OMRON LD-60, LD-90, LD-90x, LD-60 ESD, LD-90 ESD, and LD-90x ESD LD-250, LD-250 ESD MD-650 MD-900 HD-1500 Autonomous Mobile Robots-Tamasak (M) Sdn Bhd 京都玉崎马来亚西亚公司

Brand: OMRON

Model: LD-60, LD-90, LD-90x, LD-60 ESD, LD-90 ESD, and LD-90x ESD LD-250, LD-250 ESD MD-650 MD-900 HD-1500

Product Name: Autonomous Mobile Robots

Specifications:

LD Series

LD-60, LD-90, LD-90x, LD-60 ESD, LD-90 ESD, and LD-90x ESD

Item		LD-60	LD-90	LD-90x
Weight (with Battery)		62 kg
Environment	Ambient temperature	5 to 40°C
	Ambient humidity	5 to 95% (non-condensing)
	Operating Environment	Indoor usage only, no excessive dust, no corrosive gas or liquid. Floor must be free of water, oil, dirt, and debris. Direct sunlight may cause safety laser false positives.
	Ingress Protection Class	IP20
	Cleanroom rating	ISO 5 / Class 100
Floor Conditions	Minimum floor flatness	F_F25 (ACI 117 standard)
	Traversable step	15 mm max. *1	10 mm max. *1
	Traversable gap	15 mm max. *2
	Maximum Slope	Up to 60 kg: 4.8° / 8.3% incline Over 60 kg: Level floor only
	Minimum floor compressive strength	5 Mpa
Navigation	Routing	Autonomous routing by localizing with safety scanning laser based on environment mapping
	Environmental map making method	Scan by walking the AMR through the environment, and upload the scan data to the MobilePlanner software
	Low Front Laser	One Class 1 laser at front of AMR with a 126° field of view
	Side Laser (optional)	Two Class 1 lasers with a 270° field of view on the sides of payload structure, user-mounted
Visual Indicators		Light discs are located on the sides of the AMR. Additional indicators can be added.
Payload	Maximum Weight	60 kg	90 kg
Mobility	Run time (no payload)	15 h approx.		20 h approx.
	Run Time (full payload)	12 h approx.		15 h approx.
	Maximum Speed	1800 mm/s	1350 mm/s	900 mm/s
	Maximum Rotation Speed	180 °/s
	Stop Position Repeatability *(single AMR) 3**	· To a position: ±65 mm · To standard target: ±25 mm, ±2° · With CAPS: ±8 mm, ±0.5° · With HAPS: ±8 mm, ±0.4°
	Stop Position Repeatability *(Fleet) 3**	· To a position: ±85 mm · To standard target: ±35 mm, ±2° · With CAPS: ±12 mm, ±0.5° · With HAPS: ±10 mm, ±0.5°
Drive wheels	Materials	Solid aluminum with non-marking, non-conductive, foam-filled rubber tread
Passive casters	Materials	Conductive thermoplastic rubber on polyolefin
Auxiliary Power		5 VDC±5%, 1 A switched Aux power 12 VDC±5%, 1 A switched Aux power 20 VDC±5%, 1 A switched Aux power 22 to 30 VDC, 4 A switched 22 to 30 VDC, 10 A switched 22 to 30 VDC, 10 A safe, switched 10 A switched and 10 A safe switched are from the same source and pass through the same 10 A fuse, so the sum of their current must be less than 10 A.
Standard	AMR	EN IS0 12100, EN ISO 13849-1, EN 60204-1, EN 1525, ANSI B56.5, ISO 10218/CSA Z434, EN 61000-6-2, EN 61000-6-4
	Battery	EN IS0 12100, UN 38.3, EN 61000-6-2, EN 61000-6-4, UL 2271
	Docking Station	EN IS0 12100, UL1012/CSA C22.2.107.2, IEC 60204-1, EN 61000-6-2, EN 61000-6-4
	Wireless	IEEE 802.11 a/b/g
Safety Features	Safety Scanning Laser	One at front of AMR Class 1 PLd safety per ISO13849-1 240° field of view
	E-STOP Buttons	One on Operator Panel, additional E-STOP buttons can be added to the payload structure
	Rear Sonar	Two at rear of AMR, 2 m range. Each pair includes one emitter and one receiver working together.
	Front Bumper	Two pairs of sensors at the front of the AMR
	Audible Indicators	Two speakers are included. Additional buzzers can be added.
Operator Interface	Display	8.89 cm diagonal TFT, 320 x 240 pixels, color screen
	Button	ON button, OFF button, Brake-release button, and keyed mode selection
User Interface	Wireless	802.11 a/b/g
	Ethernet	One TCP/UDP interface (maintenance LAN), Auto-MDIX
	Serial	Two serial communication interfaces
	Digital I/O	16 inputs, 16 outputs
	Audio	Digital audio in / out

