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neobotix MMO-700 Operating Instructions Manual

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MMO-700
Neobotix GmbH
May 20, 2025

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Summary of Contents for neobotix MMO-700

  • Page 1 MMO-700 Neobotix GmbH May 20, 2025...
  • Page 2 Testing the Departure From a Work Station ......3 MMO-700 Product Information ......... . .
  • Page 3 3.1.5 Safety Instructions ........Operating Elements .
  • Page 4 4.7.2 RoHS Information ........5 General Hardware Information Key Switch .
  • Page 5 6 OmniDriveModule Product Description ......... . . 6.1.1 Components .
  • Page 6 CHAPTER Introduction 1.1 About This Documentation 1.1.1 Symbols and Conventions The following symbols and highlighting are used in this documentation: Danger: Indicates a hazardous area or an immediately dangerous situation that could lead to serious injury or even death. Warning: Indicates a hazardous area or a potentially dangerous situation that could lead to serious injury or damages.
  • Page 7 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 8 In addition to the mobile robot, you will also find a wired charger, various small parts and some documentation in the transport box. You will need the master key, the wireless gamepad and the WLAN access point to start up your robot for the first time. https://www.neobotix-roboter.de/login/...
  • Page 9 CHAPTER 2. FIRST STEPS 2.1. ACCESSORIES AND PREPARATIONS Unpack the access point and connect it to the power supply unit or to a USB port on your computer using the cable supplied. Optionally connect the access point to your company/home network via ethernet to enable internet access on the platform when needed.
  • Page 10 CHAPTER 2. FIRST STEPS 2.2. STARTING UP AND MOVING BY JOYSTICK from the batteries before closing the compartment again. Depending on the type of batteries used and the transport route, the batteries must first be reinstalled and connected after unpacking the robot. The exact procedure for this is described in the Maintenance chapter of the manual of your robot.
  • Page 11 (page 34). Please note that the MPO-700 and MMO-700 will perform a homing of the OmniDriveModules after start-up and before the robot is ready for operation. To do so all emergency stop buttons must be unlocked and the scanners’ safety fields must be clear of obstacles.
  • Page 12 CHAPTER 2. FIRST STEPS 2.3. CONNECTING THE GUI Press the blue X button to switch the robot to manual joystick mode. You can then move the robot using the two analogue sticks. The top right should button RB on the gamepad works as deadman switch. It must be pressed continuously for the robot to move.
  • Page 13 Depending on the location and the network infrastructure to be used, various settings may need to be made directly in the operating system of the on-board computer. All Neobotix robots offer the option of accessing the on-board computer directly via monitor and keyboard/mouse. However, VNC remote access is often faster and more convenient.
  • Page 14 CHAPTER 2. FIRST STEPS 2.6. TESTING THE SAFE POSITION DETECTION 2.5.2 System Time and Hardware Clock By default the hardware clock is set to UTC and the time zone is set to Berlin. If you operate the platform in a different time zone it is necessary to change the time zone.
  • Page 15 CHAPTER 2. FIRST STEPS 2.6. TESTING THE SAFE POSITION DETECTION Setting up this function for later use requires corresponding adjustments to the configuration and sequence control and can often only be carried out during the actual commissioning of the overall system. For this reason, ROX robots are delivered with an easy-to-reproduce configuration that only uses a simple box included in the scope of delivery as a reference.
  • Page 16 If the additional device has not already been fitted by Neobotix, the correct function is indicated by a small dummy relay on the platform, which must be replaced later. To get back to normal operation, switch to safety mode NONE. The test script will do this automatically after 10 seconds.
  • Page 17 CHAPTER 2. FIRST STEPS 2.6. TESTING THE SAFE POSITION DETECTION To test this feature, the robot must be in Position 2 and switch to safety mode HANDLING. The safety controller tries to recognize the contour and, if successful, revokes the safe stop of the arm so that it can move. With most Cobot arms, the current status can be easily recognised on the hand-held control unit.
