neobotix MMO-700 Manual

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MMO-700

Neobotix GmbH

Apr 14, 2022

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Summary of Contents for neobotix MMO-700

Page 1 MMO-700 Neobotix GmbH Apr 14, 2022...
Page 2: Table Of Contents
Contents: 1 MMO-700 Product Information ......... . .
Page 3 2.2.4 Charging Contacts ........2.2.5 LC-Display .
Page 4 3.6.8 Conﬁguring the Safety Fields ........Safety Instructions (Manipulators) .
Page 5 CHAPTER MMO-700 Download as PDF The mobile manipulator MMO-700 combines the omnidirectional MPO-700 (page 9) with a light-weight robot arm, for example from Universal Robots. https://neobotix-docs.de/hardware/en/MMO-700.pdf...
Page 6: Mmo-700
1.1 Product Information 1.1.1 Intended Use The MMO-700 has been designed for use in service robotics research. It can be used for a wide range of different experiments and tests in ﬁelds such as autonomous vehicles, mobile manipulation and factory automation.
Page 7: Operating Elements
CHAPTER 1. MMO-700 1.2. OPERATING ELEMENTS 1.2 Operating Elements Please refer to the corresponding page for the MPO-700: Operating Elements (page 11). When installing some options please follow the instructions at (page 3). Changes in Handling 1.3 Changes in Handling 1.3.1 With Radio Emergency Stop System...
Page 8: Arm
The platform’s emergency stop system was integrated into the arm’s safety system as external machine. Technical details on this connection can be found in the electrical circuit diagram of the MMO-700 UR and in the operating manual of the robot arm. In case the arm is to be operated separately this connection has to be bridged with the white connector -X32’...
Page 9: Transport
1.6.1 Unpacking and Assembly The mobile robot MMO-700 is packed in a rugged wooden box which can be reused for future transports. Carefully lift the control cabinet onto the platform’s top plate and position it as shown in the ﬁgure. Make sure that the countersunk holes in the cabinet’s base plate are aligned with the threaded holes in the platform’s top plate.
Page 10: Installing The Auxiliary Batteries
CHAPTER 1. MMO-700 1.6. TRANSPORT Fig. 2: Controller cabinet and robot arm mounted to mobile platform Connect the cables inside the control cabinet to the appropriate plugs of the mobile platform. Please see the electrical circuit diagram for details. 1.6.2 Installing the Auxiliary Batteries In order to extend the robot’s uptime, a second battery set can be installed into the controller cabinet.
Page 11 CHAPTER 1. MMO-700 1.6. TRANSPORT Fig. 3: Position of the auxiliary batteries and battery connectors...
Page 12: Taking Out Of Service
CHAPTER 1. MMO-700 1.7. TAKING OUT OF SERVICE individually by connecting them to the battery charger directly. Three ATO fuses (80 V) inside the cabinet protect the electrical system from excessive currents. Please see the electrical circuit diagram for details.
Page 13: Mpo-700
MPO-500’s Mecanum wheels. • Fully omnidirectional manoeuvrability • Very steady movements • High stability and payload • Compact, easily integrated drive units This makes the MPO-700 a premium alternative for applications that require omnidirectional movements without the limitations of traditional kinematics. https://neobotix-docs.de/hardware/en/MPO-700.pdf...
Page 14: Product Information
CHAPTER 2. MPO-700 2.1. PRODUCT INFORMATION 2.1 Product Information 2.1.1 Intended Use The mobile robot has been designed for daily operation in factory workshops and test halls. It can be used for trans- portation of materials, parts and devices. Furthermore the mobile robot can easily be used in research projects as mobile carrier of sensor equipment, robot arms and other special devices.
Page 15: Qualified Personnel
The requirements on qualiﬁed personnel can be found at Qualiﬁed Personnel (page 39). 2.1.5 Safety Instructions Please also check the general safety instructions for Neobotix robots which can be found at Safety Instructions (page 32). 2.1.5.1 Danger Areas Omni Drive Modules The four Omni Drive Modules integrated into the MPO-700 are touch proof while not moving and protected against dust and splash-water.