*1. A speed of 250 mm/s is recommended for traversing steps, and routine driving over steps should be avoided. Lower speeds may not traverse the step. Faster or frequent driving over steps will shorten the lifespan of the drivetrain components. All steps should have smooth, rounded profiles.
*2. AMR maximum speed is recommended for traversing gaps, and routine driving over gaps should be avoided. Lower speeds may not traverse the gap. Faster or frequent driving over gaps will shorten the lifespan of the drivetrain components.
*3. Stop position repeatability values were obtained using default AMR parameters and a map created by the LD-series AMR.

LD-250, LD-250 ESD Specifications

Item		LD-250
Weight (with battery)		148 kg
Environment	Ambient temperature	5 to 40°C
	Ambient humidity	5 to 95% (non-condensing)
	Operating Environment	Indoor usage only, no excessive dust, no corrosive gas or liquid. Floor must be free of water, oil, dirt, and debris. Direct sunlight may cause safety laser false positives.
	Ingress Protection Class	IP20
	Cleanroom rating	ISO 5 / Class 100
Floor Conditions	Minimum floor flatness	F_F25 (ACI 117 standard)
	Traversable step	10 mm max. *1
	Traversable gap	15 mm max. *2
	Maximum Slope	Max. 1.7° / 3% incline
	Minimum floor compressive strength	5 Mpa
Navigation	Routing	Autonomous routing by localizing with safety scanning laser based on environment mapping
	Environmental map making method	Scan by manually driving the AMR through the environment, and upload the scan data to the MobilePlanner for map creation.
	Low Front Laser	One Class 1 laser at front of AMR with a 126° field of view
	Side Laser (optional)	Two Class 1 lasers with a 270° field of view on the sides of payload structure, user-mounted
Visual Indicators		Light discs are located on the sides of the AMR. Additional indicators can be added.
Payload	Maximum Weight	250 kg
Mobility	Run time (no payload)	13 h approx.
	Run Time (full payload)	10 h approx.
	Maximum Speed	1200 mm/s
	Maximum Rotation Speed	120 °/s
	Stop Position Repeatability *(single AMR) 3**	· To a position: ±75 mm · To standard target: ±25 mm, ±2° · With CAPS: ±8 mm, ±0.5° · With HAPS: ±8 mm, ±0.4°
	Stop Position Repeatability *(Fleet) 3**	· To a position: ±100 mm · To standard target: ±35 mm, ±2° · With CAPS: ±14 mm, ±0.6° · With HAPS: ±10 mm, ±0.6°
Drive wheel	Materials	Aluminum with polyurethane tread
Passive caster	Materials	Elastomer (Polyurethane)
Auxiliary Power		5 VDC±5%, 1 A switched Aux power 12 VDC±5%, 1 A switched Aux power 20 VDC±5%, 1 A switched Aux power 22 to 30 VDC, 4 A switched × 2 22 to 30 VDC, 10 A switched 22 to 30 VDC, 10 A safe, switched 10 A switched and 10 A safe switched are drawn from the same source, and pass through the same 10 A fuse, so the sum of their current must be less than 10 A.
Standards	AMR	EN IS0 12100, EN ISO 13849-1, EN 60204-1, EN 1525, ANSI B56.5, ISO 10218/CSA Z434, EN 61000-6-2, EN 61000-6-4
	Battery	EN IS0 12100, UN 38.3, EN 61000-6-2, EN 61000-6-4, UL 2271
	Docking Station	EN IS0 12100, UL1012/CSA C22.2.107.2, IEC 60204-1, EN 61000-6-2, EN 61000-6-4
	Wireless	IEEE 802.11 a/b/g
Safety Features	Safety Scanning Laser	One at front of AMR Class 1 PLd safety per ISO13849-1 240° field of view
	E-STOP Buttons	One at Operator Panel, one on each side. Additional E-STOP buttons can be added to the payload structure
	Rear Sensing	Time of flight (TOF) sensors
	Audible Indicators	Two speakers are included. Additional buzzers can be added
Operator Interface	Display	3.5 inch TFT, 320 x 240 pixels, color screen
Operator Interface	Button	ON button, OFF button, Brake-release button, and keyed mode selection
User Interface	Wireless	802.11 a/b/g
	Ethernet	One TCP/UDP interface (maintenance LAN), Auto-MDIX
	Serial	Two serial communication interfaces
	Digital I/O	16 inputs, 16 outputs
	Audio	Digital audio in / out

