Omron LD-250 Assembly Instructions Manual page 74

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7.2.3 Overhanging Payloads and the AMR Swing Radius

If your payload overhangs the default LD-250 footprint, it alters the AMR's swing radius and

exponentially affects its maximum safe rotational speed. Should the AMR size increase

significantly, you might need to adjust the AMR's maximum rotation speed to stay within

300 mm/sec or slower.

If you increase the AMR's default swing radius, reduce the value of the HeadingRotSpeed

parameter to compensate for its increased size and increased rotational speed.

For example, if you increase the AMR's radius to 625 mm and v represents threshold linear

velocity of 300 mm/s:

ω = v / r

ω = (300 mm/s) / (625 mm) = 0.48 radians/s

ω = 0.48 rad/s * 180/π = 27.5 deg/s

In MobilePlanner, set the value of the HeadingRotSpeed parameter to 27.5 deg/sec.

Mobile Robot LD-250 Assembly Instructions, Rev. A

Page 74 of 77

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