OMRON LD-60, LD-90, LD-90x, LD-60 ESD, LD-90 ESD, and LD-90x ESD LD-250, LD-250 ESD MD-650 MD-900 HD-1500 Autonomous Mobile Robots

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

F_F25 (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) *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, 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

AMR

EN IS0 12100, EN ISO 13849-1, EN 60204-1, EN 1525, ANSI B56.5, 
ISO 10218/CSA Z434, EN 61000-6-2, EN 61000-6-4

Battery

EN IS0 12100, UN 38.3, EN 61000-6-2, EN 61000-6-4, UL 2271

Docking Station

EN IS0 12100, UL1012/CSA C22.2.107.2, IEC 60204-1, EN 61000-6-2, 
EN 61000-6-4

Wireless

IEEE 802.11 a/b/g

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 TCP/UDP interface (maintenance LAN), Auto-MDIX

Serial

Two serial communication interfaces

Digital I/O

16 inputs, 16 outputs

Audio

Digital audio in / out

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

F_F25 (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, 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

AMR

EN IS0 12100, EN ISO 13849-1, EN 60204-1, EN 1525, ANSI B56.5, 
ISO 10218/CSA Z434, EN 61000-6-2, EN 61000-6-4

Battery

EN IS0 12100, UN 38.3, EN 61000-6-2, EN 61000-6-4, UL 2271

Docking Station

EN IS0 12100, UL1012/CSA C22.2.107.2, IEC 60204-1, EN 61000-6-2, 
EN 61000-6-4

Wireless

IEEE 802.11 a/b/g

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 TCP/UDP interface (maintenance LAN), Auto-MDIX

Serial

Two serial communication interfaces

Digital I/O

16 inputs, 16 outputs

Audio

Digital audio in / out

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

F_F25 (ACI 117 standard)

Minimum floor levelness

F_L25 (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

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

F_F25 (ACI 117 standard)

Traversable step *1

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 *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: ±50 mm 
To standard target: ±25 mm, ±2° 
With HAPS: ±8 mm, ±0.4° 
With CAPS: ±8 mm, ±0.5°

Stop position repeatability 
(Fleet) *4

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 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 IS0 12100, EN ISO 13849-1, EN 60204-1, ISO 10218-1/ 
CSA Z434, UL 3100, EN 61000-6-2, EN 61000-6-4

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

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