figure 4-1. (A) PC, (B) Cat 5 Ethernet, and (C) Maintenance Access Panel If you do not have wireless yet, you can connect MobilePlanner through the wired Ethernet port (Maintenance LAN) and set up the wireless network later. 11970-000 Rev M LD-60/90 Platform User's Manual 57

11970-000 Rev M 4.1  Settings and Configuration The core is preset and tested on a Class-C network (netmask for all ports 255.255.255.0). The Maintenance Ethernet port is set to IP address 1.2.3.4 and the wireless IP comes set with an AP-based (“managed”) SSID of “Wireless Network”, unsecured. Consult with your network systems administrator before modifying these network details through the SetNetGo OS. The User LAN port is set to IP address 10.10.10.10. Refer to the FLOW Core User's Guide. The Maintenance Ethernet plugs into the left side of the platform, under the small access panel at the upper right corner of the platform (the Pendant 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. The Maintenance Ethernet port is permanently set to IP address 1.2.3.4, with a netmask of 255.255.255.0, for direct, wired access to the onboard systems. Access to the SetNetGo OS is always enabled on this interface, and does not require a password or a license. Accordingly, when accessing the port, manually set the off-board computer’s Ethernet to an IP 1.2.3.x, where x is any number 1 through 254 except 4, and with a netmask of 255.255.255.0. No special DNS or gateway settings are needed. Attach a pass-through or cross-over CAT5 (or better) Ethernet cable between the PC and the Maintenance Ethernet port of the platform. The platform Ethernet is Auto-MDIX, and will detect the type of cable you are using. Start the Network Connections: Local Area Connection dialog for the ETH 0 Ethernet port: (Windows 7) Start > Settings > Network Connections > Local Area Connection (Windows 10) Start > Settings > Network and Internet > Change Adaptor Options > Local Area Connection Select Properties, and, from its dialog, scroll to and double-click the Internet Protocol (TCP/IP or TCP/IPv4) option. In the Internet Protocol (TCP/IP) Properties dialog, click both ‘Use the fol- lowing…’ associated radio buttons to enable them, and then type in the IP and Subnet mask values. Setting Up Wireless Ethernet Use SetNetGo OS to configure the wireless Ethernet, among other things. Refer to the FLOW Core User's Guide for details. NOTE: The AMR can work without wireless Ethernet. If there are no other AMRs that it needs to know about (and avoid), you can have an installation in which the AMR simply uses its map, knows its patrol route, and performs without human intervention. NOTE: For all of the following settings, work with your IT group to verify the correct IP, radio, and security settings. The following applies to the wireless Ethernet supported by the platform.

Access the SetNetGo OS through the MobilePlanner software: MobilePlanner > SetNetGo > Networking NOTE: You can use a web browser to connect directly to the SetNetGo OS on a platform. This allows your IT support to set up the network for you, without using MobilePlanner which requires a license. 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. Radio Settings l SSID (e.g. AGV) Fill in the appropriate wireless SSID for your wireless network. The SSID is case sensitive. l Mode Managed/STA, Ad-Hoc, or Master/AP l Radio Mode Auto, 802.11a, 802.11b, 802.11g, 802.11n, 802.11ac l Channel Set l Wireless Watchdog IP Address l Wireless Watchdog Max Count 0 disables this. Security Settings Encryption: l Disabled l WEP 64-bit l WEP 128-bit l TKIP/RC4 l CCMP/AES l TKIP/CCMP/AES Authentication: l OPEN l WPA-PSK 11970-000 Rev M LD-60/90 Platform User's Manual 59

11970-000 Rev M 4.2  Mapping l WPA2-PSK WEP l WEP Key Number (Key 1 - Key 4) l WEP Keys WPA/WPA2-PSK l PSK l PSK-Type (Passphrase or Raw Hex) Click Apply for your changes to take effect. Wireless Coverage There must be wireless coverage for multi-AMR installations, or in areas where you wish to send new commands to or receive status updates from the AMR. For these cases, ensure you have adequate wireless coverage. Because of the possible vari- ations in different environments, we don’t specify what components or techniques to use. We do suggest that you conduct a comprehensive site survey to ensure adequate wireless cov- erage. You can test your wireless setup coverage by trying to ping it from various locations. >= -40 dBm is the ideal WiFi signal strength, -60 dBm is the recommended minimum. Bandwidth Considerations The typical bandwidth for a fleet averages about 50 Kbps/AMR. This would increase if the AMR is connected to the Fleet Manager, and is actively viewed by MobilePlanner. This num- ber can increase or decrease depending on the types of commands and debugging tools that are enabled in MobilePlanner. In any case, the bandwidth is not likely to exceed 500 Kbps per AMR (0.5 Mbps). 0.5 Mbps per AMR would easily fit within the capabilities of access points (>=54 Mbps). If you have multiple access points, this number becomes even less of a concern. Also, other factors will affect the bandwidth requirements, such as if the AMR supports a cam- era on top and streams the video through the AMR’s WiFi interface. Based on such pos- sibilities, the bandwidth usage will vary by application. 4.2 Mapping Mapping Overview Out-of-the-box, the platform does not have a working map, and its wired or wireless network settings are unlikely to match your network. Consequently, it will not do anything autonom- ously. To have your platform perform autonomously, you need to make a map of its operating space. Use the MobilePlanner application to make maps. You develop maps with the MobilePlanner software. You can add a variety of virtual elements that modify the behavior of an AMR. Virtual elements include forbidden lines and areas, speed zones, preferred-direction zones, and more, all working to help you configure your work- space for efficient and safe performance of your mobile application. You can also create your own virtual elements for application-specific AMR-workspace interactions.

