Omron LD-250 - Page 49

Mobile Robot LD-250 Assembly Instructions, Rev. A
Page 49 of 77
• Center of Rotation—The mid-point of a line between the center of the wheel hubs,
about which the LD-250 will rotate.
• Geometric Center—The center of two lines bisecting the LD-250's outline.
• Center of Gravity—The unloaded LD-250's center of gravity.
• X and Y Axis Mid-lines—Lines that cross in the geometric center of the LD-250.
• AMR Coordinate System—The X,Y,Z, and Theta reference system relating the AMR
to its environment, and to the relative position of other devices such as the optional
side lasers. See: AMR Coordinate System on page 86 (LD-250 Platform User’s Guide,
Rev-B).
5.2.9.1 Tilt Detection and Reporting
If the AMR tilts more than 60 degrees in any direction, an E-Stop event occurs. This is not
intended to prevent the AMR from tipping over. However, it can notify you if the AMR runs
off a ramp or tilts over for any reason. See: Releasing an E-Stop on page 31 (LD-250 Platform
User’s Guide, Rev-B).
5.2.9.2 Safe Payload Placement
The graphics in this section show the calculated safe CG dimension and placement for
payload structures (that must also comply with the specified weight limit). The payload
structure's CG, in each instance, must be within the defined area.
Assumptions in these calculations are:
• The payload is securely attached to the AMR and does not overhang.
• The suspension is set at the factory default (2nd hole). If you adjust the suspension
for any reason, it affects the payload center of gravity.
• The AMR does not exceed its specified maximum limits for:
o Acceleration, deceleration, or velocity.
o Angular velocity, particularly on inclines.
o Incline angle (ramp).
In the following graphical representations:
• A is the top of the payload bay.
• B defines the recommended envelope of the payload.
• X is the direction of the AMR's motion (front to rear).
• Y is perpendicular to the AMR's direction of motion (side to side).
• Z is the vertical dimension (height).
All dimensions are in millimeters (mm). See also: AMR Coordinate System on page 86 (LD-
250 Platform User’s Guide, Rev-B).