Chapter 5: Payload Structures
Power Consumption
Using devices on your payload structure that consume significant power will noticeably
shorten the run-time of the AMR. You should try to minimize such power consumption
whenever possible. The battery is rated at 1800 W*hr (1.8 kWh). Examples of power-con-
suming payload structures would be one with a robot arm attached, or any motorized fixture,
such as a conveyor, as part of the payload structure. The standard Operator screen and light
discs consume some power, but are not significant compared to the rest of the platform.
Payload Bay Access
The area between the platform and your payload structure is the payload bay. You will occa-
sionally need to access the platform and the connectors in the payload bay. This is where you
can access all of the platform power and I/O connectors. It's a good idea to provide for access
to this when designing your payload structure. If the payload structure is small and light
enough, you can lift it off of the platform to access the connectors in the payload bay. Always
take care to not damage any wiring between your payload structure and the platform. A larger,
heavier payload structure might need some form of hinge, so you can tilt the payload structure
out of the way while you access the payload bay. You should consider harness length and pos-
ition so you can accomplish this without disconnecting or damaging any connectors or har-
nesses.
Dimensions and Design
Keep your payload structure no wider and no longer than the platform. Add whatever features
your application needs above the platform itself.
Keep all of the payload structure higher than the top of the platform. If the payload blocks any
of the platform's sensors, it won't be able to function correctly. This is critical in the case of the
lasers. If you have the optional side-mount lasers for your payload structure, ensure that the
payload structure will not interfere with the laser's beams. Typically, the side lasers are moun-
ted on the sides of the payload structure so that they protrude enough to miss the payload
structure itself with their laser beams.
Many customers have found it prudent to build a protective guard over the side lasers, to pro-
tect the lasers from impact. Ensure that any such guard does not block the laser beam.
11970-000 Rev M LD-60/90 Platform User's Manual 67
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