Maps contain a variety of goals, routes, and tasks that comprise the destinations and activities of the AMR in the workspace. Refer to the FLOW Core User's Guide. Mapping Tasks l Install the automated docking station before you create a map file. Its distinctive front angle will be helpful in locating it on the map. l Drive the platform with the Pendant to make a floor plan scan. We recommend that you drive it to and position it onto its automated docking station to prepare for the next steps. l Load that floor plan scan into the MobilePlanner software on your PC to make and edit a map. l Add goals and docks to your map. In particular, refer to: Working With Map Files > Editing a Map File > Using the Drawing Tools > Adding Goals and Docks in the FLOW Core User's Guide. l Transfer the working map to the Fleet Manager, or back to the platform, if you have only one AMR, to perform autonomous mobile actions. The Fleet Manager will automatically download the new map to each AMR in your fleet as soon as the AMR becomes idle. l Save map collections and deploy your AMR in any of your working spaces by selecting the appropriate map file. 4.3 Acceleration, Deceleration, and Rotation Limits ! CAUTION: PROPERTY DAMAGE RISK If you change AbsoluteMaxTransVel, you should commission the AMR before putting it into service. Reducing the absolute max allowable linear and rotational acceleration, deceleration, and speed will affect the size of the allowable CG envelope, but could do so in non-obvious ways. For use-cases where the payload can’t be decreased, or the CG can’t be brought within the recommended limits, our Field Service department can work with your system designer to input your needs into our models. Contact your local Omron Support for details. From the MobilePlanner software, Config: Robot Physical > Absolute Movement Maximums Check the Show Expert + Parameters to see or modify these parameters. The first four parameters and AbsoluteMaxRotVel are not likely to have significant impact on the AMR‘s stability. The Accel and Decel parameters will have a major impact. In certain cases, if the payload is lopsided, you might need to adjust the AbsoluteMaxRotVel. The limits and defaults for these parameters are listed in the following table. 11970-000 Rev M LD-60/90 Platform User's Manual 61

11970-000 Rev M 4.1  Configuring for an Overhanging Payload Parameter Default Min Max AbsoluteMaxTransVel (LD-60) 1800 1 2500 AbsoluteMaxTransVel (LD-90) 1350 1 2500 AbsoluteMaxTransNegVel (LD-60) -280 -2500a -1 AbsoluteMaxTransNegVel (LD-90) -210 -2500a -1 AbsoluteMaxTransAccel 1000 1 2000 AbsoluteMaxTransDecel 2000 1 2000 AbsoluteMaxRotVel 180 1 180 AbsoluteMaxRotAccel 360 1 360 AbsoluteMaxRotDecel 360 1 360 a: Although the Min value, in software, is -2500, the hardware safety system on the platform will generate a fault if the velocity is anything from -300 to -2500 mm/s. 4.1 Configuring for an Overhanging Payload When configuring a robot with an overhanging payload, certain additional precautions and settings must be made to ensure safety and proper function. To prevent potential danger in the case of a safety zone intrusion or emergency stop button press, the robot's deceleration must be dictated by the user-settable parameter Configuration: Robot Physical: Absolute Movement Maximums: AbsoluteMaxTransDecel. Additionally, the size of the robot's default safety zones are programmed directly into the laser hardware and are dependent on the following set of factors: l Using the robot within its specified payload and center-of-gravity limits l Using the robot on surfaces that adhere to the robot’s specified floor flatness, levelness, slope, cleanliness l The floor coefficient of friction with robot drive wheels l The AbsoluteMaxTransDecel setting l The footprint of the robot without any overhangs If any of these items change, the user is responsible for verifying that the robot will stop at any speed before hitting a dark colored target representative of the smallest potential obstacle in their environment. Introducing overhanging payloads or reducing the AbsoluteMaxTransDecel will directly affect safety zone sizes. Users must increase safety-zone sizes and re-test stopping ability at all speeds if either of these two parameters are changed. Users should not expect the robot to stop safely if these factors are changed without also increasing the size of the safety zones. 4.4 Supplemental Information Laser Setup For most installations, the defaults for the lasers should be appropriate, and will not require any user adjustment. Laser setup and configuration for optional or additional lasers is covered

in the LD Platform Peripherals Guide, Chapter 7. The specific parameters for these lasers will come in the model config file that ships on the unit, or can be provided on request if needed. l Laser_1 Settings are for the main scanning laser, used both for safety and localization. l Laser_2 Settings are for the low front laser (TiM). l Laser_3 Tilted and Laser_4 Tilted are for the side lasers (TiM). 11970-000 Rev M LD-60/90 Platform User's Manual 63

Everything that you attach to the LD Platform OEM is referred to as the payload structure. In some custom cases, we design and build the payload structure. In most cases, you will need to design a payload structure that suits your application. Figure 5-1. LD Platform OEM-Compatible Payload Structure Examples, (A) Courier, (B) Smif Pod Transporter, (C) Cart Transporter, (D) User Custom, and (E) LD Platform OEM The image above shows some of the available pre-designed Omron payload structures, as well as an outline of a user custom-designed payload structure. The platform provides the mobility and navigation you will need, as well as power and I/O connections between the platform and your payload structure, so the two can work effectively together. This chapter discusses considerations to be aware of when you design a payload structure for your platform. 5.1 Safety Warning Label A No Riding label ships, unattached, with each platform. You must place this in a prominent location on the payload, so operators will see it. 11970-000 Rev M LD-60/90 Platform User's Manual 65