Page 16 CHAPTER 2. MPO-700 2.2. OPERATING ELEMENTS Fig. 1: Basic control elements of the MPO-700 Emergency stop button LC-Display Key switch Computer access Battery connector Charging connector Charging contacts Antenna of the radio controlled emergency stop system...
Page 17: Charging Contacts
CHAPTER 2. MPO-700 2.3. MECHANICAL PROPERTIES 2.2.4 Charging Contacts These contacts can be connected to the battery via a high power relay if the MPO-700 has been prepared for use of the automatic charging station. 2.2.5 LC-Display This display shows the most important status information. A detailed description of the LCD can be found in Display (page 22).
Page 18: Absolute Maximum Ratings
CHAPTER 2. MPO-700 2.3. MECHANICAL PROPERTIES Description Symbol Value (mm) Width of the top plate Width of the Omni Drive Module conﬁguration Recommended track width Maximum width of the platform Wheel eccentricity of the Omni Drive Modules Width of the wheels Diameter of the wheels Length of the Omni Drive Module conﬁguration Maximum length of the platform...
Page 19 CHAPTER 2. MPO-700 2.3. MECHANICAL PROPERTIES Fig. 3: Coordinate system of MPO-700 Fig. 4: Positions of the laser scanners...
Page 20: Communication To Internal Devices
The conﬁguration software “Composer” from Elmo Motion Control can be used to conﬁgure, test and retune all motor ampliﬁers. Each ampliﬁer can be connected to a COM-port (57600 Baud, no parity) of the conﬁguration computer which runs the “Composer” by using an adapter cable. Please contact Neobotix in case you need to modify the controllers’ settings.
Page 21: Transport
CHAPTER 2. MPO-700 2.4. TRANSPORT 2.3.5.3 Connectors See chapter Connectors (page 30). 2.4 Transport 2.4.1 Packaging The mobile robot MPO-700 is packed in a rugged wooden box which can be reused for future transports. If the original box cannot be used anymore it is recommended to build a new box of similar design. The base plate of the box has to be strong enough to carry the robot and to take asymmetric forces, e.g.
Page 22: Long Distance Transport
The AGM batteries are leak-proof and approved for airfreight. 2.4.6 Shipping with LiFePO4 Battery Due to safety regulations any shipment of a lithium based battery has to follow certain procedures. Please contact Neobotix if you plan to ship a robot with LiFePO4 battery.
Page 23: Maintenance
Maintenance (page 38). Maintenance of the Neobotix MPO-700 is very easy and does not cause much work. As long as the advice in this chapter is kept in mind and the robot is treated accordingly, no major work is necessary.
Page 24: Fuses
CHAPTER 2. MPO-700 2.6. TAKING OUT OF SERVICE 2.5.4 Fuses Circuit Position Type Rated Current Characteristics Main Battery Power Beside Battery Cable ATO blade fuse 15 A default 48 V Supply DIN rail ATO blade fuse default F1’ 48 V Supply RelayBoard Micro 5x20 slow...
Page 25: General Hardware Information
General Hardware Information 3.1 Key Switch All Neobotix robots are equipped with a key switch to turn the robot on and off and to reset emergency stops. It can only be operated as long as the key is inserted. 3.1.1 Turning on To start the robot, turn the key clockwise (towards position II) until the LCD lights up and then release again.
Page 26: Lc Display
MOTOR ERROR At least one motor is reporting an error. This state is quit automatically as soon as all motors are operational again. SAFETY RELAY FAIL One of the safety relays is damaged. Please contact Neobotix. POWER RELAY FAIL The power relays are damaged. Please contact Neobotix.
Page 27: The Info View
CHAPTER 3. GENERAL HARDWARE INFORMATION 3.2. LC DISPLAY EMSTOP BUTTON FAIL One of the emergency stop buttons does not operate properly. Please contact Neobotix. CHARGE RELAY FAIL The charging relay is damaged. Please contact Neobotix. The charging contacts might still be connected to the batteries! CHECKSUM ERROR The protocol versions of the control software and the RelayBoard do not match.
