Industrial Automation

LD / MD / HD Series

Autonomous Mobile Robots

LD / MD / HD Series

Designed to automate material transport tasks in factories and indoor facilities.

LD Series
MD Series
HD-1500

last update: December 23, 2024

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.
	Dust / Smoke	Airborne particle size: > 37 μm Floor accumulation: < 10 ml / m² Avoid smoky areas
	Ingress Protection Class	IP20
	Altitude	1000 m above mean sea level maximum
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	2.6 Mpa.	3.27 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 (25.6 VDC nominal), 4 A switched 22 to 30 VDC (25.6 VDC nominal), 10 A switched 22 to 30 VDC (25.6 VDC nominal), 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, EN 61000-6-2, EN61000-6-4
	Battery	UN 38.3, UL 2271
	Docking Station	UL1012/CSA C22.2.107.2
	Wireless	IEEE 802.11 a/b/g
	Cleanroom Rating	ISO 5 / Class 100 (AMR, Battery and Docking Station)
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
Operator Interface	Button	ON button, OFF button, Brake-release button, and keyed mode selection
User Interface	Wireless	802.11 a/b/g
	Ethernet	One general purpose, shielded, Auto-MDIX Ethernet port.
	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.
	Dust / Smoke	Airborne particle size: > 37 μm Floor accumulation: < 10 ml / m² Avoid smoky areas
	Ingress Protection Class	IP20
	Altitude	1000 m above mean sea level maximum
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 (25.6 VDC nominal), 4 A switched 22 to 30 VDC (25.6 VDC nominal), 10 A switched 22 to 30 VDC (25.6 VDC nominal), 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, EN 61000-6-2, EN 61000-6-4
	Battery	UN 38.3, UL 2271
	Docking Station	UL1012/CSA C22.2.107.2
	Wireless	IEEE 802.11 a/b/g
	Cleanroom Rating	ISO 5 / Class 100 (AMR, Battery and Docking Station)
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 general purpose, shielded, Auto-MDIX Ethernet port.
	Serial	Two serial communication interfaces
	Digital I/O	16 inputs, 16 outputs
	Audio	Digital audio in / out

*1. A speed of 600 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 and gaps 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.

Virtual Fleet Manager Software Minimum Hardware Requirements

Fleet Size / AMR Count	Small / ≤ 5	Medium ≤ 15	Large ≤ 30	X-Large ≤ 100
Virtual CPU	2 cores		4 cores
Clockspeed	4GHz	8 GHz	12 GHz	16 GHz
Virtual RAM	8 GB	16 GB	24 GB	32 GB
Virtual Disk	512 GB			1 TB
FLOW software version	Minimum FLOW Core 4.0

Note: The PC/IPC/Server is supplied by the user.

High Accuracy Positioning System (HAPS)

Sensor	Depth	30 mm
	Width	160 mm
	Ingress Protection Class	IP64
	Environment	-40 to 85°C
	LEDs	Power, tape present, left marker, right marker
Magnetic Tape	Width	25 mm
Magnetic Tape	Orientation	South up
Markers (Magnetic Tape)	Width	25 mm
	Length	300 mm min. for 500 mm/s drive speed
	Orientation	North up
	Separation From Tape	15 to 30 mm
Connections	Front Sensor	RS232-1 (/dev/ttyUSB9) on the core
	Rear Sensor	RS232-2 (/dev/ttyUSB10) on the core
	Power, Both Sensors	Aux power using the included splitter cable
Stop Position Repeatability, LD-60, LD-90 *	Single AMR	±8 mm position, 0.4° rotation
Stop Position Repeatability, LD-60, LD-90 *	Fleet	±10 mm position, 0.5° rotation
Stop Position Repeatability, LD-250 *	Single AMR	±8 mm position, 0.4° rotation
Stop Position Repeatability, LD-250 *	Fleet	±10 mm position, 0.6° rotation

* Stop position repeatability values were obtained using default AMR parameters and a map created by the LD-series AMR.

