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Payload Overhangs
If your payload overhangs the LD-250's default footprint, there are several adjustments you
must make to AMR operating parameters to stay within safe operation limits. (See: Payload
Dimensions and Design on page 80.)
In particular, see: Overhanging Payloads and the AMR Swing Radius on page 194
Other Sensors
Encoders and Gyroscope
Each motor has two redundant wheel encoders that enable an accurate estimation of the
AMR's speed.
Wheel encoders also provide the LD-250's navigation system with odometry information (how
far each wheel has traveled, and in which direction.) In addition, the LD-250 Core contains an
internal gyroscope to track the LD-250's rotational velocity.
Rear Sensor
An infrared time-of-flight (ToF) sensor array is mounted at the rear of the LD-250 for remote-
sensing obstacles when traveling in reverse direction or when obstacles move close behind the
LD-250.
A User Bumper connector enables you to add your own payload structure bumpers. The LD-
250 Core's rear upper panel (in the payload bay) provides connections for front left, center, and
right sensors, and rear right, center, and left sensors. See: User Bumper on page 105.
IMPORTANT: The User Bumpers connector is not safety-rated.
7.7 Start up the LD-250
LD-250 Start Up Procedure
!
To start the AMR:
1. Press and hold the power ON button momentarily.
2. Wait approximately one minute for all sub-systems to start up and connect with each
other.
Start up is complete When the light discs show two blue light segments, moving in
opposite directions from 6 o'clock to 12 o'clock and back. See: Indications Provided by
Light Discs Light Outputs on page 127.
20472-000 Rev B
WARNING: PERSONAL INJURY OR PROPERTY DAMAGE RISK
Make sure the encoder cables are properly secured before startup. Improper con-
nection or disconnection of encoder cables may result in erratic motion of the
AMR during operation. The AMR might rotate uncontrollably during loss of
encoder signals.
LD-250 Platform User's Guide
Chapter 7: Operation
137
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