Chapter 5: Payload Structures
Do Not Block AMR Lasers
WARNING: PERSONALî ±INJURYî ±ORî ±PROPERTYî ±DAMAGEî ±RISK
The entire payload, and anything it carries, must be kept higher than the top of
the platform. If the payload blocks any of the HD-1500's sensors, it cannot func-
tion correctly. This is important in the case of the side lasers.
The optional side lasers are mounted sideways to create vertical scanning planes and detect
objects high enough that they are not detectable by the safety scanning lasers. Mount the side
lasers in such a way, that they protrude enough to miss the payload structure itself with their
laser beams. See: Side-Mount Lasers on page 268.
IMPORTANT: It is the end user's responsibility to ensure that the payload struc-
ture does not obstruct the side lasers' beam.
If it is not possible to prevent some interference between the payload structure and the side
lasers' sensing plane, you might be able to use the LaserIgnore parameter to constrain sensing
to zones that do not include the payload structure. However, this might compromise the detec-
tion ability of the sensors, and you should avoid using LaserIgnore parameter if at all possible.
When installed in factory, the side lasers are mounted at the outer edge of the laser corners,
above the safety scanning lasers, and are protected by aluminum cover fins. If you relocate the
side lasers, consider using protective guards to protect them from damage. Make sure that
guards do not block the lasers beam or extend outward too far.
Do Not Block Wireless Antennas
You must ensure that the payload structure does not obstruct the wireless antennas. If it is not
possible to prevent some interference between the payload structure and the wireless antennas,
you may relocate the wireless antennas to a payload position where the signal does not get
attenuated. For information on how to relocate the wireless antennas, see Wireless Ethernet on
page 152.
IMPORTANT: It is the end user's responsibility to ensure that the payload struc-
ture does not attenuate the wireless antennas' signal.
Do Not Block E-Stop Buttons
You must ensure that the payload structure does not block or limit easy access to the E-Stop
buttons. The E-Stop buttons shall be placed within 600 mm of reach. The operator should be
able to easily reach an E-Stop button from any approach angle without the need to reach
across the moving AMR or any moving payload parts.
The payload structure shall not be positioned in such a way that would put the operator in
danger while trying to reach an E-Stop button.
Do Not Block Light Discs, Front and Back Light Strips
You must ensure that the payload structure does not block the light discs, front and back light
strips as they provide visual indication of the AMR movement.
31500-000 Rev A HD-1500 Platform User's Manual 140
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