Chapter 7: Operation
l
Conform to standards ANSI B101.3, A137.1, A326.3.
l
Be validated according to ASTM F2508-13.
The recommended coefficient of friction for floors in the AMR’s work space is in the
range: 0.55 – 1.0.
l
Steps and Gaps
Typical floor characteristics that are considered to be steps include any height difference
caused by floor stab settling, expansion gaps, or cracks. Other environmental objects
might create a temporary bump, such as a wood pallet fragment, dropped fasteners or a
temporary floor covering.
l
Cleanliness and ESD grounding
A foreign object such as a screw or metal fragment embedded in a wheel can affect its
operation over otherwise compliant floor surfaces. Liquid, dirt, and dust can affect AMR
operation and cause damage to the AMR over time. It might also affect the operation of
the caster.
CAUTION: PROPERTY DAMAGE RISK. The AMR is intended for smooth,
hard, and level floors. Although it is capable of driving over steps and gaps,
frequent or high-speed driving over such obstacles shortens the lifespan of
drive train components.
For best performance, OMRON recommends that all floor steps or door thresholds have a roun-
ded profile or are filled to ease the transition between surface planes.
The following limits apply for certain floor characteristics.
Characteristic Operating Limits
Inclines and load Incline (ramp) of 3% for maximum payloads.
Be aware that if the AMR frequently operates on steep
inclines its operational duration is reduced.
Step or door threshold height Up to 10 mm at 600 mm/s.
Gap width Up to 15 mm at 1200 mm/s
User's Responsibilities
It is the user's responsibility to ensure adequate traction and stability on any surface, flat or
inclined.
l Traction
The provided center-of-gravity plts assume rigid payload mounting. It doe not account
for motion of the payloadon the AMR, or shifting of center-of-gravity.
l Stability
There are springs on the LD's drive-assembly that affect the down-force of the it's drive
wheels. these springs are not to be adjusted without also testing AMR stability in all
situations.
11970-000 Rev M LD-60/90 Platform User's Manual 103
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