  • Page 18 CHAPTER MMO-700 Download as PDF The mobile manipulator MMO-700 combines the omnidirectional (page 20) with a light-weight robot arm, MPO-700 for example from Universal Robots. https://neobotix-docs.de/hardware/en/MMO-700.pdf...
  • Page 19 3.1 Product Information 3.1.1 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 20 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 instructions 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 21 3.5. MECHANICAL PROPERTIES 3.5 Mechanical Properties 3.5.1 Dimensions of the Robot Dimensions (page 24). 3.5.2 Dimensions of the Mobile Manipulator Fig. 1: Dimensions of the MMO-700 UR10e All dimensions in millimetres. Description Symbol Value Height of the mounting plane Height of the control cabinet’s top plate...
  • Page 22 3.6.1 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 23 CHAPTER 3. MMO-700 3.6. TRANSPORT 3.6.2 Installing the Additional Battery Pack In order to extend the robot’s uptime, a second battery set can be installed into the controller cabinet. Before installing the auxiliary batteries, please turn off the robot and fully charge both the batteries that are currently used in the robot as well as the additional battery pack.
  • Page 24 CHAPTER 3. MMO-700 3.7. TAKING OUT OF SERVICE Three ATO fuses (80 V) inside the cabinet protect the electrical system from excessive currents. Please see the electrical circuit diagram for details. 3.7 Taking out of Service You can find information about taking out of service and about recycling here (page 68).
  • Page 25 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 26 CHAPTER 4. MPO-700 4.1. PRODUCT INFORMATION 4.1 Product Information 4.1.1 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 27 The requirements on qualified personnel can be found at Qualified Personnel (page 67). 4.1.5 Safety Instructions Please also check the general safety instructions for Neobotix robots which can be found at Safety Instructions (page 60). 4.1.5.1 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 28 CHAPTER 4. MPO-700 4.2. 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 29 CHAPTER 4. MPO-700 4.3. MECHANICAL PROPERTIES 4.2.4 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. 4.2.5 LC-Display This display shows the most important status information. A detailed description of the LCD can be found in Display (page 34).
  • Page 30 CHAPTER 4. MPO-700 4.3. 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 Maximum width of the platform with diagonal scanners W4’ Wheel eccentricity of the Omni Drive Modules Width of the wheels Diameter of the wheels Length of the Omni Drive Module configuration...
  • Page 31 CHAPTER 4. MPO-700 4.3. MECHANICAL PROPERTIES Fig. 3: Coordinate system of MPO-700 Fig. 4: Positions of the laser scanners...
  • Page 32 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 33 CHAPTER 4. MPO-700 4.4. TRANSPORT Device Position Traction drive ID Orientation drive ID Front left Rear left Rear right Front right 4.3.5.3 Connectors See chapter Connectors (page 56). 4.4 Transport 4.4.1 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.
  • Page 34 CHAPTER 4. MPO-700 4.4. TRANSPORT Fig. 5: Gripping areas of the MPO-700 If the robot has to be moved across uneven or dirty grounds, e.g. to and from a parking area, it is best put onto a creeper and pushed carefully and slowly. Warning: Never leave the robot unattended and / or unsecured when it is on a rolling carrier.
  • Page 35 Maintenance (page 66). 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 36 4.7 Legal Notes The general legal notes can be found at Legal Notes (page 2). 4.7.1 EU Declaration of Conformity This product fulfils all relevant directives of the European Union. For further information please contact Neobotix. 4.7.2 RoHS Information...
  • Page 37 CHAPTER 4. MPO-700 4.7. LEGAL NOTES 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 38 General Hardware Information 5.1 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. 5.1.1 Turning on To start the robot, turn the key clockwise (towards position II) and then release again.
  • Page 39 With this method, the robot is shut down by cutting the power supply. This may damage the on-board computer’s hard- and software. 5.2 LC Display Some Neobotix robots are equipped with an LC display to display current status information. 5.2.1 Main View 5.2.1.1 Messages The first line can be used to print messages sent from ROS, PlatformPilot or any other high level control software.
