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neobotix MPO-700 Manual

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MPO-700
Neobotix GmbH
Feb 25, 2022

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Summary of Contents for neobotix MPO-700

  • Page 1 MPO-700 Neobotix GmbH Feb 25, 2022...

  • Page 2: Table Of Contents

    Contents: 1 MPO-700 Product Information ......... . .
  • Page 3 2 General Hardware Information Key Switch ..........2.1.1 Turning on .
  • Page 4 3.2.1 Intended Usage ......... 3.2.2 Improper Usage .

  • Page 5: Mpo-700

    This robot is even capable of rotating freely while driving to its destination. The Omni Drive Modules of the MPO-700 feature important benefits compared to other omnidirectional drive kinematics, like for example the MPO-500’s Mecanum wheels.

  • Page 6: Product Information

    CHAPTER 1. MPO-700 1.1. PRODUCT INFORMATION 1.1 Product Information 1.1.1 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 7: Qualified Personnel

    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. It is nevertheless possible that objects or body parts (e.g. hands or feet) get damaged or injured when touching the drive modules during operation.
  • Page 8 CHAPTER 1. MPO-700 1.2. 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 9: Charging Contacts

    CHAPTER 1. MPO-700 1.3. MECHANICAL PROPERTIES 1.2.4 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. 1.2.5 LC-Display This display shows the most important status information. A detailed description of the LCD can be found in Display (page 14).

  • Page 10: Absolute Maximum Ratings

    CHAPTER 1. MPO-700 1.3. 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...
  • Page 11 CHAPTER 1. MPO-700 1.3. MECHANICAL PROPERTIES Fig. 3: Coordinate system of MPO-700 Fig. 4: Positions of the laser scanners...

  • Page 12: 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 13: Transport

    1.4.3 Short Distance Transport For short distances the MPO-700 can also be transported in the trunk of a car without the wooden box. It must still be secured against sliding and should never be driven outdoors. If the MPO-700 is transported in a car, the battery should be removed to increase transport safety and to reduce wear of the battery cover and carrier parts.

  • Page 14: Long Distance Transport

    1.4.4 Long Distance Transport As long as the robot is packed properly there are no special requirements when shipping the MPO-700. Only in case the robot has been exposed to very low temperatures (below -10°C) it should be left to reach room temperature again before turning it on.

  • Page 15: Maintenance

    Maintenance (page 30). 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 16: Fuses

    CHAPTER 1. MPO-700 1.6. TAKING OUT OF SERVICE 1.5.4 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...

  • Page 17: General Hardware Information

    General Hardware Information 2.1 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. 2.1.1 Turning on To start the robot, turn the key clockwise (towards position II) until the LCD lights up and then release again.

  • Page 18: 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 19: The Info View

    CHAPTER 2. GENERAL HARDWARE INFORMATION 2.2. 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 20: 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 21: Charging

    Warning: If you notice anything unusal about the LiFePO4 batteries immediately switch off the robot, stop charging and contact Neobotix! 2.3.2 Charging 2.3.2.1 With external Battery Charger The battery of the mobile robot consists of several batteries connected in series and / or in parallel. The resulting battery pack can be charged conveniently and safely by using the provided battery charger.

  • Page 22: Recycling

    Attention: 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. 2.4 Charging Stations 2.4.1 Automatic Charging Station...
  • Page 23 The dimension of the charging station varies depending on the robot. The dimensions can be found in the table below: Robot MP-400 MP-500 MPO-700 MPO-500 2.4.1.2 After Installation After installing the charging station please check the height of the charging contacts and if the robot can reach the station without problems.