11970-000 Rev M 5.2  Considerations Other warning labels are applied at the factory. Warning Lights To comply with CE requirements, an AMR must have a readily-visible warning device, such as a flashing light, when it is either ready to move or is moving. The platform comes with light discs on each side that do this. The core also provides an output, so you can add your own warning device. This may be necessary for taller payloads, which may make the side light discs not always visible. The core has a Light Pole connector, which is covered in LD Plat- form Core Rear, Upper on page 87. This can be used to drive a warning device in a more prom- inent location for taller AMRs. Warning Buzzer The core provides an output for driving a warning buzzer. The default behavior of the buzzer is to sound when the AMR is moving in reverse, or when the safety systems are off. Its beha- vior is configurable by the user, so it can be used to sound, for example, whenever the AMR is moving. 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 to the platform tends to have less effect on run-time than adding electrical power requirements. Operating your AMR on carpet will have a significantly shorter run-time than on hard sur- faces. Weight On a hard surface, a certain amount of extra weight will not shorten the AMR's run-time very much. When adding a payload structure with substantial weight, the center of gravity of the entire AMR needs to be considered. This is particularly important if you intend to equip the platform with a robot arm, which would be lifting items off-center from the platform. A heavy payload structure, with most of its weight concentrated just above the platform, will be much more stable than the same weight payload structure in which the weight is either off-center or high above the top of the platform. NOTE: The weight of your payload structure plus the weight of the parts it is carrying must not exceed the rated capacity of your platform.

Power Consumption Using devices on your payload structure that consume significant power will noticeably shorten the run-time of the AMR. You should try to minimize such power consumption whenever possible. The battery is rated at 1800 W*hr (1.8 kWh). Examples of power-con- suming payload structures would be one with a robot arm attached, or any motorized fixture, such as a conveyor, as part of the payload structure. The standard Operator screen and light discs consume some power, but are not significant compared to the rest of the platform. Payload Bay Access The area between the platform and your payload structure is the payload bay. You will occa- sionally need to access the platform and the connectors in the payload bay. This is where you can access all of the platform power and I/O connectors. It's a good idea to provide for access to this when designing your payload structure. If the payload structure is small and light enough, you can lift it off of the platform to access the connectors in the payload bay. Always take care to not damage any wiring between your payload structure and the platform. A larger, heavier payload structure might need some form of hinge, so you can tilt the payload structure out of the way while you access the payload bay. You should consider harness length and pos- ition so you can accomplish this without disconnecting or damaging any connectors or har- nesses. Dimensions and Design Keep your payload structure no wider and no longer than the platform. Add whatever features your application needs above the platform itself. Keep all of the payload structure higher than the top of the platform. If the payload blocks any of the platform's sensors, it won't be able to function correctly. This is critical in the case of the lasers. If you have the optional side-mount lasers for your payload structure, ensure that the payload structure will not interfere with the laser's beams. Typically, the side lasers are moun- ted on the sides of the payload structure so that they protrude enough to miss the payload structure itself with their laser beams. Many customers have found it prudent to build a protective guard over the side lasers, to pro- tect the lasers from impact. Ensure that any such guard does not block the laser beam. 11970-000 Rev M LD-60/90 Platform User's Manual 67

11970-000 Rev M 5.2  Considerations Figure 5-2. PlatformDeck Dimensions, with M6-threaded Holes (units are mm) Callout Description A Upper Mounting Surface B 24x M6 Threads C Lower Mounting Surface 40.7 [1.60] below Upper Surface In the preceding figure, all of the M6 self-clinching nuts (B) have a torque limit of 3 N·m . ! CAUTION: PROPERTY DAMAGE RISK Do not exceed this torque when attaching your payload structure to these self- clinching nuts. See NOTE that follows.

Figure 5-3. PlatformDeck Dimensions, with M5-threaded Holes (units are mm) Callout Description A 8x M5 Threads B Lower Mounting Surface 40.7 [1.60] below Upper Surface In the preceding figure, all of the M5 self-clinching nuts have a torque limit of 14 N-m. NOTE: The M6 self-clinching nuts are inserted differently than the M5 self- clinching nuts, to increase the usable thread length. This also decreases the torque that you can apply to them, so the M5s have a much higher torque limit than the M6s in this application. Center of Gravity (CG) As much as possible, you should keep the payload structure CG centered on the platform, and as low (close to the platform top) as possible. This will give you the best stability, particularly 11970-000 Rev M LD-60/90 Platform User's Manual 69

11970-000 Rev M 5.2  Considerations when crossing thresholds or irregularities in the floor. Keep the payload centered on the plat- form left-to-right, but biased toward the rear of the platform according to the following figures. The following figure shows the platform‘s center of gravity, without payload structure. Figure 5-4. Platform Center of Gravity (CG), (A) CG, (B) Wheel Axis (units are mm (inches)) The following figures show the calculated safe CG placements for payload structures with the listed weights. The payload structure's CG, in each instance, needs to be within the area shown. All units are mm. NOTE: These figures show the limits of where to place the payload structure CG. You should try to keep your CG as close to the center of these figures as pos- sible. 60 kg