Page 28: Batteries
• Excess heat • Strong smell of sulphur • Liquid below the battery As soon as you notice any kind of damage the batteries must no longer be used and must not be charged any further! Please contact Neobotix immediately.
Page 29: Charging
• Always make sure that the charging connector is fully inserted into the socket and properly secured. An incomplete or insufﬁcient connection can cause high heat and signiﬁcant damages. • Only use batteries and chargers supplied by Neobotix. Using unsuitable batteries or battery chargers can lead to serious damages, injuries and hazards! Recharging is done completely automatic after the connection is established and the battery charger is connected to the main power supply and switched on.
Page 30: Recycling
• Under European law all kinds of batteries must only be returned to certiﬁed recycling companies. Please get in touch with Neobotix if you are unsure about how to recycle or dispose of used batteries. • You can also return all old or wasted batteries from your Neobotix product to Neobotix free of charge for proper recycling.
Page 31 CHAPTER 3. GENERAL HARDWARE INFORMATION 3.4. CHARGING STATIONS • The charging station must be mounted to a stable wall. Please contact Neobotix if you need a free-standing charging station. • The station must be mounted centred at the rear end of a free path that is at least 1.0 m wide.
Page 32: External Battery Charging Station
CHAPTER 3. GENERAL HARDWARE INFORMATION 3.4. CHARGING STATIONS Attention: The wear of the electrical components can be reduced by stopping the charging process only after the batteries have been fully charged and the charging current is reduced. 3.4.2 External Battery Charging Station If the robot is equipped with the battery quick change system the battery set that is currently not in use can be recharged in an external battery charging station.
Page 33 CHAPTER 3. GENERAL HARDWARE INFORMATION 3.4. CHARGING STATIONS Fig. 2: Position of the main power switch (X)
Page 34: Connectors
Farnell RS Components AWG 28-24 182734-2 429715 532-456 In Neobotix products the pin assignment of the HE14 connectors is as shown below. 3.5.2 Würth Elektronik - MPC4 Please check the Würth Elektronik online catalogue for details on the MPC4 https://www.we-online.de/web/de/wuerth_elektronik/start.php...
Page 35: Würth Elektronik - Mpc3
649010113322 649016113322 Crimp contacts Würth Elektronik AWG 24-18 64900613722 In Neobotix products the pin assignment of the MPC4 connectors is as shown below. 3.5.3 Würth Elektronik - MPC3 Please check the Würth Elektronik online catalogue for details on the MPC3 https://www.we-online.de/web/de/wuerth_elektronik/start.php...
Page 36: Safety Instructions
Würth Elektronik AWG 24-20 66200113722 In Neobotix products the pin assignment of the MPC3 connectors is as shown below. 3.6 Safety Instructions 3.6.1 General Safety Instructions This page contains general safety instructions and information that applies to all Neobotix robots.
Page 37: Briefing
3.6.1.1 Emissions All the components and sensors used in Neobotix robots are safe to use and do not emit any dangerous radiation. • The laser scanners are devices of laser safety class 1 or 1M.
Page 38: Cooperating With The Robot
As long as the safety features of the mobile robot are set up properly, the presence of people and vehicles in the robot’s wider working area is allowed. Please contact Neobotix for further advice if needed. All people working in the same area as the robot should nevertheless be informed about the robot’s behaviour and the...
Page 39: Bringing Into Service
Neobotix. Some detailed information or instruction might be necessary. In case one or more robots are to be modiﬁed, it is strongly recommended to consult Neobotix in order to provide the appropriate training and information for all technicians and programmers. The functions and safety of all modiﬁed robots have to be checked and ensured before bringing them into service.
Page 40: Configuring The Safety Fields
The localisation system of the mobile robot requires clearly visible landmarks and a high quality map of the surround- ing. Further information on this topic can be found in the documentation of the used software. Please contact Neobotix in case of any problems.
Page 41: Safety Instructions (Manipulators)
CHAPTER 3. GENERAL HARDWARE INFORMATION 3.7. SAFETY INSTRUCTIONS (MANIPULATORS) The conﬁguration and diagnostics software CDS from Sick can be used to conveniently conﬁgure the scanners’ safety ﬁelds. The conﬁguration cable that was included in delivery can be used to connect the scanners to the serial port of any external computer running the CDS.
