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LD Series

Mobile Robots

LD Series

Autonomous Intelligent Vehicles (AIVs), self-mapping, self-navigation.

Software MobilePlanner

Software Download the latest MobilePlanner

Mobile Robots-LD Platform

General Specifications

Item OEM Cart Transporter Note
37031-
[][][][][]
37041-
[][][][][]
37141-
[][][][][]
37161-
[][][][][]
Materials KYDEX
Dimension (L × W × H) 699 × 500 × 383 mm 894 × 1074 × 1394 mm * *. Height includes WiFi antenna.
Weight (with Battery) 62 kg 81 kg (Vehicle)/23 kg (Cart)
Envi-
ronment
Ambient temperature 5 to 40 °C
Ambient humidity 5 to 95 % (non-condensing)
Operating
Environment
Indoor usage only, No excessive dust, no corrosive
gas
Direct sunlight may cause safety
laser false positive
IP rating IP20
Cleanroom rating Fed Class 100,
ISO Class5
None

AIV (Autonomous Intelligent Vehicle) Specifications

Item OEM Cart Transporter Note
37031-
[][][][][]
37041-
[][][][][]
37141-
[][][][][]
37161-
[][][][][]
Floor
Condi-
tions
Floor
Requirements
Level surface or concrete (no water, no oil, no dirt)
Minimum
floor flatness
FF25 (* ACI 117 standard) *. ACI 117 is the American Concrete
Institute's standard for concrete
floors.
FF is flatness, FL is the level. Higher
FF numbers represent flatter floors.
FF25 is a fairly lenient specification.
Traversable
step
15 mm max.
*1
10 mm max.
*1
5 mm max.
*2
5 mm max.
*2
*1. A speed of 250-300 mm/s and
250 mm/s, for the LD-60 and LD-90,
is required for these steps.
Faster or frequent driving over such
steps or gaps will shorten the lifespan
of the drivetrain components. Lower
speeds may not traverse the step.
Steps should have smooth, rounded
profiles.
*2. The Cart transporter with a cart
is capable of driving over a gap or
step of 5mm at a speed of 250 mm/s,
but this should not be regarded as
normal use.
Regular driving over such gaps or
steps will shorten the lifespan of the
drivetrain components.
Traversable
gap
15 mm max. 15 mm max. 5 mm max.
*2
5 mm max.
*2
Climb grade Below 1: 12 (60 kg max.)
Flat floor only (over 60 kg)
Flat floor only
Navi-
gation
Routing Autonomous routing by localizing with Safety
Scanning Laser based on environment mapping.
Environmental
map making
method
Scan by walking the Mobile Robot through the
environment, and upload the Scan data in the
MobilePlanner.
Payload Maximum
Weight
60 kg 90 kg 105 kg * 130 kg * *. Excluding cart weight
Mobility Maximum
speed
1800 mm/s 1350 mm/s 1350 mm/s 900 mm/s
Maximum
rotation speed
180°/s 180°/s 100°/s
Stop position
accuracy
± 100 mm: Position * , ± 2°:Rotation *. ±10 mm: Position, ±0.5°:
Rotation with option, (High Accuracy
Positioning System)
Drive
wheel
Materials Non-marking Nylon foam-filled rubber, non-
conductive
Size 200 dia. × 50mm nominal, 2 wheels
Passive
caster
Materials Conductive thermoplastic rubber on Polyolefin
Size 75 dia. × 41 mm nominal, 4 casters
Power Battery 22-30 VDC
Capacity 72 Ah Battery cell nominal capacity
Run time 15 hours (continuous) approx. With no payload condition
Recharge
Time
4 hours (5:1 ratio) approx.
Battery Life
cycles
2000 recharge cycles (Battery cell nominal)
Charging
method
Automatic/Manual
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
22-30 VDC, 4 A Switched × 2
22-30 VDC, 10 A Switched *
22-30 VDC, 10 A Safe, Switched *
5, 12, 20, and 22-30 VDC power can
be provided to external devices.
*. 10 A Switched and 10 A Safe,
Switched share the 10 A of current.
Standard Safety
Standard
EN1525/JIS D6802/ANSI B56.5
Wireless IEEE 802.11 a/b/g
Safety
Features
Safety
Scanning
Laser
1 at front
Class 1
PLd Safety per ISO13849-1
Maximum range: 15 m
Field of view: 240°
Emergency
Stop
1 at Operator panel 1 at HMI post
touchscreen, 1 at
Operator panel
Rear sonar 2 at rear, 2 m range Each pairs is one emitter and one
receiver, working together
Front Bumper 1 at front of platform, 2pairs of sensors
Low Front
Laser
1 at front of platform
Class 1
Maximum range: 4 m
Field of view: 270°
Side Laser Option * 2 on horizontal tubes of
HMI post
Class 1
Maximum range: 4 m
Field of view: 270°
*. 2 on sides of payload structure,
user-mounted
Flash light Light Disc in each side Light Disc in each side,
Beacon on HMI post
Speaker 3.5", 80 W max.
Operator
Interface
Screen/
Touch panel
3.5 in. TFT 320 × 240
pixels, 256 K color screen
7.0 in. TFT LCD touch
panel, 18/24 bit RGB
Button ON Button: Green,
OFF Button: Red,
Brake-release button:
Orange,
Keyswitch (Disabled OFF
Button)
ON Button: Green,
OFF Button: Red,
Brake-release button:
Orange,
Keyswitch (Disabled OFF
Button), Latch Button,
Unlatch Button
User I/F Wireless IEEE 802.11 a/b/g
Ethernet port 1 × User LAN , 1 × Maintenance LAN, Auto-MDIX
Serial RS-232 × 2, CAN Bus B × 1
Digital I/O 16 inputs, 16 outputs
Analog I/O 8 inputs (0 to 30 V), 4 outputs (0-20 V)
Audio Digital Audio Out, Audio In/Audio Out
Cart
Latching
Latching
method
Not available Automatic

