Payload Center Of Gravity - Omron HD-1500 Platform User Manual

2 Specifications
Item
Top Plate Kit
2-2-3

Payload Center of Gravity

Center of gravity is a critical factor when placing items on the AMR for transport. Keep the payload's
center of gravity centered over the AMR's own center of gravity and as low as possible. This provides
optimum stability, particularly when the AMR traverses irregularities in the floor.
The AMR has a maximum payload of 1500 kg, which includes the payload structure and any load car-
ried by that structure. You must ensure that the payload does not extend beyond the AMR's footprint.
The center of gravity of the combined mass of the payload structure, including all onboard tooling and
loads being transported, must be within the specified limits. These limits must be observed to ensure
stability when loading and unloading the AMR.
Tipping hazards are more likely if the payload center of gravity is outside the recom-
mended specifications.
Make the following considerations when designing and implementing your payload.
• If the payload overhangs or extends outward dynamically from the AMR (such as a robotic arm), it
has a greater effect on the center of gravity. This is particularly important if the payload is also con-
veying objects that add additional mass.
• If the payload can shift during AMR movement, consider its effect on the AMR's center of gravity.
• If the AMR's center of gravity is offset from the payload's center of gravity due to uneven load distri-
bution, the maximum stable speed of the AMR may need to be reduced from default settings. It is
the end user's responsibility to ensure that the AMR is configured for safe operation under these op-
erating conditions.
• If the payload is tall and also has substantial weight, consider the effect on the AMR's center of
gravity.
Additional Information
Refer to AMR Dimensions on page 2-3 for more information.
The following figures show the calculated safe center of gravity placements for AMR's maximum al-
lowed payload weight. The payload's center of gravity must be within the area shown.
These calculations assume the following conditions.
• The payload is securely attached to the AMR and it does not shift due to the AMR's motion.
• The payload does not overhang the AMR.
• The AMR does not exceed its specified default limits for acceleration, deceleration, linear velocity,
angular velocity, and coefficient of friction (0.6 minimum).
In the following graphs, X represents the direction of the AMR's motion (rear to front). Y is perpendicu-
lar to the AMR's direction of motion (side-to-side). Z is the vertical dimension (height). Refer to
1-9 Coordinate System on page 1-34 for more information.
A 3D view of the recommended payload center of gravity is shown below.
2-6
Weight
21.5 kg
WARNING
HD-1500 Platform User's Manual (I645)