Item | LD-60, LD-90, ESD OEM | Cart Transporter | Note | |||
---|---|---|---|---|---|---|
37032-
[][][][][] |
37042-
[][][][][] |
37142-
[][][][][] |
37162-
[][][][][] |
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Materials | Polycarbonate | |||||
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 Class 5 | None | ||||
Floor
Condi- tions |
Floor
Requirements |
Linoleum, epoxy, or concrete (no water, no oil, no dirt) | ||||
Minimum floor
flatness |
FF25 (ACI 117 standard)* | * ACI 117 is the American
Concrete Institute standard for concrete floors. FF is flatness, FL is the level. Higher FF numbers represent flatter floors. FF25 is a fairly lenient specification. |
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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 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. |
|
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 |
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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
Repeatability |
Basic: ±100 mm position
Standard Target: ±25 mm position, ± 2° rotation |
*±10 mm position, ±0.5° rotation
with option, (High Accuracy Positioning System) ±8 mm position, ±1° rotation with option, (Cell Alignment Positioning System) |
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Drive
wheel |
Materials | Non-marking nylon foam-filled rubber, non-conductive | ||||
Size | 200 dia. × 50 mm 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 |
2,000 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 | 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 |
1 at front
Class 1 PLd safety per ISO13849-1 15 m maximum range 240° field of view |
||||
Emergency Stop | 1 at operator panel | 1 at HMI post touchscreen,
1 at operator panel |
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Rear Sonar | 2 at rear, 2 m range | Each pair includes one emitter
and one receiver working together |
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Front Bumper | 1 at front of platform, 2 pairs of sensors | |||||
Low Front Laser | 1 at front of platform
Class 1 4 m maximum range 126° field of view |
|||||
Side Laser | Option * | 2 on horizontal tubes of
HMI post Class 1 4 m maximum range 270° field of view |
* 2 on sides of payload
structure, user-mounted |
|||
Indicators | Light disc in each side | Light disc in each side,
beacon on HMI post |
||||
Speaker | 3.5 in., 80 W max. | |||||
Operator
Interface |
Screen/
Touch Panel |
3.5 in. TFT 320 × 240
pixels, 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 |
* Key switch can be used to
disable the off button to avoid accidental shutdown or tampering. |
|||
User
Interface |
Wireless | 802.11 a/b/g/n/ac | ||||
Ethernet Port | 1 x user LAN, 1 x maintenance LAN, Auto-MDIX | |||||
Serial | RS-232 × 2 | |||||
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 |