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LD / HD Series

Autonomous Mobile Robots

LD / HD Series

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

Item list of LD / HD Series

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last update: February 14, 2022

LD Series

LD-60, LD-90, LD-60 ESD, LD-90 ESD, LD-105 CT (Cart Transporter) and LD-130 CT (Cart Transporter)

Item LD-60 LD-90 LD-105 CT LD-130 CT
Weight (with Battery) 62 kg 81 kg (AMR)/23 kg (Cart)
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.
Floor must be free of water, oil, dirt, and debris.
Direct sunlight may cause safety laser false positives.
Ingress Protection
Class		 IP20
Cleanroom rating Fed Class 100, ISO Class 5 None
Floor
Conditions		 Minimum floor
flatness		 FF25 (ACI 117 standard)
Traversable step 15 mm max. *1 10 mm max. *1 5 mm max. *2 5 mm max. *2
Traversable gap 15 mm max. 15 mm max. 5 mm max. *2 5 mm max. *2
Climb grade Up to 60 kg: 1:12 or less
Over 60 kg: Level floor only		 Level floor only
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
Payload Maximum Weight,
excluding cart
weight for CT		 60 kg 90 kg 105 kg 130 kg
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
Repeatability
(single AMR)		 • 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)		 • 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 Non-marking nylon foam-filled rubber, non-conductive
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 × 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 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 Harmonized
Standard		 EN IS0 12100 / EN ISO 13849-1 / EN 60204-1
Relevant
Standard		 EN 1525 / ANSI B56.5
Wireless 802.11 a/b/g/n/ac
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 at HMI post touchscreen,
one at Operator Panel
Back Sonar Two at back, 2 m range
Each pair includes one emitter and one receiver working together
Front Bumper One at front of AMR, two pairs of sensors
Low Front Laser One at front of AMR
Class 1
4 m maximum range
126° field of view
Side Laser Option: Two on sides of payload
structure, usermounted
Class 1
4 m maximum range
270° field of view		 Two on horizontal tubes of HMI post
Class 1
4 m maximum range
270° field of view
Rear Laser Not available One on HMI post
Visual Indicators Light discs are located on the sides
of the AMR.
Additional indicators can be added.		 Light disk on each side, beacon on
HMI post.
Additional indicators can be added.
Audible Indicators Two speakers are included.
Additional buzzers can be added.
Operator
Interface		 Display /
Touch Screen		 3.5 inch, 320 × 240 pixels, color 7.0 inch, 800 × 480 pixels,
touch screen, color
Button ON button: green
OFF button: red
Brake-release button: orange Keyswitch		 ON button: green
OFF button: red
Brake-release button: orange
Keyswitch
Latch button, unlatch button
User Interface Wireless 802.11 a/b/g/n/ac
Ethernet Port One user LAN, One maintenance LAN, Auto-MDIX
Serial Two RS-232
Digital I/O 16 inputs, 16 outputs
Analog I/O 8 inputs (0 to 30 V), 4 outputs (0 to 20 V)
Audio Digital audio out, audio in / audio out
Cart Latching Latching Method Not available Automatic

*1. Speed of 250 to 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 LD-105 CT and LD-130 CT (Cart Transporters) with a cart is capable of driving over a gap or step of 5 mm 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.