Figure 5-5. Isometric View, 60 kg, (A) Vertical Direction, (B) Longitudinal Direction, (C) Transverse Direction (units in mm) Figure 5-6. Longitudinal View, 60 kg, (A) Vertical Direction, (B) Longitudinal Direction (units in mm) Figure 5-7. Transverse View, 60 kg, (A) Vertical Direction, (C) Transverse Direction (units in mm) 11970-000 Rev M LD-60/90 Platform User's Manual 71

11970-000 Rev M 5.2  Considerations Figure 5-8. Top View, 60 kg, (B) Longitudinal Direction, (C) Transverse Direction (units in mm) 90 kg Figure 5-9. Isometric View, 90 kg, (A) Vertical Direction, (B) Longitudinal Direction, (C) Transverse Direction (units in mm)

Figure 5-10. Longitudinal View, 90 kg, (A) Vertical Direction, (B) Longitudinal Direction (units in mm) Figure 5-11. Transverse View, 90 kg, (A) Vertical Direction, (C) Transverse Direction (units in mm) 11970-000 Rev M LD-60/90 Platform User's Manual 73

11970-000 Rev M 5.3  Connections Between Platform and Payload Structure Figure 5-12. Top View, 90 kg, (B) Longitudinal Direction, (C) Transverse Direction (units in mm) 5.3 Connections Between Platform and Payload Structure The platform provides a variety of I/O and power connections, which you can use to make your AMR more effective. Operator Panel The Operator screen, E-Stop, Brake-release, ON, and OFF can be "moved" using a single con- nector (the HMI Panel connector). This allows you to put many of the more common operator controls somewhere on your payload structure with just one cable.

11.40 19.17 24.99 81.78 35.81 13.71 31.24 46.99 37.46 9.52 17.27 21.59 11.30 87.75 99.31 142.74 23.49 Figure 5-13. Standard Operator Panel (units are mm) Callout Description Callout Description A Emergency Stop E 15 Pin High Density D-Sub Punch B Brake Release F 2x 0.120 Through Hole C On Button G 7x 0.213 Through Hole D Off Button A larger Operator panel, with a touchscreen, is available as an option. See Touchscreen on page 158. Many other connections are available. For details and specifications of available con- nections, refer to Connectivity on page 77. Option Connections The platform provides connectors for user-supplied payload bumpers that you can place on the payload structure. 11970-000 Rev M LD-60/90 Platform User's Manual 75

Most of the connections that are available to the user are in the payload bay, which is the space between the platform and any payload structure placed on top of it. These include I/O and power connections. Some are required, others are available if needed. The two connections outside of the payload bay are the Pendant port and the Maintenance Eth- ernet port, which are located under a small access panel on the left side of the platform, in the upper-right corner. See Figure 8-1. Both of these ports are connected to the core inside the payload bay. 6.1 Required Connections l Pendant port In order to generate maps with the platform, you need to connect a Pendant to Pendant port. The Pendant port is located under a small access panel on the left side of the platform, in the upper-right corner. This is internally connected to the core in the payload bay. l Maintenance Ethernet The Maintenance Ethernet port is located under a small access panel on the left side of the platform, in the upper-right corner. This is intern- ally connected to the core in the payload bay. The Maintenance Ethernet port is permanently set to IP address 1.2.3.4, with a netmask of 255.255.255.0, for direct, wired access to the onboard systems. Access to the SetNetGo OS is always enabled on this interface, and does not require a password or a license. Accordingly, when accessing the port, manually set the off-board computer’s Eth- ernet to an IP 1.2.3.x, where x is any number 1 through 254 except 4, and with a netmask of 255.255.255.0. No special DNS or gateway set- tings are needed. l Wireless Ethernet For multi-AMR installations, or where you wish to send new com- mands or receive status updates from the AMR, you need to have wireless Ethernet. l Docking Station The AMR needs access to a docking station so it can charge itself. The docking station needs access to AC power. 6.2 Payload Bay Connections - Core These connections are available for use with standard and user-supplied accessories. The antennas come with the platform. The Pendant is an option, but at least one is required per fleet for map-making. 11970-000 Rev M LD-60/90 Platform User's Manual 77

11970-000 Rev M 6.2  Payload Bay Connections - Core NOTE: Standard connectors, such as audio, are not covered here. This includes all of the connectors on the right side of the core, labeled (G) in the following fig- ure.

LD Platform Core Front, Upper CAN Bus B Digital I/O Analog I/O User LAN RS232-1 RS232-2 Aux Sensors Figure 6-1. Front Upper Core Table 6-1. Front Upper Core Details Connection Type Description User LAN RJ45 General Ethernet, Auto-MDIX, shielded Aux Sensors HDB15M Low front and optional side lasers RS-232 x 2 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. VIN range for each input is 0 to 30 V. The input is ON when VIN > 4 V, OFF when VIN < 1.3 V. 16 digital outputs, protected low-side drivers. Wire these outputs to positive voltage through the load. Output is open when OFF and grounded when ON. Each open-drain output is capable of sinking 500 mA. May be used with loads connected to VBAT, AUX_20V, _12V, or _5V. You must stay within the allowed current capacity of the VBAT or AUX power supplies. Analog I/O HDB15M General use Core Right, Upper Digital Ant1 Ant2 Audio In Audio Out Audio Out 11970-000 Rev M LD-60/90 Platform User's Manual 79

