Mobile Robot LD-250 Assembly Instructions, Rev. A
Page 41 of 77
5.2.5 Payload Bay Access
The area between the LD-250 and your payload structure is the payload bay. This is where
you access the LD-250 Core's power and I/O connectors, in addition to any mechanical
fasteners that secure your payload to the LD-250.
Considerations when designing your payload structure are:
• Provide access to the payload bay for serviceability.
• If the payload structure is small and light enough, you might be able lift it off the LD-
250 or loosen it and slide it along the load bars to access the payload bay
• Always take care to not damage any cabling between your payload structure and the
LD-250. Provide adequate slack in all cables, or include connectors
• Label all cables for accurate reconnection.
• Larger, heavier payload structure might require a hinge, so you can tilt the payload
structure out of the way while you access the payload bay.
5.2.6 Payload Dimensions and Design
5.2.6.1 Avoid Projections and Overhangs
Your payload structure should not overhang or project beyond the outer dimensions of the
payload bay. Doing so might place parts of the structure outside the safety envelope
provided by the safety laser.
If you do design an overhanging payload, be aware that you might also need to:
• Change the size of the main laser's safety zones. See:
o Lasers on page 133 (LD-250 Platform User’s Guide, Rev-B).
o Modify the Safety Zones on page 197 (LD-250 Platform User’s Guide, Rev-B).
• Repeat the safety commissioning. See: E-Stop Commissioning on page 177 (LD-250
Platform User’s Guide, Rev-B).
• Modify the Robot Physical: General parameters to change the AMR's width,
LengthFront, LengthRear, and potentially its Radius
These modifications make sure that the AMR's accurate dimensions are used during path
planning and obstacle avoidance.
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