MD Series

Item		Details
Model		MD-650	MD-900
Weight (no battery or accessories)		220 kg
Envi- ronment	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 or liquid
	Altitude	2000 m maximum
	Pollution degree	2
	Ingress Protection Class	IP22 *1 (IP10 for charging pads)
	Enclosure Rating	Type 2
	Atmospheric	Non-hazardous environments (no explosive gas and oil mist).
Floor Conditions	Floor requirements	No water, oil, or dirt
	Minimum floor flatness	F_F25 (ACI 117 standard)
	Minimum floor levelness	F_L25 (ACI 117 standard)
	Maximum step traversal *(speed limited 2)**	10 mm / 15 mm
	*Maximum gap traversal 3**	20 mm / 30 mm
	Maximum Slope	Max. 5° / 8.75% incline
	Minimum floor compressive strength	7.2 MPa	9.4 MPa
	Minimum coefficient of friction	Flat surfaces: 0,6; Inclined surfaces: 0.8
Navigation	Routing	Autonomous routing by localizing with Safety Laser Scanners, based on environment mapping.
	Environmental map- making method	Scan by driving the AMR through the environment and uploading the scan data to the MobilePlanner.
	Low Lasers	Two Low Lasers are provided to detect obstacles below the scanning plane of the Safety Laser Scanners.
	Side Lasers (optional)	Two optional Side Lasers can be added for object detection in the vertical plane.
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.
Maximum Payload Capacity		650 kg	900 kg
Mobility	*Run Time 4**	10 h (no payload); 8 h (full payload)
	Swing radius	729 mm
	Turn radius	0 mm
	Maximum translational speed (forward and reverse)	2200 mm/s	1800 mm/s
	Maximum translational acceleration	900 mm/s²
	Maximum translational deceleration	1300 mm/s²
	Maximum rotational *speed 5**	60 °/s
	Maximum rotational acceleration	100 °/s2
	Maximum rotational deceleration	150 °/s2
	Maximum moment of inertia	250 kg-m²	300 kg-m²
	Stop position repeatability *(single AMR) 6**	To a position: ±70 mm, ±2° To standard target: ±25 mm, ±2° With HAPS: ±8 mm, ±0.5° With CAPS: ±4 mm, ±0.4°
	Stop position repeatability *(Fleet) 6**	To a position: ±75 mm, ±2° To standard target: ±35 mm, ±2° With HAPS: ±10 mm, ±0.5° With CAPS: ±16 mm, ±0.5°
Drive wheels	Materials	Steel wheels with ESD tread
Passive casters	Materials	Cast iron wheels with polyurethane tread
Auxiliary Power	Unregulated	40 to 57 VDC (51.2 VDC nominal); 40 A fused
	Regulated	23 to 25 VDC; 1 A fused
Standards	AMR	EN ISO 12100, EN ISO 13849-1, EN 60204-1, ISO 10218-1/CSA Z434, EN ISO 3691-4, EN 12895, EN 61000-6-4, EN 61000-6-2
	Battery	UL2271, UN 38.3
	Charging Station	UL1012/CSA C22.2.107.2, EN 61204-7 used in conjunction with EN 62477-1
	Wireless	IEEE 802.11 a/b/g
Signal Interfaces	Wireless	Fleet communication and other maintenance functions
	RJ-45 Ports	Four ports for connections to internal devices
	Digital I/O	Eight PNP / sourcing inputs; Eight PNP / sourcing outputs
	Safety	Emergency stop and protective signals, alternate safety zone switching, and no-motion output
	Lights	Connects user-supplied visual signal devices
	Buzzer	Connects user-supplied audible signal devices
Safety Features	Safety Laser Scanners	Two Safety Laser Scanners 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 1M, eye-safe, per IEC 60825-1 and 21 CFR 1040.10 and 1040.11.
	Safety Laser Scanner Zone Sets	A pair of safety-rated alternate safety zone inputs can toggle the Safety Laser Scanner zones between a default configuration or an alternate configuration.
	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.
	Audible Indicators	Two speakers are included. Additional buzzers can be added.
	Emergency Stop	Stops the AMR and requires user intervention to resume operation.
	Protective Stop	Stops the AMR temporarily and automatically resumes operation when safety conditions are met.
Operator Panel	Display	7-inch diagonal LCD
	Controls	• E-STOP button • ON/OFF buttons • Brake release button • Pendant port • Keyed Mode Selection Switch