11970-000 Rev M 6.2  Payload Bay Connections - Core Figure 6-2. Right Upper Core Table 6-2. Right Upper Core Details Connection Type Description Digital Audio Out TOSLINK: JIS F05 Reserved for future use. Ant1, Ant2 RP-SMAF WiFi Antennas Audio In Audio Out Audio: 3.5mm jack TOSLINK: JIS F05 Audio can be recorded though a microphone connected to the audio IN port, using the ARAM function 'recordsoundfile'. CAN Bus B Connector type DB9F Use CAN Bus Pin No. Designation Notes 1, 4, 8 No Connection 2 CANL_B CAN Communication differential pair 3, 6 GND Direct GND 5 SHIELD GND Bead filter to GND 7 CANH_B CAN Communication differential pair 9 CANB_12V_OUT_SW 12 V @ 0.5 A Max (switched in SW) Digital I/O Connector type HDB44F Designation Pin No. Hardware Software Notes 1 INPUT_1.1 Input_1.1 0 – 30 V Range, Rin = ~3.9 kΩ 2 INPUT_1.2 Input_1.2 0 – 30 V Range, Rin = ~3.9 kΩ 3 INPUT_1.3 Input_1.3 0 – 30 V Range, Rin = ~3.9 kΩ 4 INPUT_1.4 Input_1.4 0 – 30 V Range, Rin = ~3.9 kΩ 5 BANK1 Common for INPUT_1.X

Designation Pin No. Hardware Software Notes 6 INPUT_2.1 Input_2.1 0 – 30 V Range, Rin = ~3.9 kΩ 7 INPUT_2.2 Input_2.2 0 – 30 V Range, Rin = ~3.9 kΩ 8 INPUT_2.3 Input_2.3 0 – 30 V Range, Rin = ~3.9 kΩ 9 INPUT_2.4 Input_2.4 0 – 30 V Range, Rin = ~3.9 kΩ 10 BANK2 Common for INPUT_2.X 11 INPUT_3.1 Input_3.1 0 – 30 V Range, Rin = ~3.9 kΩ 12 INPUT_3.2 Input_3.2 0 – 30 V Range, Rin = ~3.9 kΩ 13 INPUT_3.3 Input_3.3 0 – 30 V Range, Rin = ~3.9 kΩ 14 INPUT_3.4 Input_3.4 0 – 30 V Range, Rin = ~3.9 kΩ 15 BANK3 Common for INPUT_3.X 16 INPUT_4.1 Input_4.1 0 – 30 V Range, Rin = ~3.9 kΩ 17 INPUT_4.2 Input_4.2 0 – 30 V Range, Rin = ~3.9 kΩ 18 INPUT_4.3 Input_4.3 0 – 30 V Range, Rin = ~3.9 kΩ 19 INPUT_4.4 Input_4.4 0 – 30 V Range, Rin = ~3.9 kΩ 20 BANK4 Common for INPUT_4.X 21 OUTPUT_1 Output_1 22 OUTPUT_2 Output_2 23 OUTPUT_3 Output_3 24 OUTPUT_4 Output_4 25 OUTPUT_5 Output_5 26 OUTPUT_6 Output_6 27 OUTPUT_7 Output_7 28 OUTPUT_8 Output_8 29 OUTPUT_9 Output_9 30 OUTPUT_10 Output_10 31 OUTPUT_11 Output_11 32 OUTPUT_12 Output_12 33 OUTPUT_13 Output_13 34 OUTPUT_14 Output_14 35 OUTPUT_15 Output_15 11970-000 Rev M LD-60/90 Platform User's Manual 81

11970-000 Rev M 6.2  Payload Bay Connections - Core Designation Pin No. Hardware Software Notes 36 OUTPUT_16 Output_16 37 VBAT_IO_OUT4 VBAT @ 0.5 A Max (shared with light pole) 38 VBAT_IO_OUT3 VBAT @ 0.5 A Max 39 VBAT_IO_OUT2 VBAT @ 0.5 A Max 40 VBAT_IO_OUT1 VBAT @ 0.5 A Max 41 - 44 GND

Digital Input Specifications Table 6-3. 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 Operational current range 0 to 7.5 mA OFF state current range 0 to 0.5 mA ON state current range 1.0 to 7.5 mA Impedance (Vin/Iin) 3.9 kΩ minimum Current at Vin = +24 VDC Iin ≤ 6 mA NOTE: The input current specifications are provided for reference. Voltage sources are typically used to drive the inputs. Figure 6-3. Typical Digital Input Wiring Example 11970-000 Rev M LD-60/90 Platform User's Manual 83

11970-000 Rev M 6.2  Payload Bay Connections - Core Callout Description Callout Description A Supplied Equipment H Input Bank 1 B User-Supplied Equipment J Input Bank 2 C Wiring Terminal Block K Input Bank 3 D Typical User Input Signal L Input Bank 4 E Part Present Sensor M Note: all input signals can be used for either sinking or sourcing con- figurations. F Bank 1 configured for sinking (NPN) inputs N Equivalent Circuit G Bank 4 configured for sinking (PNP) inputs Table 6-4. Digital Output Specifications Parameter Value Power supply voltage range 5 - 30 VDC Operational current range, per channel Iout ≤ 500 mA ON state resistance (Iout = 0.5 A) Ron ≤ 0.14 Ω @ 85°C Output leakage current Iout ≤ 5 μA DC short circuit current limit 0.7 A ≤ ILIM ≤ 1.7 A Figure 6-4. Typical Digital Output Wiring Example

