Omron HD-1500 Platform - AMR Coordinate System

Chapter 5: Payload Structures
0
125.00
375.00
125.00
375.00
650.00
660.00
660.00
650.00
0
187.50 300.00 187.50 300.00 394.00 394.00
Figure 5-1. Chassis Payload Mount Locations - (20) M12 X 1.75 Threaded Holes, and (4) M16 X 2.0
Threaded Holes (units are in mm)
AMR Coordinate System
OMRON AMRs use the X, Y, Z and Theta (θ) coordinate system displayed in Figure 5-2. This
information is relevant for some of the procedures used in this manual, such as identifying
which are the left or right sides of the AMR. For example, the AMR Controller is located near
the rear of the AMR, and the +X direction is the direction of AMR forward travel. Refer to the
following figure.
The origin of the AMR coordinate system is the ideal point on the floor exactly half way
between the center of the two drive wheels. The origin of the coordinate system is the AMR's
center of rotation.
31500-000 Rev A HD-1500 Platform User's Manual 142