Cell Alignment Positioning System (CAPS)

Stop Position Repeatability, LD-60, LD-90, LD-90x *	Single AMR	±8 mm position, 0.5° rotation
Stop Position Repeatability, LD-60, LD-90, LD-90x *	Fleet	±12 mm position, 0.5° rotation
Stop Position Repeatability, LD-250 *	Single AMR	±8 mm position, 0.5° rotation
Stop Position Repeatability, LD-250 *	Fleet	±14 mm position, 0.6° rotation
Type		Software license

* Stop position repeatability values were obtained using default AMR parameters and a map created by the LD-series AMR.

Battery

Type	Lithium-Ion (LiFePO4)
Weight	19 kg
Voltage	22 to 30 VDC (25.6 VDC nominal)
Capacity	72 Ah (battery cell nominal)
Recharge Time	2 hrs. 10 min. for 20% to 80% charge
Ingress Protection Class	IP20
Recharge Cycles	Approximately 2000 cycles *
Charging Method	Automatic or manual

* Approximately 80% of nominal battery capacity will be available after using the battery at 100% depth of discharge at temperatures between 15°C to 35°C.

Docking Station

Current	8 A *
Power	100 to 240 VAC, 50 to 60 Hz
Power Consumption	800 W
Humidity	5 to 95%, non-condensing
Temperature	5 to 40°C
Dimensions (W × D × H)	349 × 369 × 315 mm 495 × 495.5 × 317 mm (with floor plate)
Weight	8.2 kg
Mounting	Wall bracket, directly to floor, or on floor with floor plate
Indicators	Power on: blue Charging: yellow
Connector	For out-of-AMR battery charging

* Circuit breaker built into AC power switch

Joystick (Pendant)

Weight	0.55 kg
IP Rating	IP56

Acuity Camera Specifications

Field of View	140°
Power Input	12 VDC (±10%) supplied from AMR through power connector
Power Consumption	3.3 W maximum

MobilePlanner Software

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
Supported Languages	English, Japanese, German, French, Italian, Korean, Spanish, Polish, Simplified Chinese, Traditional Chinese

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
Auxiliary Power	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
Operator Panel	Controls	• E-STOP button • ON/OFF buttons • Brake release button • Pendant port • Keyed Mode Selection Switch

*1. The supplied Top Plate Plugs must be inserted to achieve an IP22 rating.
*2. Traversing a 10 mm step must occur at speeds below 500 mm/s in the forward direction and 400 mm/s in the reverse direction. Traversing a 15 mm step must occur at speeds below 300 mm/s in the forward and reverse directions. Frequent driving over steps will shorten the lifespan of the drivetrain components. Steps should have smooth, rounded profiles.
*3. 20 mm gaps may be traversed at any speed. Traversing a 30 mm gap must occur at speeds below 2000 mm/s for MD-650 and below 1500 mm/s for MD-900. Frequent driving over gaps will shorten the lifespan of the drivetrain components.
*4. Auxiliary power draw will impact these times.
*5. The maximum rotational speed is reduced to 45 °/s when the AMR is traveling at speeds over 100 mm/s.
*6. Stop position repeatability values were obtained using default AMR parameters and a map created by the MD-series AMR.

MobilePlanner Software Requirements

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 x 768, 16 million colors minimum
MobilePlanner, Tablet Edition	Operating System	Android OS, Version 9 or newer, minimum 2 GB of RAM
MobilePlanner, Tablet Edition	Operating System	iOS, Version 10 or newer
Supported Languages		English, German, Japanese, French, Italian, Korean, Spanish, Polish, Simplified Chinese and Traditional Chinese.

Virtual Fleet Manager Software Minimum Hardware Requirements

Fleet Size / AMR Count	Small / ≤ 5	Medium ≤ 15	Large ≤ 30	X-Large ≤ 100
Virtual CPU	2 cores		4 cores
Clockspeed	4GHz	8 GHz	12 GHz	16 GHz
Virtual RAM	8 GB	16 GB	24 GB	32 GB
Virtual Disk	512 GB			1 TB
FLOW software version	Minimum FLOW Core 4.0

Note: The PC/IPC/Server is supplied by the user.

