OMRON HD Series HD-1500 Autonomous Mobile Robots Instruction Manual

OMRON HD Series HD-1500 Autonomous Mobile Robots

Autonomous Mobile Robots that self-navigate to transport payloads up to

1500 KG

• Natural feature navigation: Automatically plans efficient routes and prevents collisions
• Fleet management: Operates in coordination with a fleet of up to 100 amps
• Easy deployment: Installs quickly, without facility modifications

Ordering Information

Type| HAPS| Side Lasers| Charging Station| Pendant| Top Plate| Part Number
---|---|---|---|---|---|---

HD-1500

| ****

No

| No| No| No| No| 37480-00000
Yes| 37480-00010
No| Yes| Yes| Yes| 37480-10004

Single

| No| No| No| No| 37480-00100
Yes| 37480-00110
No| Yes| Yes| Yes| 37480-10104
Yes| 37480-10114

Double

| No| No| No| No| 37480-00200
Yes| 37480-00210
No| Yes| Yes| Yes| 37480-10204
Yes| 37480-10214

Note

1. To ensure proper fleet management, please contact an OMRON representative before ordering AMRs to add to an existing fleet.
2. The battery for the HD-1500 must be ordered separately (part number 68330-000).

Accessories and Optional Items

14328-200
Top Plate Kit| Upper plate kit of the AMR. It is not necessary for building a customer payload structure| 68950-000
Pendant| Handheld, external input device for manually driving an AMR. It is typically used for map creation| 68940-000L
Charging Station| Includes a Power Supply Box and Docking Target| 68910-010
Power Supply Box| Supplies power to the Docking Target or battery for charging purposes| 68310-000
Docking Target| A fixed object that the AMR docks to for autonomous charging. Connects to the Power Supply Box| 68910-000
Battery| Removable and rechargeable power source for the AMR| 68330-000
Side Laser Extension Cables, Communication| 1 m length| 22115-000F
2 m length| 22117-000F
Side Laser Extension Cables, Power| 1 m length| 22800-000F
2 m length| 22802-000F
Wireless Antenna Extension Kit| Two cables, 2 m each, two dipole antennas| 68955-000
CAPS License| The licensed version of the Cell Alignment Positioning System| 20271-805

Fleet Operations Workspace Solutions

for a 1 year renewable Primary FLOW Core license, runtime and development, per AMR connection| 20271-800
Primary Fleet Operations Workspace (FLOW) Core License, 5 Year 2| Entitlement for a 5 year renewable Primary FLOW Core license, runtime and development, per AMR connection| 20271-806
Secondary Fleet Operations Workspace (FLOW) Core License, 1 Year 1| Entitlement for a 1 year renewable Secondary FLOW Core license per fleet, redundant runtime| 20271-802
Secondary Fleet Operations Workspace (FLOW) Core License, 5 Year *2| Entitlement for a 5 year renewable Secondary FLOW Core license per fleet, redundant runtime| 20271-807
Primary Fleet Manager| EM2100 Appliance with Temporary 120-Day Fleet Operations Workspace License| 20271-900
Secondary Fleet Manager| EM2100 Appliance with Temporary 120-Day Fleet Operations Workspace License| 20271-901
Bundle. Fleet Simulator| EM2100 appliance with Entitlement for perpetual Fleet Simulator License| 20271-903
License, Fleet Simulator| Entitlement for perpetual Fleet Simulator license for use with existing EM2100 appliance, simulation runtime, and development| 20271-804

License, Fleet Operations Workspace iQ

| Entitlement for a 1-year renewable FLOW iQ license| 20271-701
Entitlement for a 5-year renewable FLOW iQ license| 20271-705

Note: To obtain the latest version of the Fleet Operations Workspace (FLOW) Core software, contact your local OMRON representative. Please note that an active subscription is required for access to software upgrades.

1. Expiration of a 1-year subscription license without renewal will result in cessation of the fleet management functions of the OMRON AMR solution until the license is renewed.
2. After four consecutive 1 year renewals (for a total of 5 years) or after the purchase of a 5-year license, all fleet management functions will continue to operate without requiring subsequent subscription renewals. Please note that an active subscription will still be required to have access to subsequent software releases, including bug fixes, feature upgrades and performance improvements.

