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LD / MD / HD Series

Autonomous Mobile Robots

LD / MD / HD Series

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

Item list of LD / MD / HD Series

Related Contents

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 FF25 (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
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 FF25 (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
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
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

* 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
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

* 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 FF25 (ACI 117 standard)
Minimum floor levelness FL25 (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

*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
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
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
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 FF25 (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
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
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
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
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

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