78 LD Cart Transporter User's Manual 14766-000 Rev H
5.2 î ±Considerations
5.2 Considerations
Dimensions
You must keep your payload no wider and no longer than the LD Platform Cart Transporter.
Take care to keep all of the sensors exposed. If any of the sensors get blocked, the AMR won't
be able to function as intended. This is critical in the case of the lasers.
The payload design must not obstruct the side lasers' field of view.
If you have Acuity localization, you need to make sure that the height of your payload does
not obstruct the camera’s field-of-view. The Acuity camera lens has a 140° field-of-view, so
take care that nothing higher than the camera lens is close beside the camera.
Pinch Hazard
There is a potential, with an improperly-designed cart payload, to create a pinch hazard
between the payload and the HMI post.
CAUTION: PINCHî ±RISK
Ensure that there is enough space between the HMI post and your payload,
when the transporter and cart are coupling, so that it is not a pinch hazard.
Weight
Run-time between charges is a function of payload weight. A heavier payload will result in a
shorter run-time. If you have added any options to the platform that draw power from the plat-
form battery, that will also result in decreased run-time.
Center of Gravity
When adding payload, the center of gravity of the entire cart and payload needs to be con-
sidered.
As much as possible, you should keep the payload center of gravity centered on the platform,
and as low (close to the platform top) as possible. This will give you the best stability, par-
ticularly when turning or crossing irregularities in the floor.
The payload should be centered on the cart left-to-right, but biased toward the rear of the cart
according to the following plots.
The following figures show the calculations of safe placements for the center of gravity for pay-
loads with the weights listed. The center of gravity, in each instance, needs to be within the
area shown. All units are mm.
IMPORTANT: These figures show centers of gravity for the listed parameter set-
tings only. They do not apply to any other parameter settings. Even small
changes in these parameters can change the safe CG area drastically.
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