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Industrial Automation

Industrial Automation

LD / MD / HD Series

Autonomous Mobile Robots

LD / MD / HD Series

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

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.
Ingress Protection Class IP20
Cleanroom rating ISO 5 / Class 100
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
5 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)
• 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 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, 4 A switched
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 IEEE 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 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/n/ac
Ethernet Port Two user LAN, One maintenance LAN, Auto-MDIX
Serial One RS-232
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.

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.
Ingress Protection Class IP20
Cleanroom rating ISO 5 / Class 100
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)
• 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. 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 × 240 pixels, color screen
Button ON button, OFF button, Brake-release button,
and keyed mode selection
User Interface Wireless 802.11 a/b/g/n/ac
Ethernet Port Two user LAN, One maintenance LAN, Auto-MDIX
Serial One RS-232
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.

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 (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

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

Battery

Type Lithium Ion
Weight 19 kg
Voltage 22 to 30 VDC
Capacity 72 Ah (battery cell nominal)
Recharge Time 2 hrs. 10 min. for 20% to 80% charge
Ingress Protection Class IP20
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 *
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 Localization

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 continuous
Regulated 23 to 25 VDC; 1 A continuous
Standards Harmonized standard EN ISO 12100, EN ISO 13849-1, EN 60204-1, ISO 10218-1
Relevant standard EN ISO 3691-4, UL 3100, UL1012 (Charging Station), UL2271 (Battery)
EMC EN 61000-6-4, EN 61000-6-2, EN 12895, IEC 61326-3-1
Wireless IEEE 802.11 a/b/g/n
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 User supplied signaling devices
Buzzer Additional audio signaling 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.

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 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.

Cell Alignment Positioning System (CAPS)

Stop Position Repeatability - Single AMR ±4 mm position, ±0.4° rotation
Stop Position Repeatability - Fleet * ±16 mm position, ±0.5° rotation
Type Software license

* 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
Voltage 32 to 58 VDC (51 VDC nominal)
Capacity 40 Ah nominal
Recharge Time 19.6 minutes (from 20% to 80%) *
Charge Cycles Approximately 3000 cycles at 100% depth of discharge to 80% capacity
Charging Method Automatic or manual
Ambient Operating Temperature 5 to 40°C
Storage Temperature < 1 month: -40°C to 45°C
< 3 months: -20°C to 35°C
> 3 months: 20°C to 25°C
Humidity 5 to 95%, non-condensing
Altitude 4500 m, operating
15240 m, transporting
Ingress Protection Class IP20
Weight 29 kg

* Charging time can vary based on battery cell temperature. Optimal charging occurs between 15°C and 34°C battery cell
   temperatures.

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 or liquid
Altitude 2000 m maximum
Ingress Protection Class IP20
Enclosure Rating Type 1
Cleanroom rating ISO 6 / Class 1000
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.
Maximum Slope Max. 1.8° / 3% 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 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 1500 kg
Mobility Run Time *1 12.5 h (no payload), 9 h (full payload)
Maximum translational
speed
(forward and reverse)
1800 mm/s
Maximum rotational speed *2 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)
To a position: ±50 mm
To standard target: ±25 mm, ±2°
With HAPS: ±8 mm, ±0.4°
With CAPS: ±8 mm, ±0.5°
Stop position repeatability
(Fleet)
To a position: ±70 mm
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 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.
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.
*2. The maximum rotational speed is reduced to 45 °/s when the AMR is traveling at speeds over 300 mm/s.

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 × 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) *
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

* 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

Type Lithium Ion
Voltage 48 to 56 VDC (52.8 nominal)
Capacity 70 Ah nominal
Recharge Time 21 min. (20% to 80% charge)
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