LD-250, LD-250 ESD Specifications

Item LD-250
Weight 148 kg (with battery), 129 kg (without battery)
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.
Direct sunlight may cause safety laser false positives.
Ingress
Protection Class		 IP20
Cleanroom rating Fed Class 100, ISO Class 5
Floor
Conditions		 Floor Condition No water, no oil, no dirt
Minimum floor
flatness		 FF25 (ACI 117 standard)
Traversable step 10 mm max.
The LD-250 should traverse a step at 600 mm/s or slower for best performance
of the laser and battery.
Traversable gap 15 mm max.
Climb grade Level floor only (full payload)
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.
Payload Maximum Weight 250 kg
Mobility Maximum Speed 1200 mm/s
Maximum
Rotation Speed		 120 °/s
Stop Position
Repeatability
(single AMR)		 • 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)		 • 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 Harmonized
Standard		 EN IS0 12100 / EN ISO 13849-1 / EN 60204-1
Relevant
Standard		 EN 1525 / ANSI B56.5
Wireless 802.11 a/b/g/n/ac
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 (three total)
Rear Sensing Time of flight (TOF) sensors
Low Front Laser One at front of AMR
Class 1
4 m maximum range
126° field of view
Side Laser Option (Two on sides of payload structure, user-mounted)
Visual Indicators Light discs are located on the sides of the AMR.
Additional indicators can be added.
Audible Indicators Two speakers are included.
Additional buzzers can be added.
Operator
Interface		 Display 3.5 inch TFT 320 × 240 pixels, color screen
Touch Screen Option, 7.0 inch, 800 × 480 pixels, color
Button ON button: green
OFF button: red
Brake-release button: orange
Keyswitch (disabled OFF button)*
User Interface Wireless 802.11 a/b/g/n/ac
Ethernet Port One user LAN, One maintenance LAN, Auto-MDIX
Serial Two RS-232
Digital I/O 16 inputs, 16 outputs
Analog I/O 8 inputs (0 to 30 V), 4 outputs (0 to 20 V)
Audio Digital audio out, audio in / audio out
Cart Latching Not available

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

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
Chassis Ingress
Protection Class		 IP20
CPU Intel® Xeon® CPU
Main Memory 32 GB DDR3
Storage 60 GB SSD
Archive Storage 4 TB HDD
Communication ports Four 10/100/1000 Ethernet
Four USB
One VGA
Status Display Multi-segment LCD

High Accuracy Positioning System

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
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
Fleet ±10 mm position, 0.5° rotation
Stop Position Repeatability,
LD-250		 Single AMR ±8 mm position, 0.4° rotation
Fleet ±10 mm position, 0.6° rotation

Cell Alignment Positioning System (CAPS)

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

Touchscreen

Touch Panel PCAP touch sensor, black-bordered cover lens
TFT Display TFT LCD panel, 18/24 bit RGB parallel interface,
7.0 inch 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

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
Wireless IEEE 802.11 a/b/g/n
Communication Port Ethernet
I/O Two Inputs
Two Outputs (30 VDC, 2 A max.)

Battery

Run Time (No Payload) 15 h approx. (LD-60, LD-90)
13 h approx. (LD-250)
Weight 19 kg
Voltage 22 to 30 VDC
Capacity 72 Ah (battery cell nominal)
Recharge Time 4 h approx.
Life Expectancy 2,000 times 80% DOD (battery cell nominal),
7 years, approx., 16 h/day, 5 days/week
4 years, approx., 19/7 (full-time)
Charging Method Automatic or manual

Docking Station

Current 8 A *1
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

*1. Circuit breaker built into AC power switch

Joystick

Weight 0.55 kg
IP Rating IP56

Acuity Localization

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

Cart

Weight 23 kg
Rating ESD-rated
Passive Casters Two front, Two rear, spring-loaded
Caster Diameter 100 mm nominal
Caster Brakes On two rear casters

HD Series

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
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 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.
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

*1. Auxiliary power draw will impact these times

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

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) *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

*1. Fused at 150 A

High Accuracy Positioning System

Ingress Protection IP64
Environment -40 to 85°C
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 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)

Stop Position Repeatability - Single AMR ±8 mm position, ±0.5° rotation
Stop Position Repeatability - Fleet ±16 mm position, ±0.5° rotation
Type Software license

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

Voltage 48 to 56 VDC (52.8 nominal)
Capacity 70 Ah nominal
Recharge Time 40 min (from empty to full)
Charge Cycles 9000 recharge cycles (battery cell nominal)
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 Class IP20
Weight 69.5 kg

last update: February 14, 2022

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