  • Page 40 POWER RELAY FAIL The power relays are damaged. Please contact Neobotix. 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 41 5.2.2.1 Version Information The first line of this view shows the hardware version (HV) and the software version (SV) of the RelayBoard. For software updates please contact Neobotix. 5.2.2.2 Serial Number The second line shows the serial number (SN) of the RelayBoard.
  • Page 42 Blink- Non-critical error, e. g. brake release button is pressed. ing, slow Blink- Critical error, please contact Neobotix. ing, fast Yel- Con- Scanner stop, remove obstacle from the safety field or switch safety field, robot will continue stant operating automatically.
  • Page 43 • 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. 5.4.1.2 LiFePO4 Batteries Lithium iron phosphate batteries, also known as LiFePO4 or LFP batteries, are a rather recent development in lithium- ion battery technology.
  • Page 44 Lithium-based batteries may only be transported with a low residual charge and in a safe condition. For this purpose, the rechargeable batteries used by Neobotix can be set to a special power-down mode in which the battery management system only consumes minimal energy and the battery can no longer be activated without further ado.
  • Page 45 CHAPTER 5. GENERAL HARDWARE INFORMATION 5.4. BATTERIES 3. Plug the green high-current connector 1 into the main connection of the battery and unplug it again after approx. one second. To do this, do not pull on the cables but grasp the plug on the sides of the green housing. 4.
  • Page 46 CHAPTER 5. GENERAL HARDWARE INFORMATION 5.4. BATTERIES 5. Unlock the dummy plug by pressing the catch and carefully pull it off the battery. Do not pull on the cables, but grasp the plug on the sides of the black housing. 6.
  • Page 47 CHAPTER 5. GENERAL HARDWARE INFORMATION 5.4. BATTERIES Warning: When installing the batteries, make sure not to mix batteries from several robots. The combination of battery packs of different ages and especially with different charge levels can cause damage to the batteries and the electrical system of the robots.
  • Page 48 • 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 49 CHAPTER 5. GENERAL HARDWARE INFORMATION 5.5. LASER SCANNERS 5.5 Laser Scanners 5.5.1 Mode of Operation The safety laser scanners installed in mobile robots emit an invisible infrared laser beam that is reflected by obstacles and detected by the sensor head. The distance between the sensor and the obstacle can be precisely determined from the travel time of the beam.
  • Page 50 CHAPTER 5. GENERAL HARDWARE INFORMATION 5.6. WIRELESS EMERGENCY STOP 5.5.2 Safety Instructions The laser scanners are devices of laser class 1 or 1M and completely harmless during normal use. Danger: Laser scanners that are laser class 1M devices might be used for special projects and requirements. These are only eye-safe as long as no optical instruments such as magnifying glasses or binoculars are used.
  • Page 51 CHAPTER 5. GENERAL HARDWARE INFORMATION 5.7. CHARGING STATIONS 5.6.1 Engaging the Wireless Connection 1. Pull the red button (1) on the handset upwards to activate the sender. 2. Wait until the two LEDs next to the red button have stopped flashing. 3.
  • Page 52 Please take this into account when planning your application. 5.7.1.2 Safety Information The Neobotix Wallbox features several protective mechanisms and is easy to set up and connect. Nevertheless the following advice must be taken into account to enable safe operation of the Wallbox.
  • Page 53 CHAPTER 5. GENERAL HARDWARE INFORMATION 5.7. CHARGING STATIONS Warning: Increased Magnetic Field! The increased magnetic field can be harmful to living beings. No living creatures may be in the danger zone during the charging process. It is essential to keep the area directly between the robots in the area of the coils clear, as otherwise the permissible exposure limits may be exceeded! This electromagnetic field only occurs during the charging process and is automatically cancelled when the robot stops charging, is removed from the charging station or is switched off.
  • Page 54 CHAPTER 5. GENERAL HARDWARE INFORMATION 5.7. CHARGING STATIONS Please consider the following points when planning the charging process and positioning the Wallbox: • The wallbox and, above all, a charging robot must not be an obstacle or become a tripping hazard. Escape and rescue routes in particular must remain clear according to the applicable safety regulations.