Features and Components

1. Additional E-STOP buttons are provided on the Operator Panel and the Pendant.

Specifications

HD-1500

Environment

| Ambient temperature| 5 to 40°C
Storage temperature| -20 to 60°C
Ambient humidity| 5 to 95% (non-condensing)
Operating environment| Indoor usage only, no excessive dust, no corrosive gas
Altitude| 2000 m maximum
Ingress Protection Class| IP20

Floor Conditions

| Floor requirements| No water, no oil, no dirt
Minimum floor flatness| FF25 (ACI 117 standard)
Traversable step| 10 mm max.
Traversable gap| 20 mm max.
Climb grade| Max. 3° incline (5° with FLOW 3.0 or later)

Navigation

| Routing| Autonomous routing by localizing with safety scanning laser, based on environment mapping
Environmental map-making method| Scan by driving the AMR through the environment, and upload the scan data to the MobilePlanner
Payload Rating| 1500 kg

Mobility

| Run Time *1| 12.5 h (no payload), 9 h (full payload)
Maximum speed| 1800 mm/s
Maximum rotation speed| 60 °/s
Swing radius| 982 mm
Turn radius| 0 mm
Maximum translational acceleration| 900 mm/s2
Maximum rotational acceleration/deceleration| 150 °/s2
Maximum moment of inertia| 490 kg-ms2

Stop position repeatability (single AMR)

| To a position: ±50 mm

To standard target: ±25 mm, ±2°

With CAPS: ±8 mm, ±0.5°

With HAPS: ±8 mm, ±0.4°

Stop position repeatability (Fleet)

| To a position: ±70 mm

To standard target: ±35 mm, ±2°

With CAPS: ±16 mm, ±0.5°

With HAPS: ±10 mm, ±0.75°

Drive wheels| Materials| Non-marking, static dissipative polyurethane on steel rim
Passive casters| Materials| Non-marking polyurethane on cast iron rim.
Auxiliary Power| Unregulated| 48 to 56 VDC
Regulated| 23.0 to 25.2 VDC

Standard

| Harmonized standard| EN IS0 12100, EN ISO 13849-1, EN 60204-1
Relevant standard| ISO 10218, UL1564, UL2271, UL1740
Wireless| IEEE 802.11 a/b/g/n/ac

Signal Interfaces

| Wireless| Two integrated wireless antennas
Ethernet port| Two RJ-45 ports are included for maintenance and access to the internally mounted NX102 unit.
Digital I/O| Eight PNP (sourcing) inputs Eight PNP (sourcing) outputs
Analog I/O| Four -10 to +10 VDC analog inputs Four -10 to +10 VDC analog outputs
Audio| Digital audio out
Item| Details
---|---

Safety Features

| ****

Safety Scanning Lasers

| Two Safety Scanning Lasers are included to provide a 360° detection area around the AMR.

The scanning plane is positioned 175 mm above the floor.

Lasers are rated as Class 1, eye-safe, PLd Safety per ISO 13849-1.

E-STOP Buttons| Five E-STOP buttons are located on the AMR (sides and Operator Panel). Additional E-STOP buttons can be added to the payload structure.
Low Lasers| Two Low Lasers are provided to detect objects near the floor.
Side Lasers (optional)| Two lasers, factory-mounted above safety scanning lasers, user-relocatable to the payload structure if needed.

Visual Indicators

| Light discs are located on the sides of the AMR. Light strips are located on the front and back of the AMR.

Additional indicators can be added.

Audible Indicators| Two speakers are included. Additional buzzers can be added.
Emergency Stop Interface| Dual channel emergency stop inputs and outputs.
Safety Outputs| Dual channel safety outputs.
Protective Stop Interface| Dual channel protective stop inputs.

Operator Panel

| Display| 7-inch diagonal LCD.

