Omron LD-60 User manual

I613-E-04

LD Platform Peripherals

User’s Guide

The information contained herein is the property of Omron Robotics and Safety Technologies, Inc., and

shall not be reproduced in whole or in part without prior written approval of Omron Robotics and Safety

Technologies, Inc. The information herein is subject to change without notice and should not be construed

as a commitment by Omron Robotics and Safety Technologies, Inc. The documentation is periodically

reviewed and revised.

Omron Robotics and Safety Technologies, Inc., assumes no responsibility for any errors or omissions in

the documentation.

Any trademarks from other companies used in this publication

are the property of those respective companies.

Created in the United States of America

Table of Contents

Chapter 1: Introduction 11

1.1 Product Description 11

1.2 Definitions 11

1.3 How Can I Get Help? 12

Related Manuals 12

Chapter 2: Safety 13

2.1 What to Do in an Emergency or Abnormal Situation 13

Releasing the Brakes 13

General Hazards 13

Releasing an E-Stop 14

2.2 Dangers, Warnings, and Cautions 14

Alert Levels 14

Alert Icons 14

Falling Hazards 15

Special Information 15

2.3 User's Responsibilities 15

Electrical Hazards 16

Pinch Hazard 16

Magnetic Field Hazards (LD-60, LD-90 and LDxxxCT Models Only) 16

Qualification of Personnel 17

Payload Movement and Transfer 18

Multi-AMR Avoidance 18

2.4 Environment 18

General Environmental Conditions 18

Public Access 19

Clearance 19

Obstacles 19

Safety Scanning Laser Emergency Stop 19

Safety System Overspeed Faults 19

2.5 Battery Safety 21

2.6 Intended Use 21

Non-Intended Use 21

Robot Modifications 22

2.7 Additional Safety Information 22

Mobile Robot LDSafety Guide (Cat. No. I616) 22

2.8 Disposal 23

13732-000 Rev J LDPlatform Peripherals Guide 3

Table of Contents

Chapter 3: Support Software 25

3.1 Mobile Support Software 25

Fleet Operations Workspace Software 25

SetNetGo 26

3.2 Tools for Use in the Field 26

SetNetGo - Managing Software Packages 26

Chapter 4: Touchscreen 29

4.1 Installation 29

Components 29

Software Installation 29

Mounting 30

Connections 33

4.2 Setup 34

4.3 Configuration 34

Operating Modes 34

Choose Dropoff Mode 35

Patrol Route Mode 36

Localization Goals 36

Screen Logo 37

Contact Information 39

Setting Screensaver 39

Setting Display Language 40

4.4 Operation 40

Screen Initialization 40

Screen Top Bar 41

Left Screen Pane 41

Right Screen Pane 42

Center Pane 47

Relocalization 47

Dropoffs (Choose Dropoff Mode only) 47

Patrol Route Mode 50

4.5 Specifications 51

Touchscreen 51

Power Supply 51

Chapter 5: Call/Door Boxes 53

5.1 Overview 54

Call Buttons 54

Door Boxes 54

Fleet Behavior 54

Communication 54

5.2 Components 55

4 LDPlatform Peripherals Guide 13732-000 Rev J

Table of Contents

Call/Door Box 55

Door Actuator (Door Box only) 57

Ethernet Infrastructure (wired and wireless), AMRs 57

Software 58

5.3 Call/Door Box Configuration 59

Setup 59

Boot the call/door box, Enable its web interface 60

Status Tab 61

Network Tab 61

WLANProfiles Tab 65

Resetting a Call/Door Box (WiFi or Wired) 67

5.4 Mounting the Hardware 67

Call/Door Box 67

5.5 MobilePlanner Configuration 70

Host Software 70

Overview of Tasks 70

Configuring Call/Door Boxes 70

Identifying an Installed Call/Door Box 73

Setting the Arrival Beep Duration 73

Enabling the Queuing Manager for Single-AMR 74

Adding Door Areas to Your Map 74

Configuring External I/O 76

5.6 Operation 77

Call/Door Box Power-on 77

Call Buttons 78

Door Boxes 81

5.7 Specifications 82

Call/Door Box Specifications 82

Dimensions 82

Communication 83

I/O Specifications 83

User Interface 85

5.8 WiFi Compliance 86

General WiFi 86

FCC and IC - WiFi 86

5.9 Supported Configurations 86

Single AMR 86

Fleet 87

Unsupported Configurations 87

Chapter 6: Acuity Localization 89

When Acuity Won’t Work 89

Installation Scenarios 89

Payload Structure Design 89

6.1 Tasks 90

13732-000 Rev J LDPlatform Peripherals Guide 5

Table of Contents

6.2 Components 91

6.3 Installation 92

Camera Assembly 92

Software Installation 99

6.4 Setup 99

Enabling Acuity 99

Importing the Camera Calibration 101

Compensating for Camera Position and Tilt 103

6.5 Making a Map of Your Environment 106

Scanning the Environment 106

Creating a Map 109

6.6 Operation 114

Localizing Manually 114

Interpreting Light Objects on the Map 115

6.7 Camera Specifications 115

Chapter 7: Side Lasers 117

Positive Obstacles 117

Negative Obstacles 117

7.1 Installation 117

Components 117

Mounting 118

Connections 120

7.2 Configuration 120

Chapter 8: LD-250 Rear Facing Laser 125

8.1 Laser Location and Orientation 125

8.2 Ignoring Laser Zones 127

8.3 Install the Rear-Facing Laser 128

8.4 Configure the Rear-Facing Laser 128

8.5 Set the Orientation and Position Values for the Laser 129

Chapter 9: High Accuracy Positioning System 131

9.1 Overview 131

9.2 Components 131

9.3 Sensor Installation on the LD-60, LD-90, and LD-xxxCT 131

Mounting Locations for the LD-60, LD-90, and LD-xxxCT 131

9.4 Installation on the LD-250 138

Preparing the LD-250 to Install HAPS Sensors 138

Install and Cable the HAPS Sensors on the LD-250 140

6 LDPlatform Peripherals Guide 13732-000 Rev J

Table of Contents

9.5 Tape and Marker Application 145

Define Goals 147

9.6 HAPSSoftware Configuration 147

Robot Physical 147

Robot Operation 147

Goals/Tasks 148

9.7 Specifications 149

9.8 Dimensions 150

13732-000 Rev J LDPlatform Peripherals Guide 7

Revision History

Revision Code Date Revised Content

01 March, 2019 Original release

02 October, 2019 Corrections and revisions.

03 April 2021 Corrections and revisions.

13732-000 Rev J LDPlatform Peripherals Guide 9

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