Page 42: Maintenance
CHAPTER 3. GENERAL HARDWARE INFORMATION 3.8. MAINTENANCE Note: Additional actions might be required to guarantee the appropriate level of safety! 3.8 Maintenance 3.8.1 Cleaning Before any cleaning starts the robot should be set into emergency stop by pressing one of the emergency stop buttons. It can also be switched off altogether.
Page 43: Qualified Personnel
• A reduced uptime between charging cycles is often caused by old batteries that have lost a signiﬁcant part of their capacity. 3.8.2.3 Repairs In case of any questions regarding repairs or replacement parts please get in touch with Neobotix. We are always happy to support you. Please mind the following points in any case: •...
Page 44: Taking Out Of Service
CHAPTER 3. GENERAL HARDWARE INFORMATION 3.10. TAKING OUT OF SERVICE • all members of other departments of the company or institution in which the product is operated. This list is not intended to be exhaustive. 3.10 Taking out of Service 3.10.1 Disassembly Once the mobile robot has reached the end of its lifetime it should be disassembled and its components should be recycled.
Page 45: Batteries
The Neobotix GmbH cannot be held responsible for any technical or typographical errors and reserves the right to make changes to the product and manual without prior notice. Neobotix makes no warranty of any kind with regard to the material contained within this document, including, but not limited to, the implied warranties of merchantability and ﬁtness for a particular purpose.
Page 46: Omni Drive Module
Omni Drive Module Download as PDF The Neobotix Omni-Drive-Modules have been designed to allow engineers and designers to easily create their own, customised mobile robot platform. Different from other solutions, the kinematics of the ODM enables the mobile robot to move omnidirectionally even on a ﬂoor that is not perfectly ﬂat.
Page 47: Product Description
• Only the customer can be held responsible for the safe operation of the Omni-Drive-Module. 4.1 Product Description The Neobotix Omni-Drive-Module is a two-axes drive unit for use in a mobile robot or a similar application. The module contains two high-performance servomotors with an industrial grade servo ampliﬁer each (“Whistle 10/60”...
Page 48 CHAPTER 4. OMNI DRIVE MODULE 4.1. PRODUCT DESCRIPTION are the following: 4.1.2.1 1 Omni-Drive-Module with 2 ﬁxed rollers This conﬁguration is the cheapest and easiest to control. Although possible, it is very rare that the Omni-Drive-Module is moved in a way that will make the ﬁxed wheels jam. In this conﬁguration, true omnidirectional motion is not possible since the vehicle will always follow the drive unit.
Page 49: Special Features
CHAPTER 4. OMNI DRIVE MODULE 4.1. PRODUCT DESCRIPTION All four wheels must be aligned correctly at all times to avoid jamming or slippage. Please mind that the angle between the wheels must change according to the movement’s centre of rotation. 4.1.3 Special Features 4.1.3.1 Logic Power Supply The drive ampliﬁers of the Omni-Drive-Module feature a separate power supply pin for the internal logic unit.
Page 50: Safety
The drive module must be kept clean at all times. Exposure to excessive dirt or moisture may lead to damage of the ball bearings or other moving parts. Neobotix cannot be held responsible for damages caused by dirt or moisture.
Page 51: Safety Measures And Precautions
CHAPTER 4. OMNI DRIVE MODULE 4.3. MOUNTING 4.2.4 Safety Measures and Precautions In order to ensure a safe and successful operation of the Omni-Drive-Module, please mind the following: • Always take care to protect the drive ampliﬁers at the side of the module against collisions and moisture. •...
Page 52 CHAPTER 4. OMNI DRIVE MODULE 4.4. ELECTRICAL INSTALLATION Fig. 1: Dimensions of the Omni Drive Module...
Page 53 CHAPTER 4. OMNI DRIVE MODULE 4.4. ELECTRICAL INSTALLATION Fig. 2: Bottom view of the Omni Drive Module...
