Omron ARCL · LD / HD series

An Omron AMR that speaks ARCL, no robot required

A faithful emulator of the Advanced Robotics Command Language — the plaintext TCP interface Omron LD/HD robots and the Fleet Manager expose to WMS/MES integrations. Implemented from Omron's publicly published reference manual, with a virtual AMR that drives between goals, docks, charges and broadcasts the real QueueUpdate: lifecycle.

Built from the official manual, provably

Omron publishes ARCL as a PDF reference manual only. Every implemented command in this emulator cites the manual page its syntax and response format were transcribed from.

Source

I617-E-02 (18448-000 Rev B)

"Advanced Robotics Command Language Mobile Robots Reference Guide", Omron Robotics and Safety Technologies — 257 pages, retrieved 2026-08-16.

sha256 5d06a0a9671972b82dc14bfe52e663e557520c6f3b8851d5a3aba4c891c27b3a

Method

Per-command provenance

The derived command table (specs/arcl_commands.json) records a manual page per command; the queue lifecycle follows pages 44–45 and 217–237. Deviations and image-only literals are flagged as derived.

Telnet in, like the real thing

$ uv run arcl-emulator          # ARCL server on :7171, password "adept"
$ telnet 127.0.0.1 7171
Enter password:

Then drive it exactly like a Fleet Manager integration would: queuepickup Goal1, status, queueShow, dock — with --time-scale 60 the virtual AMR crosses the plant in seconds.

A recorded session, replayed

This transcript was recorded from the emulator (10× time scale) — password login, a queuePickup with the full QueueUpdate: lifecycle, and docking. Exact bytes, including ARCL's command echo.

speed

Command reference (implemented surface)

Generated from the emulator's own provenance table — command, what it does, and the I617-E-02 page it was transcribed from.

Deliberately not implemented (documented in the package): config import/export, data store, I/O banks, tasks/macros, custom commands, localization scanning. The emulator command (battery, e-stop, teleport, time scale) is a non-standard fault-injection side channel and is labeled as such in the help banner.

Want this for your fleet manager?

MiR REST, VDA 5050, Omron ARCL — same pattern each time: official spec as the oracle, provenance with hashes, adversarial tests, live validation against independent implementations. If your integration needs an emulator for another manufacturer, that pattern is repeatable.

Talk to advin.io See the VDA 5050 app