Chapter 5: Payload Structures
l
Center of Rotation—The mid-point of a line between the center of the wheel hubs, about
which the LD-250 will rotate.
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Geometric Center—The center of two lines bisecting the LD-250's outline.
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Center of Gravity—The unloaded LD-250's center of gravity.
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X and Y Axis Mid-lines—Lines that cross in the geometric center of the LD-250.
l
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.
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.
Safe Payload Placement
The graphics in this section show the calculated safe CGdimension and placement for pay-
load 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:
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The payload is securely attached to the AMR and does not overhang.
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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.
l The AMR does not exceed its specified maximum limits for:
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Acceleration, deceleration, and velocity.
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Angular velocity, particularly on inclines.
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Incline angle (ramp).
In the following graphical representations:
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A is the top of the payload bay.
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B defines the recommended envelope of the payload.
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X is the direction of the AMR's motion (front to rear).
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Y is perpendicular to the AMR's direction of motion (side to side).
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Z is the vertical dimension (height).
All dimensions are in millimeters (mm). See also: AMR Coordinate System on page 86.
20472-000 Rev B LD-250 Platform User's Guide 87
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