EM2100 Appliance

Weight	9.1 kg
Mounting method	1U rack mount in a standard 19-inch equipment rack
Power Supply	100 to 240 VAC (typical 100 W)
Power Consumption	200 W max.
Operating Temperature	10 to 35°C
Storage Temperature	-25 to 60°C
Operating Humidity	8 to 90%, non-condensing
Storage Humidity	5 to 95%, non-condensing
Ingress Protection Class	IP20
Main Memory	32 GB DDR3
Storage	60 GB SSD
Archive Storage	4 TB HDD
Communication port	10/100/1000 Ethernet × 4, USB × 4, VGA
Status Display	Multi-segment LCD

Charging Station

Maximum Current	Input current: 25 A Output current: 120 A (nominal) *
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	IP20 (IP10 for charging pads)
Altitude	2000 m maximum
Pollution degree	2
Equipment Class	1
Weight	Power Supply Box: 111 kg Docking Target: 28 kg
Docking Target Mounting	To floor and/or wall

* Fused at 150 A

High Accuracy Positioning System

Ingress Protection		IP64
Environment		-40 to 85°C
Magnetic Tape	Width	25 mm
Magnetic Tape	Orientation	South up
Markers (Magnetic Tape)	Width	25 mm
	Length	250 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, ±0.5° rotation
Stop Position Repeatability *	Fleet	±10 mm position, ±0.5° rotation

* Stop position repeatability values were obtained using default AMR parameters and a map created by the MD-series AMR.

Pendant

Ambient Operating Temperature	0 to 40°C
Storage Temperature	-20 to 65°C
Humidity	5 to 95%, non-condensing
Altitude	2000 m
Ingress Protection Class	IP30

Battery

Type	Lithium-Ion (LifePO4)
Voltage	40 to 57 VDC (51.2 VDC nominal)
Capacity	38 Ah nominal
Energy	2048 Wh nominal
Recharge Time	19.6 minutes (from 20% to 80%) *1
Charge Cycles	Approximately 3000 cycles 2 3
Charging Method	Automatic or manual
Ambient Operating Temperature	5 to 40°C
Storage Temperature	< 1 month: -20°C to 45°C < 3 months: -20°C to 35°C > 3 months: 20°C to 25°C
Humidity (Storage)	65% or less
Humidity (Operation)	5 to 95%, non-condensing
Altitude	4500 m, operating 15240 m, transporting
Ingress Protection Class	IP33
Weight	29 kg

*1. Charging time can vary based on battery cell temperature and state of charge.
*2. Approximately 80% of nominal battery capacity will be available after using the battery at 100% depth of discharge.
*3. Under manufacturer's test conditions of 25°C ±3°, 25%-85% R.H., 40 A charge/discharge, 57 and 40 VDC charge/discharge, with 60 minutes of inactivity after charging/discharging. Actual cycles may vary according to the application.

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 max.
	Ingress Protection Class	IP20
	Dust / Smoke	< 1.5 mL / m² of dust with a particle size > 37 μm, avoid smoky areas
	Enclosure Rating	Type 1
	Cleanroom Rating	ISO 5 / Class 100
Floor Conditions	Floor Requirements	No water, no oil, no dirt
	Minimum Floor Flatness	F_F25 (ACI 117 standard)
	*Traversable Step 1**	15 mm max.
	Traversable Gap	20 mm max.
	Maximum Slope	5° / 8.75% 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 MobilePlanner
	Low Lasers	Two Low Lasers are provided to detect obstacles below the scanning plane of the Safety Laser Scanners
	Supplementary Lasers (optional)	Two optional, Supplementary 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: ±70 mm, ±2° To standard target: ±25 mm, ±2° With HAPS: ±8 mm, ±0.4° With CAPS: ±5 mm, ±0.4°
	Stop Position Repeatability (Fleet) *4	To a position: ±75 mm, ±2° 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 ISO 12100, EN ISO 13849-1, EN 60204-1, ISO 10218-1, EN 61000-6-2, EN 61000-6-4, EN ISO 3691-4 (except 4.12), CAN/UL 3100, CSA Z434
	Battery	ANSI/CAN/UL/ULC 2271, UN 38.3
	Charging Station	UL1012, CSA C22.2.107.2, EN 61204-7 used in conjunction with EN 62477-1
	Wireless	IEEE 802.11a/b/g
Marking	AMR	cTUVus
	Battery	cURus
	Charging Station	cTUVus
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 181 mm above the floor. Lasers are rated as Class 1, eye-safe, PLd Safety per ISO 13849-1.
	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 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