Callout Description Callout Description A Standard Equipment E Load B User-Supplied Equipment F Outputs 1-16 C Wiring Terminal Block G Equivalent Circuit D Typical User Loads Analog I/O Connector type HDB15M Pin No. Designation Notes 1 ANALOG_IN1 0 – 10 V Range 2 ANALOG_IN2 0 – 10 V Range 3 ANALOG_IN3 0 – 10 V Range 4 ANALOG_IN4 0 – 10 V Range 5 ANALOG_IN5 0 – 30 V Range 6 ANALOG_IN6 0 – 30 V Range 7 ANALOG_IN7 0 – 30 V Range 8 ANALOG_IN8 0 – 30 V Range 9 ANALOG_OUT1 0 – 20 V Range 10 ANALOG_OUT2 0 – 20 V Range 11 ANALOG_OUT3 0 – 20 V Range 12 ANALOG_OUT4 0 – 20 V Range 13, 14, 15 GND l The 0-10 V analog inputs have an input impedance of about 35 kΩ. l The 0-30 V analog inputs have an input impedance of about 110 kΩ. l The analog outputs have an output impedance of about 200 Ω. The maximum output current of each analog output is 10 mA. Exceeding the maximum output current will result in damage to the analog output module. Aux Sensors Connector type HDB15M Use Low Front Laser, optional Side Lasers 11970-000 Rev M LD-60/90 Platform User's Manual 85

11970-000 Rev M 6.2  Payload Bay Connections - Core Designation Pin No. Hardware Software Notes 1 RS232_VERT1_TXD /dev/ttyUSB5 (side lasers) 2 RS232_VERT2_TXD /dev/ttyUSB6 (side lasers) 3 RS232_FOOT_TXD /dev/ttyUSB7 (low front laser) 4 5V_SW1 USB_1_and_2_Power 5 V @ 1 A (shared with USB port 1) 5, 10 SW_20V_VERT Vertical_Laser_Power 20 V @ 300 mA (side lasers) 6, 7, 8 GND 9 5V_SW2 USB_1_and_2_Power 5 V @ 1 A (shared with USB port 2) 11 RS232_VERT1_RXD /dev/ttyUSB5 (side lasers) 12 RS232_VERT2_RXD /dev/ttyUSB6 (side lasers) 13 RS232_FOOT_RXD /dev/ttyUSB7 (low front laser) 14 5V_SW3 USB_3_Power 5 V @ 1 A (shared with USB port 3) 15 SW_20V_FOOT Foot_Laser_Power 20 V @ 150 mA (low front laser)

RS232 1 & 2 Connector type DB9M Use Port 1 and 2, General Use Pin No. Designation Notes 1, 4, 6, 9 No Connection 2 RS232_USR#_RXD #=1 or 2 3 RS232_USR#_TXD #=1 or 2 5 GND 7 RS232_USR#_RTS #=1 or 2 8 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. 11970-000 Rev M LD-60/90 Platform User's Manual 87

11970-000 Rev M 6.2  Payload Bay Connections - Core ID Connection Type Description A Lights Mini-Fit 2 x 3 Connect to a supplied splitter that powers a buzzer using a default configuration, and provides power for a user- supplied light tower with 3 lights. NOTE: The following four functions are pins on the User Interface connector. B Brake- release Mini-Fit 2 x 7 Pins for user-supplied brake release ON Pins for user-supplied ON button; same function as Oper- ator Panel ON OFF Pins for user-supplied OFF button; same function as Oper- ator Panel OFF E-STOP Pins for user-supplied E-Stop (must be used or jumpered) C User Bumpers Mini-Fit 2 x 4 Payload structure bumpers, user-supplied, connected between E-STOP_SRC and USER_BMP# (for each of the 6 inputs). Contacts 1 - 3 are for a front bumper, 4 - 6 for rear. Contacts should be 12 V @ 10 mA. D Aux Power Mini-Fit 2 x 3 5, 12, and 20 VDC Outputs E User Power Mini-Fit 2 x 6 Battery and switched battery power J Maint LAN RJ45, Shielded Directly connected to the externally-mounted Main- tenance Ethernet, Auto-MDIX. H Pendant DB9F Directly connected to the externally-mounted Pendant port G HMI Panel HDB15F Operator screen, E-Stop, Brake_Rel, ON, OFF F Sonar 2 DB9M Not used Pendant Connector type DB9F Use Pendant

Pin Designation Notes Pin Designation Notes 1 JOY_XAXIS Analog X input 6 JOY_EN_2L Enable channel 2 2 JOY_YAXIS Analog Y input 7 No Connection 3 JOY_SPEED Analog SPEED input 8 GND 4 JOY_GOAL Goal Button Input 9 5V 5 V @ 100 mA 5 JOY_EN_1H Enable channel 1 Power Connections The platform provides conditioned 5, 12, and 20 VDC, and raw (battery) 22 - 30 VDC power to the platform’s and accessory electronics, including the onboard core and laser LIDAR (Light Detection And Ranging). All power connectors are Mini-Fit®. Nominal Qty Actual Maximum Current Description 5 VDC 1 5 VDC±5% 1 A Switched Aux power 12 VDC 1 12 VDC±5% 1 A Switched Aux power 20 VDC 1 20 VDC±5% 1 A Switched Aux power 22 - 30 VDC 2 battery 4 A Switched 22 - 30 VDC 1* battery 10 A Switched 22 - 30 VDC 1* battery 10 A Safe, Switched * 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 Status Indicators on page 120. 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. Light Pole Connector type Mini-Fit® 2 x 3 Use Light tower (user-supplied) Pin Designation Notes Pin Designation Notes 1 GND Cable shield 4 VBAT_IO_ OUT4 VBAT @ 0.5A Max (shared with DIO) 2 LIGHT_P1 Red 5 LIGHT_P3 Green 3 LIGHT_P2 Yellow or orange 6 LIGHT_P4 Buzzer 11970-000 Rev M LD-60/90 Platform User's Manual 89

