23180-000 Rev A Mobile Robot LD, LD-CT Assembly Instructions 23
Safety Scanning Laser Emergency Stop
A CPLD Channel 1 or 2 fault, is a system fault, reported by independent safety system to the firmware
controlling the robot. A fault signal from the safety system, indicates that the robot is operating outside of
the defined boundaries of safety standards EN1525/ANSI B56.5.
Both referenced standards state, that the speed of motion in directions not covered by the operator
detection devices, reverse direction for the LD Platform, must be limited to <300 mm/s. For the LD-90 and
the LD CT-105 this speed is 225 mm/s.
If an LD Platform is operated in a manner that exceeds this reverse speed limit, the safety system will
generate and report a fault signal. In normal, autonomous operation, this condition triggers motion
controllers to execute a controlled stop. However, if motion is disabled (E-Stop button is pressed) and the
brake release is overridden, the safety system cannot stop the LD Platform since power to the motors has
already been cut off. Once the fault condition is resolved, the safety system will stop reporting safety fault to
the motion controllers, and the normal start-up process will initiate.
4.5 Battery Safety
• Store batteries upright (in an environment with relative humidity less than 70%) at:
o One month: +5 to 45°C (41 to 113°F)
o One year: 20 to 25°C (68 to 77°F)
• Do not expose batteries to water.
• If a battery is found to be leaking, do not expose it to water. If possible, submerge it in mineral oil
and contact Omron Robotics and Safety Technology.
• In case of a fire, use a type D extinguisher: foam, dry chemical, or CO2.
4.6 Robot Modifications
If the user or integrator makes any changes to the LD platform or cart, it is their responsibility to ensure that
there are no sharp edges, corners, or protrusions.
Note that any change to the platform or cart can lead to loss in safety or functionality. It is the responsibility
of the user or integrator to ensure that all safety features are operational after modifications.
4.7 Additional Safety Information
Accidental Cart Separation in LD Cart Transporter
In the unlikely event that the cart becomes unlatched from the platform while in motion, the cart’s brakes
are designed to stop the cart within six feet. The LD Cart Transporter will detect that the cart is no longer
present through both inductive proximity sensing, and magnetic sensing, and it will come to a controlled
stop.
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