Omron HD Safety Manual page 56

2.18 Payload Structure
center of gravity.
IMPORTANT: You must ensure that the payload structure is properly
secured to the platform.
If the AMR transports containers of liquids, consider the effect of the fluid sloshing on
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the AMR's stability.
If the AMR's center of gravity is too far from the platform's center of gravity (due to
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uneven load distribution), the maximum stable speed of the AMR may be lower than
the platform's default operating parameters. It is the end user's responsibility to ensure
that the AMR is configured for safe operation.
NOTE: The total weight of your payload structure plus any objects carried by
the payload must not exceed the maximum payload capacity of your HD-1500.
Power Consumption
Any electrical devices on your payload structure that consume significant power will notice-
ably shorten the AMR's run time. Examples of power-consuming payload structures are robot
arms attached, or a motorized conveyor.
Minimize power consumption whenever possible. The battery is rated at 3696 W*hr (3.7 kWh).
Power Limits
OMRON recommends that you use external current limiting devices to prevent transient cur-
rent overload. The limits are:
For Battery_Out max inrush peak current is 50A.
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Momentary current spikes over these thresholds will activate current limiting protection caus-
ing power loss at the connector. Simultaneous inrush loads might trip the over current pro-
tection at the battery. The maximum permitted duration of an overcurrent level is as follows:
Payload Attachment Location
The HD-1500 chassis is where you attach and secure your payload structure to the platform.
The user panel allows you to make the necessary electrical connections from your payload
structure to the AMR Controller.
Considerations when designing your payload structure are:
Provide access to the payload attachment location for serviceability. You must ensure
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that the mechanical connection points, as well as the electrical connections are con-
veniently accessible.
Always take care to not damage any cabling between your payload structure and the
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Current
Overcurrent
Protection Level
(A)
50
(user power)
Mobile Robot HD Safety Manual
Overload
Duration
Level (A)
(ms)
100 100
205 1
31500-100 RevA