  • Page 55 CHAPTER 5. GENERAL HARDWARE INFORMATION 5.7. CHARGING STATIONS The Wallbox can be connected to a normal AC power socket. If extension cables must be used, they must be designed for at least the rated power of the Wallbox. The Wallbox is a protection class I device and requires a protective earth connection for the mains cable. Note: Install a common trip type circuit breaker with a rating of 16A.
  • Page 56 Fully Automatic Operation With Contour Detection To simplify the setup of automatic charging and increase the reliability of the charging process, Neobotix offers a fully automatic solution in which the Wallbox is automatically detected in the environment and approached. This means that minor relocations of the Wallbox, for example due to conversions or cleaning, are no longer a problem.
  • Page 57 CHAPTER 5. GENERAL HARDWARE INFORMATION 5.7. CHARGING STATIONS initial reference position for the robot has to be defined. We recommend a position approximately 2 m in front of the Wallbox. The automatic process is as follows: 1. The robot moves to the reference position in automatic mode. 2.
  • Page 58 If you are unable or unwilling to dispose of your old Neobotix Wallbox yourself, Neobotix will be happy to do this for you. You can simply return your Neobotix Wallbox to us or send it to us by post or carrier. Alternatively, we can arrange to collect it from you or send you a shipping label for free return.
  • Page 59 • In order to have the charging contacts on the correct height, the bottom edge of the station’s backplate must be placed directly on the floor. • The charging station must be mounted to a stable wall. Please contact Neobotix if you need a free-standing charging station.
  • Page 60 CHAPTER 5. GENERAL HARDWARE INFORMATION 5.7. CHARGING STATIONS 5.7.2.2 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. Attention: Only plug in the power cable after successfully checking these two points. The charging station requires the same power supply as the external battery charger.
  • Page 61 CHAPTER 5. GENERAL HARDWARE INFORMATION 5.8. CONNECTORS Fig. 1: Dimensions of the charging station 5.8 Connectors 5.8.1 TE Connectivity - HE14 Pins TE Connectivity Farnell RS Components 3 pins, 1 row 281838-3 429582 532-333 4 pins, 1 row 281838-4 429594 532-349 5 pins, 1 row 281838-5...
  • Page 62 CHAPTER 5. GENERAL HARDWARE INFORMATION 5.8. CONNECTORS Fig. 2: Position of the main power switch (X)
  • Page 63 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. 5.8.2 Würth Elektronik - MPC4 Please check the Würth Elektronik online catalogue for details on the MPC4 Pins (in 2 rows) Würth Elektronik...
  • Page 64 5.8. CONNECTORS Crimp contacts Würth Elektronik AWG 24-18 64900613722 In Neobotix products the pin assignment of the MPC4 connectors is as shown below. 5.8.3 Würth Elektronik - MPC3 Please check the Würth Elektronik online catalogue for details on the MPC3 Pins (in 2 rows) Würth Elektronik...
  • Page 65 Because of this it is essential that all of the following safety instructions are followed at all times. A safe and efficient operation of the robot can only be achieved under this condition. 5.9.1.1 Emissions All the components and sensors used in Neobotix robots are safe to use and do not emit any dangerous radiation.
  • Page 66 CHAPTER 5. GENERAL HARDWARE INFORMATION 5.9. SAFETY INSTRUCTIONS • The laser scanners are devices of laser safety class 1 or 1M. Further information can be found at Laser Scanners (page 44). • The ultrasonic sensors are safe for both humans and animals. •...
  • Page 67 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 possible dangers.
  • Page 68 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 69 The robot’s on-board power supply must not be overloaded. Extreme overload may lead to overheating, damages to the electrical installation and to short circuiting. Please contact Neobotix before modifying the electrical system of the mobile robot. 5.9.7.6 Modifications The robot must always be turned off and disconnected from all power sources before any modification is carried out.
