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Summary of Contents for neobotix Omni Drive Module
- Page 1 Omni Drive Module Neobotix GmbH Apr 14, 2022...
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Page 2: Table Of Contents
Contents: 1 Omni Drive Module Product Description ......... . . - Page 3 Disassembly ..........Recycling .
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Page 4: 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 5: Product Description
• Only the customer can be held responsible for the safe operation of the Omni-Drive-Module. 1.1 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 6 CHAPTER 1. OMNI DRIVE MODULE 1.1. PRODUCT DESCRIPTION are the following: 1.1.2.1 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.
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Page 7: Special Features
CHAPTER 1. OMNI DRIVE MODULE 1.1. 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. -
Page 8: 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 9: Safety Measures And Precautions
CHAPTER 1. OMNI DRIVE MODULE 1.3. MOUNTING 1.2.4 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 10 CHAPTER 1. OMNI DRIVE MODULE 1.4. ELECTRICAL INSTALLATION Fig. 1: Dimensions of the Omni Drive Module...
- Page 11 CHAPTER 1. OMNI DRIVE MODULE 1.4. ELECTRICAL INSTALLATION Fig. 2: Bottom view of the Omni Drive Module...
- Page 12 CHAPTER 1. OMNI DRIVE MODULE 1.4. ELECTRICAL INSTALLATION Fig. 3: Top view of the Omni Drive Module...
- Page 13 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.
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Page 14: Communication Interfaces
CHAPTER 1. OMNI DRIVE MODULE 1.4. 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 15: 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 16 CHAPTER 1. OMNI DRIVE MODULE 1.4. 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...
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Page 17: 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 18: Connecting To The Amplifiers
CHAPTER 1. OMNI DRIVE MODULE 1.5. CONFIGURATION 1.5.1 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. - Page 19 CHAPTER 1. OMNI DRIVE MODULE 1.5. 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?
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Page 20: Handling Different Configurations
Please contact Neobotix if you intend to replace the motor. -
Page 21: Advanced Settings
CHAPTER 1. OMNI DRIVE MODULE 1.5. 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 22: 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. 1.6 Maintenance The Neobotix Omni-Drive-Module does not require excessive maintenance. -
Page 23: Technical Data
CHAPTER 1. OMNI DRIVE MODULE 1.7. TECHNICAL DATA 1.7 Technical Data 1.7.1 Dimensions Dimensional drawings of the Omni-Drive-Module can be found in chapter Mounting (page 6). 1.7.2 Board-Layout... -
Page 24: Properties
CHAPTER 1. OMNI DRIVE MODULE 1.8. TAKING OUT OF SERVICE 1.7.3 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... -
Page 25: Qualified Personnel
CHAPTER Qualified Personnel This product must only be modified, commissioned, operated and serviced by qualified personnel. Qualified personnel are defined as persons who • due to their specialist training and experience have adequate knowledge for the work at hand, • have been instructed by the responsible robot operator in the operation of the robot or its parts and the currently valid safety guidelines, •... -
Page 26: Taking Out Of Service
CHAPTER Taking out of Service 3.1 Disassembly Once the mobile robot has reached the end of its lifetime it should be disassembled and its components should be recycled. Tip: Before the robot can be disassembled the battery charger, any other external power supply and the batteries must be disconnected from the robot. - Page 27 CHAPTER 3. TAKING OUT OF SERVICE 3.3. MECHANICAL PARTS Tip: Reusing components does not only help the environment by reducing resource consumption but will also safe a significant amount of money. 3.3 Mechanical parts The frame and the other mechanical parts of the robot are mostly made from aluminium or steel. Both materials should be separated completely and can then be sold to certified recycling companies.
- Page 28 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.
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