MobilePlanner

Model 13495-200
Operating system Windows 7 (32-bit/64 bit version)/Windows 8 (32-bit/64-bit version)/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
Communications ports USB port (for license key)
Supported languages Japanese, English

Enterprise Manager 1100

Model 11167-100
Dimensions- W × D × H 426.0 × 438.4 × 42.4 mm
Weight 6.8 kg
Mounting method 1U rack mount in a standard
19-inch equipment rack
Power Supply 100-240 VAC *
Power Consumption 200W 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
Chassis protection class IP20
CPU Intel® Xeon® CPU
Main Memory 4 GB DDR3
Storage 32 GB SSD
Communication port 10/100/1000 Ethernet × 4, USB × 4, VGA

*. typical 100 W

High Accuracy Positioning System

Model 13660-[]00
Sensor Depth 30 mm
Width 160 mm
Rating IP64
Environment -40 to 85 °C
LEDs Power, Tape present, Left marker, Right marker
Magnetic Tape Width 25 mm
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 - 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

Acuity Localization

Model 13700-[]00
Field of View 140°
Power Input 12 VDC (±10%) supplied from platform, through power connector
Power Consumption 3.3 W maximum

Touchscreen

Model 13605-000
Touch Panel PCAP touch sensor, 5 simultaneous touches, black bordered cover lens
TFT Display TFT LCD panel, 18/24 bit RGB parallel interface.
7.0 in. WVGA - Wide Viewing Angles, 5-Touch
Backlight Constant current LED supply
Power Input 5 VDC supplied through power connector
Power Consumption 6.5 W maximum

Call/Door Box

Model 13029-802
Dimensions- W × D × H 141.4 × 74.7 × 30 mm
Weight 190 g
Mounting method Mount to the provided wall frame with four screws
Power Supply 12 VDC
Power Consumption 0.5 A, 6 W typical
WiFi IEEE 802.11 a/b/g/n
Communication port Ethernet
I/O Input × 2, Output × 2 (30 VDC, 2 A max)

Battery

Model 18578-000
Run-time
(no payload)
15 hours (continuous) approx.
Weight 19 kg
Voltage 22-30 VDC
Capacity 72 Ah (Battery cell nominal)
Recharge time 4 hours, approx.
Life time 2000 times 80% DOD (Battery cell nominal),
7 years, approx., 16 hrs/day, 5 days/wk
4 years, approx., 19/7 (full-time)

Docking Station

Model 12477-0[]0
Current 8 A *1
Contacts 2
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) *2
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-platform battery charging

*1. Thermal fuse in AC power switch (10 A Time-lag fuse at switch for legacy dock)
*2. ( ) for with Floor plate

Joystick

Model 13558-000
Weight 550 g
IP rating IP56

Cart

Model 75020-000
Dimension (L × W × H) 592 × 846 × 480 mm
Weight 23 kg
Rating ESP rated
Passive Casters 2 front, 2 rear, spring-loaded
Caster diameter 100 mm nominal
Caster Brakes at 2 rear casters