Page 54 CHAPTER 4. OMNI DRIVE MODULE 4.4. ELECTRICAL INSTALLATION Fig. 3: Top view of the Omni Drive Module...
Page 55 CAN-bus. Tip: By default the Omni-Drive-Module is conﬁgured for 24 V logic supply voltage. Please contact Neobotix if you want to use other supply voltages.
Page 56: Communication Interfaces
CHAPTER 4. OMNI DRIVE MODULE 4.4. ELECTRICAL INSTALLATION • Housing: Molex, series KK receptacle 2 circuits, 22-01-2021 • Contacts: Molex, series KK crimp terminal 22-30 AWG, 08-50-0032 The pin assignment is as follows: Function Voltage / VDC Description Ground Return line •...
Page 57: Digital-I/Os
Tip: The ground line of the digital inputs of the orientation drive ampliﬁer is by default tied to the common ground of the ampliﬁer power supply. In case independent voltage levels are required, please contact Neobotix. The return line of the digital inputs of the traction drive ampliﬁer can also be tied to the common ground by bridging the solder jumper marked “G...
Page 58 CHAPTER 4. OMNI DRIVE MODULE 4.4. ELECTRICAL INSTALLATION Function Description Channel A of the TTL motor encoder, for motion monitoring Channel A of the TTL motor encoder, for motion monitoring Emitter contact of the optocoupler of digital output 1 Main ground Common ground of the digital inputs Digital input 2 (mind the limiting resistor) Channel A (inverted) of the TTL motor encoder, for motion monitoring...
Page 59: Configuration
If extraordinary kinematics are to be realised or if the modules are to be used under extreme conditions (very heavy vehicle or payload, uneven or soft ﬂoor, asymmetric centre of gravity, . . . ) it might be necessary to adjust the control loop parameters of some or all ampliﬁers. Please contact Neobotix in such cases.
Page 60: Connecting To The Amplifiers
CHAPTER 4. OMNI DRIVE MODULE 4.5. CONFIGURATION 4.5.1 Connecting to the Ampliﬁers After installing and starting the Composer the start dialogue will appear. Connect the computer to the ampliﬁer by using the conﬁguration cable and turn on the power supply of the ampliﬁer. Note: Please be careful to actually connect to the ampliﬁer which you currently want to access.
Page 61 CHAPTER 4. OMNI DRIVE MODULE 4.5. CONFIGURATION In case you cannot connect to the ampliﬁer, please check the following: • Ampliﬁer power: Is the ampliﬁer connected to a sufﬁcient power supply and is the power supply turned on? In case the module is connected to a laboratory power supply: Is the current limit high enough to provide the inrush current and a sufﬁciently fast rise of the logic supply voltage? •...
Page 62: Handling Different Configurations
Please contact Neobotix if you intend to replace the motor.
Page 63: Advanced Settings
CHAPTER 4. OMNI DRIVE MODULE 4.5. CONFIGURATION The communication settings can be changed by entering the command “PP” plus an index number in square brackets in the command line at the top left of the Smart Terminal. Enter the command and either hit enter or click the Send button to read the current value.
Page 64: Testing And Debugging
The Composer also offers a function to record high deﬁnition measurements of the motor’s movements and to plot these data graphically. Please contact Neobotix or Elmo Motion Control if you need further information on this topic. 4.6 Maintenance The Neobotix Omni-Drive-Module does not require excessive maintenance.
Page 65: Technical Data
CHAPTER 4. OMNI DRIVE MODULE 4.7. TECHNICAL DATA 4.7 Technical Data 4.7.1 Dimensions Dimensional drawings of the Omni-Drive-Module can be found in chapter Mounting (page 47). 4.7.2 Board-Layout...
Page 66: Properties
CHAPTER 4. OMNI DRIVE MODULE 4.8. TAKING OUT OF SERVICE 4.7.3 Properties Description Unit Value Weight Traction drive gear ratio (second stage) Traction drive gear ratio (ﬁrst stage) 15:1 Rated wheel torque @ 48V Rated wheel torque @ 48V Position sensor supply voltage Orientation drive gear ratio 19:1 Motor encoder resolution...

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