1-8-1
Payload Structures
For typical AMR applications, a payload structure must be designed and constructed for operations
such as pickup, dropoff, and transportation of the payload.
The AMR provides threaded mounting holes for payload structure attachment. The mounting holes
provide a secure and adaptable method of attaching payload structures to the chassis. A payload
structure can be as simple as a crate that contains manufacturing parts or a more sophisticated device
such as a conveyor or robotic arm.
The AMR also provides a variety of interfaces and power connections to support your application-spe-
cific sensors and accessories that may be included in the payload structure.
Payload Structure Location
Serviceability and maintenance requirements should be considered when designing a payload struc-
ture.
Provide access to the payload attachment location for serviceability. You must ensure that the me-
chanical connection points, as well as the electrical connections are conveniently accessible.
Always take care to not damage any cabling between your payload structure and the AMR. Provide
adequate slack in all cables, or include connectors. Also, provide adequate strain relief where more
flexibility is required.
WARNING
If a payload or payload structure projects or overhangs the outer dimensions of the
AMR, make the following considerations.
• Contact your OMRON representative to change the size of the Safety Laser Scan-
ners' safety zones.
• Modify parameters to change the AMR's Width, LengthFront, LengthRear, and po-
tentially its Radius. When making these modifications, ensure that the modified pa-
rameters are used during path planning and obstacle avoidance.
E-STOP Buttons
User-supplied E-STOP buttons can be added to the payload structure.
You must ensure that the payload does not block or limit easy access to the E-STOP buttons. The
E-STOP buttons shall be placed within 600 mm of reach. The operator should be able to easily
reach an E-STOP button from any approach angle without the need to reach across the moving
AMR or any moving payload parts.
Precautions for Safe Use
The payload or payload structure shall not be positioned in such a way that would put the oper-
ator in danger while trying to reach an E-STOP button.
Additional Information
If no E-STOP buttons are added, a jumper must be present on the SCPU port. Refer to SCPU
on page 3-20 for more information.
1 Overview
1-37
AMR (Autonomous Mobile Robot) MD-series Platform User's Manual (I681)
1-8 Payload Considerations
1
1-8-1 Payload Structures
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