Controls

|

•   E-STOP button
•   ON/OFF buttons
•   Brake release button
•   Pendant port
•   Maintenance port
•   Main disconnect switch

MobilePlanner Software

MobilePlanner, PC

| Operating System| Windows 10 (32-bit/64-bit version)
---|---|---
CPU| 1.5 GHz dual-core CPU recommended
Main Memory| 1.5 GB min. (4 GB min. recommended)
Hard Disk| At least 200 MB of available space
Video Memory| 256 MB min.
Display| XGA 1024 ´ 768, 16 million colors minimum
MobilePlanner, Tablet Edition| Operating System| Android OS, Version 9 or newer, minimum 2 GB of RAM
iOS, Version 10 or newer

Supported Languages

| English, German, Japanese, French, Italian, Korean, Spanish, Simplified Chinese, and Traditional Chinese.

EM2100 Appliance

Charging Station

Maximum Current| Input current: 25 A

Output current: 120 A (nominal) *1

---|---

Input Voltage

| 3-phase

200 to 240 VAC, 50/60 Hz (Delta/Wye) 380 to 415 VAC, 50/60 Hz (Wye only)

Output voltage| 40 to 57 VDC
Power Consumption| 7.75 kW
Maximum Power Output| 6.84 kW
Humidity| 5 to 95%, non-condensing
Ambient Operating Temperature| 5 to 40°C
Storage Temperature| -20 to 60°C
Ingress Protection Class| IP20 (IP10 for charging pads)
Weight| Power Supply Box: 108 kg Docking Target: 27.5 kg
Docking Target Mounting| To floor and/or wall

High Accuracy Positioning System

Markers (Magnetic Tape)

| Width| 25 mm
Length| 300 mm min. for 500 mm/s drive speed
Orientation| North up
Separation from tape| 20 to 30 mm
Protective covering tape (recommended)| Mighty Line Safety Floor Tape, Solid (102 mm width)
Stop Position Repeatability| Single AMR| ±8 mm position, ±0.4° rotation
Fleet| ±10 mm position, ±0.75° rotation.

Cell Alignment Positioning System (CAPS)

Pendant

Battery

-20 to 35°C (more than 2 weeks)

Humidity| 5 to 95%, non-condensing
Altitude| 4500 m, operating

15240 m, transporting

Ingress Protection Class| IP20
Weight| 69.5 kg

Dimensions

HD-1500 AMR

• A = Rear caster pivot points
• B = Front caster pivot points
• C = Drive wheels

Power Supply Box

Docking Target

Fleet Manager EM2100 Appliance

Related Manuals

Manual
I634| EM2100 Installation Manual
I635| Fleet Operations Workspace Core User’s Manual
I636| Fleet Operations Workspace Core Migration Manual
I637| Fleet Operation Workspace Core Integration Toolkit User Manual
I649| Fleet Simulator User’s Manual
I645| HD-1500 Platform User’s Manual
I647| Mobile Robot HD Safety Manual

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Terms and Conditions Agreement

Read and understand this catalog

Please read and understand this catalog before purchasing the products. Please consult your OMRON representative if you have any questions or comments.

Warranties

(a) Exclusive Warranty. Omron’s exclusive warranty is that the Products will be free from defects in materials and workmanship for a period of twelve months from the date of sale by Omron (or such other period expressed in writing by Omron). Omron disclaims all other warranties, express or implied. (b) Limitations. OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, ABOUT NON-INFRINGEMENT, MERCHANTABILITY, OR FITNESS FOR A PARTICULAR PURPOSE OF THE PRODUCTS. THE BUYER ACKNOWLEDGES THAT IT ALONE HAS DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE.

