Omron HD Safety Manual page 58

2.18 Payload Structure
detection ability of the sensors, and you should avoid using LaserIgnore parameter if at all pos-
sible.
When installed in factory, the side lasers are mounted at the outer edge of the laser corners,
above the safety scanning lasers, and are protected by aluminum cover fins. If you relocate the
side lasers, consider using protective guards to protect them from damage. Make sure that
guards do not block the lasers beam or extend outward too far.
Do Not Block Wireless Antennas
You must ensure that the payload structure does not obstruct the wireless antennas. If it is not
possible to prevent some interference between the payload structure and the wireless antennas,
you may relocate the wireless antennas to a payload position where the signal does not get
attenuated. For information on how to relocate the wireless antennas.
IMPORTANT: It is the end user's responsibility to ensure that the payload struc-
ture does not attenuate the wireless antennas' signal.
Do Not Block E-Stop Buttons
You must ensure that the payload structure 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.
The payload structure shall not be positioned in such a way that would put the operator in
danger while trying to reach an E-Stop button.
Do Not Block Light Discs, Front and Back Light Strips
You must ensure that the payload structure does not block the light discs, front and back light
strips as they provide visual indication of the AMR movement.
Mounting Locations in the Platform
The HD-1500 chassis provides the mounting structure necessary for the end user to attach
their payload structure to the platform. The platform top cover is secured onto the chassis, and
therefore, the user can attach the payload structure directly on to the top cover.
Payload Mount Points
The top cover has longitudinal and transverse mounting points. Figure 2-27. or the location of
the mounting points and the center lines.
IMPORTANT: Do not exceed 10 kN per mounting point.
For the location of the center of gravity, refer to the HD-1500 Platform User's Manual (Cat. No.
I645).
The chassis steel bars bear the main structural load of any payload. You can easily adjust and
move your payload in relationship to the HD-1500's center of gravity. See: Center of Gravity
(CG) on page 60.
58 Mobile Robot HD Safety Manual 31500-100 RevA