  • Page 70 CHAPTER 5. GENERAL HARDWARE INFORMATION 5.10. SAFETY INSTRUCTIONS (MANIPULATORS) 5.10 Safety Instructions (Manipulators) 5.10.1 Robot Arms 5.10.1.1 Universal Robots The robot arms from Universal Robots were designed for direct interaction with humans. Their safety features limit their speed and power and significantly reduce the potential to cause injuries or damages. Warning: Nevertheless the robot arm may hit people or obstacles before its safety features come into effect.
  • Page 71 CHAPTER 5. GENERAL HARDWARE INFORMATION 5.11. MAINTENANCE 5.11 Maintenance 5.11.1 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. This precaution is recommended both for cleaning the robot and for cleaning the robot’s workspace.
  • Page 72 • A reduced uptime between charging cycles is often caused by old batteries that have lost a significant part of their capacity. 5.11.2.3 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 73 CHAPTER 5. GENERAL HARDWARE INFORMATION 5.13. TAKING OUT OF SERVICE 5.13 Taking out of Service 5.13.1 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 74 CHAPTER 5. GENERAL HARDWARE INFORMATION 5.13. TAKING OUT OF SERVICE 5.13.5 Batteries Note: You can find information about the batteries and the recycling process at Batteries (page 37).
  • Page 75 OmniDriveModule Download as PDF The Neobotix OmniDriveModules 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 76 • Only the customer can be held responsible for the safe operation of the OmniDriveModule. 6.1 Product Description The Neobotix OmniDriveModule 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 77 CHAPTER 6. OMNIDRIVEMODULE 6.1. PRODUCT DESCRIPTION following: 6.1.2.1 1 OmniDriveModule with 2 fixed rollers This configuration is the cheapest and easiest to control. Although possible, it is very rare that the OmniDriveModule 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 78 CHAPTER 6. OMNIDRIVEMODULE 6.1. 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. 6.1.3 Special Features 6.1.3.1 Logic Power Supply The drive amplifiers of the OmniDriveModule feature a separate power supply pin for the internal logic unit.
  • Page 79 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 80 CHAPTER 6. OMNIDRIVEMODULE 6.3. MOUNTING 6.2.4 Safety Measures and Precautions In order to ensure a safe and successful operation of the OmniDriveModule, please mind the following: • Always take care to protect the drive amplifiers at the side of the module against collisions and moisture. •...
  • Page 81 CHAPTER 6. OMNIDRIVEMODULE 6.4. ELECTRICAL INSTALLATION Fig. 1: Dimensions of the OmniDriveModule...
  • Page 82 CHAPTER 6. OMNIDRIVEMODULE 6.4. ELECTRICAL INSTALLATION Fig. 2: Bottom view of the OmniDriveModule...
  • Page 83 CHAPTER 6. OMNIDRIVEMODULE 6.4. ELECTRICAL INSTALLATION Fig. 3: Top view of the OmniDriveModule...
  • Page 84 CAN-bus. Tip: By default the OmniDriveModule is configured for 24 V logic supply voltage. Please contact Neobotix if you want to use other supply voltages.
  • Page 85 CHAPTER 6. OMNIDRIVEMODULE 6.4. 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 • Supply Brake power supply •...
  • Page 86 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 87 CHAPTER 6. OMNIDRIVEMODULE 6.4. 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 Channel B (inverted) of the TTL motor encoder, for motion monitoring...
  • Page 88 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 89 CHAPTER 6. OMNIDRIVEMODULE 6.5. CONFIGURATION 6.5.1 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 90 CHAPTER 6. OMNIDRIVEMODULE 6.5. 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 91 Please contact Neobotix if you intend to replace the motor.
  • Page 92 CHAPTER 6. OMNIDRIVEMODULE 6.5. 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 93 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. 6.6 Maintenance The Neobotix OmniDriveModule does not require excessive maintenance.
  • Page 94 CHAPTER 6. OMNIDRIVEMODULE 6.7. TECHNICAL DATA 6.7 Technical Data 6.7.1 Dimensions Dimensional drawings of the OmniDriveModule can be found in chapter Mounting (page 75). 6.7.2 Board-Layout...
  • Page 95 CHAPTER 6. OMNIDRIVEMODULE 6.8. TAKING OUT OF SERVICE 6.7.3 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...