80 LD-250 Platform User's Guide 20472-000 Rev B
5.2 î ±Considerations
Considerations when designing your payload structure are:
l
Provide access to the payload bay for serviceability.
l
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
l
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
l
Label all cables for accurate reconnection.
l
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.
Payload Dimensions and Design
To maintain safe operation of the AMR when adding a payload, the following considerations
might apply.
Avoid Projections and Overhangs
Your payload structure should not overhang or project beyond the outer dimensions of the pay-
load 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:
l Change the size of the main laser's safety zones. See:
o
Lasers on page 133.
o
Modify the Safety Zones on page 197.
l
Repeat the safety commissioning. See: E-Stop Commissioning on page 177.
l
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.
l Modify the value of the AbsoluteMaxRotVel parameter so that no part of the AMR
exceeds a speed of 300 mm/sec during rotation. See: Overhanging Payloads and the AMR
Swing Radius on page 194.
Side lasers are useful only if the overhang might cause the AMR to encounter obstacles that
are not visible to the main scanning laser, or its low front laser.
Do Not Block AMR Sensors
The payload, and anything it carries, must not extend below the height of the payload bay. If
the payload blocks any of the LD-250's sensors, it cannot function correctly.
If you install optional rear or side-mount lasers, make sure that the payload structure does not
interfere with the laser's beams. Mount side (tilted) on each side of the payload structure in
such a way that they do not detect the structure itself. See: Side Lasers (Supplemental) Lasers on
page 189.
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