Omron HD-1500 Assembly Instructions Manual page 61

• 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
1-8 Coordinate System on page 1-23 for more information.
A 3D view of the recommended payload center of gravity is shown below.
A top view of the recommended payload center of gravity is shown below.
HD-1500 Platform Assembly Instructions (18407-150)
2 Specifications
2
2-5