HD-1500

Item		Details
Weight (with Battery)		506.5 kg
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 or liquid
	Altitude	2000 m maximum
	Ingress Protection Class	IP20
	Enclosure Rating	Type 1
	Cleanroom Rating	ISO 6 / Class 1000
Floor Conditions	Floor requirements	No water, no oil, no dirt
	Minimum floor flatness	F_F25 (ACI 117 standard)
	*Traversable step 1**	10 mm max.
	Traversable gap	20 mm max.
	Maximum Slope	Max. 1.8° / 3% incline
	Minimum floor compressive strength	5 Mpa
	Minimum coefficient of friction	0.6
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
	Low Lasers	Two Low Lasers are provided to detect obstacles below the scanning plane of the Safety Laser Scanners.
	Side Lasers (optional)	Two optional Side Lasers can be added for object detection in the vertical plane.
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.
Maximum Payload Capacity		1500 kg
Mobility	*Run Time 2**	12.5 h (no payload), 9 h (full payload)
	Maximum translational speed (forward and reverse)	1800 mm/s
	*Maximum rotational speed 3**	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-m²
	Stop position repeatability *(single AMR) 4**	To a position: ±50 mm To standard target: ±25 mm, ±2° With HAPS: ±8 mm, ±0.4° With CAPS: ±8 mm, ±0.5°
	Stop position repeatability *(Fleet) 4**	To a position: ±70 mm To standard target: ±35 mm, ±2° With HAPS: ±10 mm, ±0.75° With CAPS: ±16 mm, ±0.5°
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 57 VDC (52.8 nominal); 50 A fused
Auxiliary Power	Regulated	23.0 to 25.2 VDC; two channels fused at 1.85 A
Standard	AMR	EN IS0 12100, EN ISO 13849-1, EN 60204-1, ISO 10218-1/ CSA Z434, UL 3100, EN 61000-6-2, EN 61000-6-4
	Battery	UL2271, UN 38.3
	Charging Station	UL1012/CSA C22.2.107.2, EN 61204-7 used in conjunction with EN 62477-1
	Wireless	IEEE 802.11 a/b/g
Signal Interfaces	Wireless	Two integrated wireless antennas
	Ethernet port	Two RJ-45 ports 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	Eight PNP (sourcing) inputs Eight PNP (sourcing) outputs
	Audio	Digital audio out
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.
	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.
Operator Panel	Controls	• E-STOP button • ON/OFF buttons • Brake release button • Pendant port • Maintenance port • Main disconnect switch