Omron LD-250 Assembly Instructions Manual page 42

• Modify the value of the AbsoluteMaxRotVel parameter so that no part of the AMR
exceeds a speed of 300 mm/sec during rotation. See: Overhanging Payloads and the
AMR Swing Radius on page 194 (LD-250 Platform User's Guide, Rev-B).
Side lasers are useful only if the overhang might cause the AMR to encounter obstacles that
are not visible to the main scanning laser, or its low front laser.
5.2.6.2 Do Not Block AMR Sensors
The payload, and anything it carries, must not extend below the height of the payload bay. If
the payload blocks any of the LD-250's sensors, it cannot function correctly.
If you install optional rear or side-mount lasers, make sure that the payload structure does
not interfere with the laser's beams. Mount side (tilted) on each side of the payload
structure in such a way that they do not detect the structure itself. See: Side Lasers
(Supplemental) Lasers on page 189 (LD-250 Platform User's Guide, Rev-B).
If it is not possible to prevent some interference between the structure and the side laser's
sensing plane, you might be able to use the LaserIgnore parameter to constrain sensing to
zones that do not include the payload structure. However, this might compromise the
detection ability of that sensor, and you should avoid using LaserIgnore if at all possible.
Consider using a protective guard over side lasers to protect them from damage. Make sure
that guards do not block the laser beam or extend outward too far.
5.2.7 Mounting Locations in the Payload Bay
The payload bay is located under the LD-250's top skin. It provides access to the LD-250 Core
for power and data connections, and attachment points for your payload structure.
5.2.7.1 Payload Mount Points - T-Slotted Extrusions
The top plate in the payload bay contains longitudinal and transverse load-bearing
extrusions that provide adaptable mount points. Additional clip nuts are provided around
the edge of the plate. The figure below shows the location of mount points and the center
lines. For the location of the center of gravity, refer to: Dimension Drawings on page 191
(LD-250 Platform User's Guide, Rev-B).
Mobile Robot LD-250 Assembly Instructions, Rev. A
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