*1. A speed of 500 mm/s in the forward direction and 400 mm/s in the reverse direction is recommended for traversing steps. Routine driving over steps should be avoided. Lower speeds may not traverse the step. Faster or frequent driving over steps and gaps will shorten the lifespan of the drivetrain components. All steps should have smooth, rounded profiles.
*2. Auxiliary power draw will impact these times.
*3. The maximum rotational speed is reduced to 45 °/s when the AMR is traveling at speeds over 300 mm/s.
*4. Stop position repeatability values were obtained using default AMR parameters and a map created by the HD-1500 AMR.

MobilePlanner Software Requirements

MobilePlanner, PC	Operating System	Windows 10 (32/64-bit version)
	CPU	1.5 GHz dual-core CPU recommended
	Main Memory	1.5 GB min. (4 GB recommended)
	Hard Disk	At least 400 MB of available space
	Video Memory	256 MB min.
	Display	XGA 1280 x 720, 16 million colors minimum
MobilePlanner, Tablet Edition	Operating System	Android OS, Version 9 or newer, minimum 2 GB of RAM
MobilePlanner, Tablet Edition	Operating System	iOS, Version 10 or newer
Supported Languages		English, German, Japanese, French, Italian, Korean, Spanish, Simplified Chinese and Traditional Chinese.

Virtual Fleet Manager Software Minimum Hardware Requirements

Fleet Size / AMR Count	Small / ≤ 5	Medium ≤ 15	Large ≤ 30	X-Large > 30 *
Virtual CPU	2 cores		4 cores
Clockspeed	4GHz	8 GHz	12 GHz	16 GHz
Virtual RAM	8 GB	16 GB	24 GB	32 GB
Virtual Disk	512 GB			1 TB
FLOW Software Version	Minimum FLOW Core 4.0

* Contact your local OMRON representative for fleets larger than 100.
Note: The PC/IPC/Server is supplied by the user.

Charging Station

Maximum Current	Input current: 25 A Output current: 120 A (nominal) *
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	IP20 (IP10 for charging pads)
Pollution Degree	2
Equipment Class	1
Weight	Power Supply Box: 108 kg Docking Target: 27.5 kg
Docking Target Mounting	To floor and/or wall

* Fused at 150 A

High Accuracy Positioning System

Ingress Protection		IP64
Environment		-40 to 85°C
Magnetic Tape	Width	25 mm
Magnetic Tape	Orientation	South up
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)

Pendant

Ambient Operating Temperature	0 to 40°C
Storage Temperature	-20 to 65°C
Humidity	5 to 95%, non-condensing
Altitude	2000 m
Ingress Protection Class	IP30

Battery

Type	Lithium-Ion (LiFePO4)
Voltage	48 to 57 VDC (52.8 nominal)
Capacity	68 Ah nominal
Recharge Time	24 min. (20% to 80% charge)
Charge Cycles	Approximately 8000 cycles *
Charging Method	Automatic or manual
Ambient Operating Temperature	5 to 40°C
Storage Temperature	-20 to 60°C (less than 2 weeks) -20 to 35°C (more than 2 weeks)
Humidity	5 to 95%, non-condensing
Altitude	4500 m, operating 15240 m, transporting
Ingress Protection	IP20
Weight	69.5 kg

* Approximately 80% of nominal battery capacity will be available after using the battery at 100% depth of discharge, at a temperatures of 23°C.

last update: December 23, 2024

Product Category

Robotics
- Mobile Robots
  - LD / MD / HD Series

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