Omron LD-250 Assembly Instructions Manual page 40

• If you operate the LD-250 on the recommended hard, flat surface, additional payload
mass has a minimal effect on battery duration and operating time between
recharges.
• If the payload is tall and also has substantial weight, consider its effect on the AMR's
center of gravity.
• If the AMR transports containers of liquids, consider the effect of the fluid motion on
the AMR's stability.
• If the payload overhangs or extends outward dynamically from the AMR (such as a
robot arm), it has a greater effect on the center of gravity. This is particularly
important if the payload is also conveying objects that add additional mass.
• The AMR might become unstable at lower speeds compared to the platform alone.
NOTE: The total weight of your payload structure plus any objects carried by the payload
must not exceed the rated capacity of your LD-250. See: Technical Specifications on page
191 (LD-250 Platform User's Guide, Rev-B).
5.2.3 Power Consumption
Any electrical devices on your payload structure that consume significant power will
noticeably shorten the AMR's run time.
Minimize power consumption whenever possible. The battery is rated at 1840 W*hr (1.84
kWh). Examples of power-consuming payload structures are robot arms attached, or a
motorized conveyor.
5.2.4 Power Limits
The tables in the following sections describe the available power circuits and power output
• Aux Power on page 105 (LD-250 Platform User's Guide, Rev-B)
• User Power on page 105 (LD-250 Platform User's Guide, Rev-B)
• Power Connections on page 101 (LD-250 Platform User's Guide, Rev-B)
OMRON recommends that you use external current limiting devices to prevent transient
current overload. The limits are:
• For the 5 VDC, 12 VDC and 20 VDC connections max inrush peak current is 2 A.
• For Battery_Out_1 and Battery_Out_2 max inrush peak current is 10 A.
• For Battery_Out_3_and_4 max inrush peak current is 20 A.
Momentary current spikes over these thresholds will activate current limiting protection
causing power loss at the connector. Simultaneous inrush loads might trip the overcurrent
protection at the battery. The maximum permitted duration of an overcurrent level is as
follows:
Mobile Robot LD-250 Assembly Instructions, Rev. A
Page 40 of 77