Omron further disclaims all warranties and responsibility of any type for claims or expenses based on infringement by the Products or otherwise of any intellectual property right. (c) Buyer Remedy. Omron’s sole obligation hereunder shall be, at Omron’s election, too (i) replace (in the form originally shipped with Buyer responsible for labor charges for removal or replacement thereof) the non-complying Product, (ii) repair the non-complying Product, or (iii) repay or credit Buyer an amount equal to the purchase price of the non-complying Product; provided that in no event shall Omron be responsible for warranty, repair, indemnity or any other claims or expenses regarding the Products unless Omron’s analysis confirms that the Products were properly handled, stored, installed and maintained and not subject to contamination, abuse, misuse or inappropriate modification. Return of any Products by Buyer must be approved in writing by Omron before shipment. Omron Companies shall not be liable for the suitability or unsuitability or the results from the use of Products in combination with any electrical or electronic components, circuits, system assemblies or any other materials or substances or environments. Any advice, recommendations or information is given orally or in writing, is not to be construed as an amendment or addition to the above warranty. See http://www.omron.com/global/ or contact your Omron representative for published information.

Limitations on Liability; Etc

OMRON COMPANIES SHALL NOT BE LIABLE FOR SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, LOSS OF PROFITS OR PRODUCTION, OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS, WHETHER SUCH CLAIM IS BASED ON CONTRACT, WARRANTY, NEGLIGENCE, OR STRICT LIABILITY. Further, in no event, shall the liability of Omron Companies exceed the individual price of the Product on which liability is asserted.

Suitability of Use

Omron Companies shall not be responsible for conformity with any standards, codes or regulations which apply to the combination of the Product in the Buyer’s application or use of the Product. At Buyer’s request, Omron will provide applicable third-party certification documents identifying ratings and limitations of use that apply to the Product. This information by itself is not sufficient for a complete determination of the suitability of the Product in combination with the end product, machine, system, or other application or use. The buyer shall be solely responsible for determining the appropriateness of the particular Product with respect to the Buyer’s application, product or system. The buyer shall take application responsibility in all cases. NEVER USE THE PRODUCT FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR PROPERTY OR IN LARGE QUANTITIES WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO ADDRESS THE RISKS, AND THAT THE OMRON PRODUCT(S) IS PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM.

Programmable Products:  Omron Companies shall not be responsible for the user’s programming of a programmable Product, or any consequence thereof.

Performance Data

Data presented in Omron Company websites, catalogs, and other materials is provided as a guide for the user in determining the suitability and does not constitute a warranty. It may represent the result of Omron’s test conditions, and the user must correlate it to actual application requirements. Actual performance is subject to Omron’s Warranty and Limitations of Liability.

Change in Specifications

Product specifications and accessories may be changed at any time based on improvements and other reasons. It is our practice to change part numbers when published ratings or features are changed, or when significant construction changes are made. However, some specifications of the Product may be changed without any notice. When in doubt, special part numbers may be assigned to fix or establish key specifications for your application. Please consult with your Omron’s representative at any time to confirm actual specifications of the purchased Product.

Errors and Omissions

Information presented by Omron Companies has been checked and is believed to be accurate; however, no responsibility is assumed for clerical, typographical, or proofreading errors or omissions.

OMRON Corporation Industrial Automation Company

Contact: www.ia.omron.com

• Regional Headquarters
• OMRON EUROPE B.V.
• Wegalaan 67-69, 2132 JD Hoofddorp
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• Tel: (31)2356-81-300/Fax: (31)2356-81-388

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• No. 438A Alexandra Road # 05-05/08 (Lobby 2),
• Alexandra Technopark,
• Singapore 119967
• Tel: (65) 6835-3011/Fax: (65) 6835-2711

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• 2895 Greenspoint Parkway, Suite 200 Hoffman Estates,
• IL 60169 U.S.A.
• Tel: (1) 847-843-7900/Fax: (1) 847-843-7787

OMRON ROBOTICS AND SAFETY TECHNOLOGIES, INC

• 4225 Hacienda Drive, Pleasanton, CA 94588 U.S.A.
• Tel: (1) 925-245-3400/Fax: (1) 925-960-0590

OMRON (CHINA) CO., L HTD

• Room 2211, Bank of China Tower, 200 Yin Cheng Zhong Road,
• Pudong New Area, Shanghai, 200120, China
• Tel: (86) 21-5037-2222/Fax: (86) 21-5037-2200

OMRON Corporation 2020-2022 All Rights Reserved.

In the interest of product improvement, specifications are subject to change without notice.

Cat. No. I855-E-04

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