11970-000 Rev M 6.2  Payload Bay Connections - Core Figure 6-6. Sample Light Pole Diagram Callout Description Callout Description A Standard Equipment D Typical User Load B Wiring Terminal Block E Equivalent Circuit C User-Supplied Equipment User Interface Connector type Mini-Fit® 2 x 7 Use Brake release, ON, OFF, E-Stop Pin No. Designation Notes 1, 2, 3 FBAT_ALWAYS Fused VBAT @ 500 mA 4 E-STOP_USR_1L Short 4 & 11 to close E-STOP_USR_1 5 E-STOP_USR_2L Short 5 & 12 to close E-STOP_USR_2 6 E-STOP_OUT_1L Pins 6 & 13 short when E-STOP_CH1 is closed 7 E-STOP_OUT_2L Pins 7 & 14 short when E-STOP_CH2 is closed 8 OFF_BUTTON Short to FBAT_ALWAYS to signal OFF (min 1 s pulse) 9 START_BUTTON Short to FBAT_ALWAYS to signal ON (min 1 s pulse) 10 MOTOR_BRAKE Short to FBAT_ALWAYS for manual brake release

Pin No. Designation Notes 11 E-STOP_USR_1H Short 4 & 11 to close E-STOP_USR_1 12 E-STOP_USR_2H Short 5 & 12 to close E-STOP_USR_2 13 E-STOP_OUT_1H Pins 6 & 13 short when E-STOP_CH1 is closed 14 E-STOP_OUT_2H Pins 7 & 14 short when E-STOP_CH2 is closed NOTE: An E-Stop jumper or a user-supplied E-Stop button needs to be attached to the E-STOP port on the User Interface connector for the platform to function. The jumper is provided as part number 12730-000L. An E-Stop button would be user-supplied. NOTE: Engaging the E-Stop through the external connector or Operator Panel (faster than 250 ms), will cause motors to re-engage after E-stop is released. Motor re-engagement occurs because the core is designed to receive a consistent E-Stop signal for at least 250 ms. Signals that engage and disengage in a time period shorter than 250 ms, will cause LD to assume that the change was due to a bumper press, which will automatically re-engage the motors. No signal on the E-Stop chain can cause the robot to operate while the E-Stop remains engaged. Thus it is necessary to leave the E-Stop engaged for at least the full 250 ms dur- ation if the intent is to keep the robot in a E-Stop state. ! CAUTION: PERSONAL INJURY OR PROPERTY DAMAGE RISK If you are using a user-supplied E-Stop, you must run the Safety Com- missioning to verify the E-Stop’s functionality before putting the AMR into ser- vice. For more information, see E-Stop and Safety Laser Commissioning on page 148 11970-000 Rev M LD-60/90 Platform User's Manual 91

11970-000 Rev M 6.2  Payload Bay Connections - Core Figure 6-7. E-Stop Chain Diagram Callout Description Callout Description A Standard Circuits H Bumper Right B User-Supplied Circuits J E-STOP Relay Control Logic C E-STOP-Source K Voltage of the Battery D Ground L High Power to Amplifiers E Front Panel E-STOP M HMI Connector F User E-STOP N Note: Jumper closed when not used, MUST open both channels independently if used. G Bumper Left O User Interface Connector

User Bumper NOTE: The User Bumpers connector is not safety-rated. NOTE: Pins 1 through 3 are for a front-mounted bumper, 4 through 6 are for a rear-mounted bumper. Connector type Mini-Fit® 2 x 4 Use Optional bumper for payload structure Pin No. Designation Notes 1 USER_BUMPER_1 Short to E-STOP_SRC to signal bumper hit Front left bumper sensor. 2 USER_BUMPER_2 Short to E-STOP_SRC to signal bumper hit Front center bumper sensor. 3 USER_BUMPER_3 Short to E-STOP_SRC to signal bumper hit Front right bumper sensor. 4 USER_BUMPER_4 Short to E-STOP_SRC to signal bumper hit Rear right bumper sensor. 5 USER_BUMPER_5 Short to E-STOP_SRC to signal bumper hit Rear center bumper sensor. 6 USER_BUMPER_6 Short to E-STOP_SRC to signal bumper hit Rear left bumper sensor. 7, 8 E-STOP_SRC 12 V E-STOP Source Output @ 10 mA 11970-000 Rev M LD-60/90 Platform User's Manual 93

11970-000 Rev M 6.2  Payload Bay Connections - Core AUX Power Connector type Mini-Fit® 3 x 2 Designation Pin No. Hardware Software Notes 1,2,3 GND 4 AUX_5V_OUT AUX_5V 5V @ 1 A Max 5 AUX_12V_OUT AUX_12V 12V @ 1 A Max 6 AUX_20V_OUT AUX_20V 20V @ 1 A Max User Power Connector type Mini-Fit® 2 x 6 Designation Pin No. Hardware Software Notes 1, 2, 3, 4, 5, 6 GND 7 SW_VBAT_OUT1 Battery_Out_1 VBAT @ 4 A max (switched in SW) 8 SW_VBAT_OUT2 Battery_Out_2 VBAT @ 4 A max (switched in SW) 9, 10* SW_VBAT_OUT34 Battery_Out_3_and_4 VBAT @ 10 A max (switched in SW) Limit to < 5 A per pin. 11, 12* SAFE_VBAT_OUT SW_VBAT_OUT34 gated by dual-channel E-STOP relays *9, 10, 11, and 12 share the 10 A of current. HMI Panel Connector type HDB15F Use Operator screen, E-Stop, Brake_Rel, ON, OFF

