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Related Manuals for neobotix MMO-500
Summary of Contents for neobotix MMO-500
- Page 1 MMO-500 Neobotix GmbH Apr 14, 2022...
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Page 2: Table Of Contents
Contents: 1 MMO-500 Product Information ......... . . - Page 3 Mechanical Properties ......... . 2.3.1 Dimensions .
- Page 4 Maintenance ..........3.8.1 Cleaning .
- Page 5 The mobile manipulator MMO-500 combines the omnidirectional robot MPO-500 (page 9) with a light-weight robot arm, for example from Universal Robots. Its Mecanum wheels allow the MMO-500 to move freely into any direction and thus to re-position the integrated arm https://neobotix-docs.de/hardware/en/MMO-500.pdf...
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Page 6: Mmo-500
1.1 Product Information 1.1.1 Intended Use The MMO-500 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: Safety Instructions
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-500 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 Harting connector that was included in delivery. - Page 8 CHAPTER 1. MMO-500 1.4. MECHANICAL PROPERTIES Fig. 1: Connector -X31 Fig. 2: Power Connector for Standalone Operation...
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Page 9: Dimensions Of The Manipulator
1.5.1 Unpacking and Assembly The mobile robot MMO-500 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 below. Make sure that the front of the cabinet’s base plate is flush with the front of the inner aluminium profiles on the platform’s top... - Page 10 CHAPTER 1. MMO-500 1.5. TRANSPORT Fig. 4: Controller cabinet and robot arm mounted to mobile platform...
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Page 11: Installing The Auxiliary Batteries
CHAPTER 1. MMO-500 1.6. TAKING OUT OF SERVICE Now fasten the control cabinet to the mobile platform using the counter sunk screws that were included in delivery. The cover plates at the front and the sides of the control cabinet (marked in red in the figure) can be removed to provide easy access to the inside of the cabinet. -
Page 12: Legal Notes
CHAPTER 1. MMO-500 1.7. LEGAL NOTES 1.7 Legal Notes The general legal notes can be found at Legal Notes (page 41). 1.7.1 EU Declaration of Incorporation This product is a partly completed machinery and sold without CE marking. This partly completed machinery must not be put into service until the final machinery into which it is to be incor- porated has been declared in conformity with the provisions of Directive 2006/42/EC and all other applicable EU directives. - Page 13 Modules of the MPO-700: • Mecanum wheels have proven themselves worldwide since 1973, • they require only a very simple and robust drive system, • they allow instantaneous motion without alignment and • the required control software is very simple. https://neobotix-docs.de/hardware/en/MPO-500.pdf...
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Page 14: Mpo-500
CHAPTER 2. MPO-500 2.1. PRODUCT INFORMATION These extraordinary features have made Mecanum wheels a very popular solution especially in robotics research. 2.1 Product Information 2.1.1 Intended Use The MPO-500 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 15: Qualified Personnel
Different from normal wheels Mecanum wheels may not only run over objects but objects might also get stuck in the wheels and might be moved along. • In case additional safety measures are required please contact Neobotix. We will provide wheel housings de- signed for your application. -
Page 16: Operating Elements
Each laser scanner has a 270° wide field of view which is symmetric to the scanner housing. Therefore the positions of the laser scanners must also be chosen in consideration of blind spots. Please contact Neobotix if the positions of the laser scanners has to be modified. 2.2 Operating Elements The figure below shows the tail of the MPO-500 and the most important operating elements. -
Page 17: Key Switch
CHAPTER 2. MPO-500 2.3. MECHANICAL PROPERTIES and turning the Key Switch (page 21) clockwise to position II for a few seconds. 2.2.2 Key Switch Key Switch (page 21). 2.2.3 Brake Release Button Pressing this button will open the motors’ brakes allowing the robot to be moved even while it is turned off. 2.2.4 Charging Socket The battery charger can be manually connected to this socket. -
Page 18: Absolute Maximum Ratings
CHAPTER 2. MPO-500 2.3. MECHANICAL PROPERTIES Fig. 2: Dimensions of the MPO-500 2.3.2 Absolute Maximum Ratings Warning: Exceeding these ratings might cause malfunctions or damage the robot! Description Units Value Storage temperature °C -20 .. +50 Operating temperature (environmental temperature) °C +0 .. - Page 19 CHAPTER 2. MPO-500 2.3. MECHANICAL PROPERTIES Fig. 3: Coordinate system of MPO-500 Fig. 4: Positions of the laser scanners...
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Page 20: Transport
CHAPTER 2. MPO-500 2.4. TRANSPORT Description Units Value Motor power Rated motor speed 3000 Maximum motor speed 5000 Possible motor speed (at battery voltage) 1800 Rated motor torque 0.95 Maximum motor torque 1.91 Brake torque (static) 1.47 Encoder resolution Increments/Revolution 10000 Gear ratio 25:1... -
Page 21: Unpacking The Robot
(page 38). The robot’s hardware is almost maintenance-free and the platform is not intended to be opened unless when used for research. Please contact Neobotix before disassembling the robot! 2.5.1 Software Apart from research or maintenance it will not be necessary to connect mouse or keyboard because the robot can be controlled via wireless LAN and the graphical user interface. -
Page 22: Cleaning
14. Align the top plate and arrange the foam rubber sealing properly to achieve best splash water protection. 15. Fasten the top plate to the platform and mount all modules removed earlier. If you encounter any problems, please contact Neobotix immediately. 2.5.4 Battery Replacement (Quick Change) The quick change system allows the batteries to be replaced without the use of tools. -
Page 23: Fuses
CHAPTER 2. MPO-500 2.6. TAKING OUT OF SERVICE 3. Unlock the battery drawer by turning the three black knobs counter-clockwise for 180°. 4. Slowly open the drawer. 5. Disconnect the batteries. 6. Lift the batteries out of the drawer. 7. Carefully place the replacement battery with the long cable into the drawer and push it fully inside. 8. -
Page 24: Rohs Information
CHAPTER 2. MPO-500 2.7. LEGAL NOTES 2.7.2 RoHS Information As non-road mobile machinery our mobile robots are explicitly exempted from the scope of the RoHS directive 2011/65/EU. We have nevertheless followed the underlying principles of RoHS and tried to reduce the use of harmful and dangerous substances in our products as much as possible. -
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.
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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)
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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.