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LD Series

Autonomous Mobile Robots

LD Series

A mobile robot series that automates material transport in factories and warehouses. Autonomously recognizes its environment and safely avoids people and obstacles. Available in three models: 60, 90, and 250 kg.

Item list of LD Series

Related Contents

last update: October 1, 2025

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

last update: October 1, 2025

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