Designation Pin No. Hardware Software Notes 1 RS422_HMI_TX+ Connections to HMI Panel If using the optional touchscreen instead of the HMI panel, the RS422_HMI connectors are not needed, but the user will have to provide buttons for ON (Start), OFF, Brake Release, and E-Stop functions. 2 RS422_HMI_TX- 3 MOTOR_BRAKE 4, 5 E-STOP_FP_1H, _2H 6 RS422_HMI_RX+ 7 RS422_HMI_RX- 8 START_BUTTON 9, 10 E-STOP_FP_1L, _2L 11 HMI_5V_SW HMI_Power 12, 14 GND 13 OFF_BUTTON 15 FBAT_ALWAYS Sonar 1 Connector type DB9M Use 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 Connections to Sonar Module 2 RS422_SNR_RX+ 3 RS422_SNR_TX+ 5 GND 6 RS422_SNR_RX- 7 RS422_SNR_TX- 9 SW_12V_SNR Sonar_1_Power Internal LD Platform Core Connections The following connections are internal (under the platform's top deck), and not normally avail- able for the user. They are listed here so that you can reconnect them in the event that they need to be disconnected for parts replacement. 11970-000 Rev M LD-60/90 Platform User's Manual 95

11970-000 Rev M 6.2  Payload Bay Connections - Core 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™ 5557 series receptacles. NOTE: The Charge Contacts and Battery Power connectors on the internal core mate with Molex Mini-Fit Jr™ 42818 series receptacles. ID Connection Type Description A Debug RS-232 DB9M Reserved B Wheel Lights DB9F Motion and status indicator Light Discs on the platform sides C Sonar 1, RS-422 DB9M Connection to Sonar Module (Rear sonar sensors) D Charge Contacts Mini-Fit Sr., 2-pin E VGA HDB15F Reserved F USB x 3 USB Type A Reserved G LIDAR HDB26M Safety Scanning Laser

ID Connection Type Description H Right Motor HDB26F NOTE:The Right and Left Motor connectors use the same type of plug. Take care not to reverse them. J Left Motor HDB26F K Battery Power Mini-Fit Sr., 3-pin Battery VDC; connects to battery L Bumper Switches Mini-Fit 2 x 4 Connect to standard bumper contacts M Speakers Mini-Fit 2 x 2 Drives built-in speakers N Battery Comm. Mini-Fit 2 x 3 Battery communication/control Internal Data Pinouts Wheel Lights (Light Discs) Connector type DB9F Use Motion and status indicator light disc on the platform sides Designation Pin No. Hardware Software Notes 1, 2 CANL_A CAN Communication differential pair 3, 4 GND Direct GND 5 SHIELD GND Bead filter to GND 6, 7 CANH_A CAN Communication differential pair 8, 9 SW_12V_WHEEL WheelLight_Power 12 V @ 1 A Max (switched in SW) NOTE: Sonar 1 is covered in Sonar 1 on page 95. 11970-000 Rev M LD-60/90 Platform User's Manual 97

11970-000 Rev M 6.2  Payload Bay Connections - Core LIDAR (Light Detection And Ranging) Connector type DB26M Use Front navigation laser Designation Pin No. Hardware Software 1 RS422_LIDAR_RX+ 2 RS422_LIDAR_RX- 3 OSSD1 4 OSSD2 5 WF_OUT 6 O3_OUT 7 STANDBY 8 EDM 9 No Connection 10, 18 SW_20V_LIDAR Main_Laser_Power 11 thru 17 GND 19 RS422_LIDAR_TX+ 20 RS422_LIDAR_TX- 21 IN_A1 22 IN_A2 23 IN_B1 24 IN_B2 25 IN_C1 26 IN_C2 Pin 10 +  18: Current < 600 mA Internal Power Pinouts Bumper Connection Mini-Fit® 2 x 4 Connector type DB9F Use Front bumpers NOTE: The single front bumper uses four sensors for operation.

Pin No. Designation Notes 1 BUMPER_R2L Right, Channel 2, Low 2 BUMPER_R1L Right, Channel 1, Low 3 BUMPER_L2L Left, Channel 2, Low 4 BUMPER_L1L Left, Channel 1, Low 5 BUMPER_R2H Right, Channel 2, High 6 BUMPER_R1H Right, Channel 1, High 7 BUMPER_L2H Left, Channel 2, High 8 BUMPER_L1H Left, Channel 1, High Speakers Connector type Mini-Fit® 2 x 2 Use Speakers Pin No. Designation Notes 1 RIGHT+ Right Speaker 2 RIGHT- 3 LEFT+ Left Speaker 4 LEFT- Batt Comm. Connector type Mini-Fit® 2 x 3 Use Battery control Pin No. Designation Notes 1 GND Connections to the Battery Control 2 RS232_BATT_RXD 3 RS232_BATT_TXD 4 FBAT_ALWAYS 5 START_BUTTON 6 OFF_BUTTON 11970-000 Rev M LD-60/90 Platform User's Manual 99