Omron HD Safety Manual page 61

particularly when the HD-1500 crosses raised thresholds or irregularities in the floor.
Refer to HD-1500 Platform User's Manual (Cat. No. I645) for information that will help you
design and locate the payload, in particular:
Center of Rotation—The mid-point of a line between the center of the drive wheel hubs,
l
about which the HD-1500 will rotate.
Center of Gravity—The unloaded HD-1500's center of gravity.
l
X and Y Axis Mid-lines—Lines that cross in the HD-1500 center of rotation.
l
AMR Coordinate System—The X,Y,Z, and Theta reference system relating the AMR to
l
its environment, and to the relative position of other devices such as the optional side
lasers. See: AMR Coordinate System on page 59.
Tilt Detection and Reporting
The tilt detection feature monitors the angle of the HD-1500 (with respect to flat ground) dur-
ing its operation. If the AMR tilts 60 degrees or more in any direction, an E-Stop occurs and
the power is discontinued to any user-supplied equipment. This will not prevent an improp-
erly loaded AMR from tipping over.
Safe Payload Placement
The following figures show the calculated safe CG placements for HD-1500's maximum
allowed payload weight (1500 kg). The payload structure's CG must be within the area shown.
Assumptions in these calculations are:
The payload is securely attached to the AMR.
l
The payload does not overhang the AMR.
l
The AMR does not exceed its specified default limits for:
l
o
o
o
The casters and drive wheels are in good condition.
l
You must inspect the casters and drive wheels for signs of damage, excessive wear/tear,
or uneven spots as they could degrade the AMR stability.
In the following graphs:
X is the direction of the AMR's motion (rear to front).
l
Y is perpendicular to the AMR's direction of motion (side to side).
l
Z is the vertical dimension (height).
l
All units are in millimeters (mm). See also: AMR Coordinate System on page 59.
31500-100 RevA
Acceleration, deceleration, and velocity.
Angular velocity.
Coefficient of friction (0.6 min).
Mobile Robot HD Safety Manual
Chapter 2: Operational Safety
61