  • Page 24: External Battery Charging Station

    CHAPTER 2. GENERAL HARDWARE INFORMATION 2.4. CHARGING STATIONS 2.4.2 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. Place the charging station on the floor and make sure that it will not slip.
  • Page 25 CHAPTER 2. GENERAL HARDWARE INFORMATION 2.4. CHARGING STATIONS Fig. 2: Position of the main power switch (X)

  • Page 26: 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. 2.5.2 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 27: 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. 2.5.3 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 28: Safety Instructions

    Würth Elektronik AWG 24-20 66200113722 In Neobotix products the pin assignment of the MPC3 connectors is as shown below. 2.6 Safety Instructions 2.6.1 General Safety Instructions This page contains general safety instructions and information that applies to all Neobotix robots.

  • Page 29: Briefing

    2.6.1.1 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 30: 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 31: 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 32: 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 33: Safety Instructions (Manipulators)

    CHAPTER 2. GENERAL HARDWARE INFORMATION 2.7. 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 34: Maintenance

    CHAPTER 2. GENERAL HARDWARE INFORMATION 2.8. MAINTENANCE Note: Additional actions might be required to guarantee the appropriate level of safety! 2.8 Maintenance 2.8.1 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 35: Qualified Personnel

    • A reduced uptime between charging cycles is often caused by old batteries that have lost a significant part of their capacity. 2.8.2.3 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 36: Taking Out Of Service

    CHAPTER 2. GENERAL HARDWARE INFORMATION 2.10. 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. 2.10 Taking out of Service 2.10.1 Disassembly Once the mobile robot has reached the end of its lifetime it should be disassembled and its components should be recycled.

  • Page 37: 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 38: 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 39: Product Description

    • Only the customer can be held responsible for the safe operation of the Omni-Drive-Module. 3.1 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 40 CHAPTER 3. OMNI DRIVE MODULE 3.1. PRODUCT DESCRIPTION are the following: 3.1.2.1 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 41: Special Features

    CHAPTER 3. OMNI DRIVE MODULE 3.1. 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. 3.1.3 Special Features 3.1.3.1 Logic Power Supply The drive amplifiers of the Omni-Drive-Module feature a separate power supply pin for the internal logic unit.

  • Page 42: 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 43: Safety Measures And Precautions

    CHAPTER 3. OMNI DRIVE MODULE 3.3. MOUNTING 3.2.4 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 44 CHAPTER 3. OMNI DRIVE MODULE 3.4. ELECTRICAL INSTALLATION Fig. 1: Dimensions of the Omni Drive Module...
  • Page 45 CHAPTER 3. OMNI DRIVE MODULE 3.4. ELECTRICAL INSTALLATION Fig. 2: Bottom view of the Omni Drive Module...
  • Page 46 CHAPTER 3. OMNI DRIVE MODULE 3.4. ELECTRICAL INSTALLATION Fig. 3: Top view of the Omni Drive Module...
  • Page 47 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 48: Communication Interfaces

    CHAPTER 3. OMNI DRIVE MODULE 3.4. 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 49: 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 50 CHAPTER 3. OMNI DRIVE MODULE 3.4. 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 51: 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 52: Connecting To The Amplifiers

    CHAPTER 3. OMNI DRIVE MODULE 3.5. CONFIGURATION 3.5.1 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 53 CHAPTER 3. OMNI DRIVE MODULE 3.5. 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 54: Handling Different Configurations

    Please contact Neobotix if you intend to replace the motor.

  • Page 55: Advanced Settings

    CHAPTER 3. OMNI DRIVE MODULE 3.5. 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 56: 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. 3.6 Maintenance The Neobotix Omni-Drive-Module does not require excessive maintenance.

  • Page 57: Technical Data

    CHAPTER 3. OMNI DRIVE MODULE 3.7. TECHNICAL DATA 3.7 Technical Data 3.7.1 Dimensions Dimensional drawings of the Omni-Drive-Module can be found in chapter Mounting (page 39). 3.7.2 Board-Layout...

  • Page 58: Properties

    CHAPTER 3. OMNI DRIVE MODULE 3.8. TAKING OUT OF SERVICE 3.7.3 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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