neobotix MP-400, Manual

Page 1: ...MPO 500 Neobotix GmbH Feb 25 2022 ...

Page 2: ...echanical Properties 5 1 3 1 Dimensions 5 1 3 2 Absolute Maximum Ratings 6 1 3 3 Positions of Sensors 6 1 3 4 Electrical Properties and Miscellaneous Data 6 1 4 Transport 8 1 4 1 Packaging 8 1 4 2 Unpacking the Robot 9 1 4 3 Short Distance Transport 9 1 4 4 Long Distance Transport 9 1 5 Maintenance 9 1 5 1 Software 9 1 5 2 Cleaning 10 1 5 3 Batteries 10 1 5 4 Battery Replacement Quick Change 10 1 ...

Page 3: ...tions 24 2 6 2 Briefing 25 2 6 3 Safety System 25 2 6 4 Cooperating with the Robot 26 2 6 5 Bringing into Service 27 2 6 6 Modification of the System 27 2 6 7 Expected Misuse 27 2 6 8 Configuring the Safety Fields 28 2 7 Safety Instructions Manipulators 29 2 7 1 Robot Arms 29 2 7 2 Laser Scanners 29 2 7 3 Working required from the Customer 29 2 8 Maintenance 30 2 8 1 Cleaning 30 2 8 2 Maintenance ...

Page 4: ...enables the robot to instantly move into any direction The Mecanum wheels make it truly omnidirectional This kinematics offers a number of interesting advantages over other systems like Omni wheels or the Omni Drive 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 alignm...

Page 5: ...ts or temporarily e g by loading cargo its safe operation must be assessed and approved Without the safety approval described above the mobile robot must at no times be used without supervision of a qualified operator if there are guests passers by or other people unfamiliar with the robot within the working area The robot must never be operated in areas where there are staircases leading down ele...

Page 6: ... MPO 500 is free of all objects which might be caught in the wheels 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 Battery Drawer Both the outsides of the robot and th...

Page 7: ... chosen in consideration of blind spots Please contact Neobotix if the positions of the laser scanners has to be modified 1 2 Operating Elements The figure below shows the tail of the MPO 500 and the most important operating elements Fig 1 Operating elements of the MPO 500 1 Emergency stop buttons 2 Brake release button 3 Key switch 4 HDMI socket 5 Wireless joystick receiver 6 Charging socket 7 Co...

Page 8: ...ess to the On Board Computer An HDMI socket a USB socket and an Ethernet port can be used to work on the computer and to prepare the robot for the next application 1 3 Mechanical Properties 1 3 1 Dimensions Description Symbol Value mm Wheel diameter D 254 Ground clearance G 45 Height of the mounting plane H1 386 Height of the scanner cover H2 409 Overall length of platform L1 988 Length of inner a...

Page 9: ...uminium profiles high payload version kg 250 Maximum speed m s 0 9 Maximum bumpiness to pass over mm 5 Maximum acceleration m s2 2 4 1 3 3 Positions of Sensors All distances are in millimetres measured relative to the platform s coordinate system All angles are in degrees measured counter clockwise from the driving direction Sensor Symbol X pos Y pos Z pos a angle b angle Front laser scanner LS1 4...

Page 10: ...CHAPTER 1 MPO 500 1 3 MECHANICAL PROPERTIES Fig 3 Coordinate system of MPO 500 Fig 4 Positions of the laser scanners 7 ...

Page 11: ...orking time a 10 1 3 4 4 Connectors See chapter Connectors page 22 1 4 Transport 1 4 1 Packaging The mobile robot MPO 500 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 wh...

Page 12: ...t As long as the robot is packed properly there are no special requirements when shipping the MPO 500 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 This will prevent damages to the electrical and electronic components If the brake release button was covered and the key switch was removed there is n...

Page 13: ... off the robot 2 Switch off and disconnect the battery charger 3 Remove all additional modules from the robot s top plate 4 Remove the screws holding the top plate seven screws by default 5 Carefully lift up the top plate and disconnect any remaining cables 6 Remove the top plate 7 Disconnect the connectors of both batteries 8 Remove the cushioning from in between the batteries 9 Slowly lift the b...

Page 14: ...mage the cables 11 Turn all three knobs clockwise for 180 to lock the drawer 1 5 5 Fuses The mobile robot features the following fuses ID Circuit Position Type Rated Cur rent Character istics F1 Main Battery Power Inside Battery Drawer Next to Charg ing Socket ATO blade fuse 20 A default F1 24 V Terminals RelayBoard Micro 5x20 5 A slow F3 Emergency Stop Buttons RelayBoard Micro 5x20 2 A fast F4 Br...

Page 15: ...obile 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 12 ...

Page 16: ...d for about one second and then release again The message in the LCD display should change if the robot can be moved again 2 1 3 Shut down Turn the key counter clockwise towards position I for five seconds to initiate the shutdown which will happen within 30 seconds In this time the platform software if running terminates and shuts down the operating system In case the on board computer is shut do...

Page 17: ...fety system by turning the key switch clockwise for about one second SCANNER STOP An obstacle has been detected within the laser scanner s safety field As soon as the obstacle has been removed the safety system will be reset automatically If a Flexi Soft safety controller is installed all stops are indicated with this message CHARGING The robot is currently charging its batteries SHUTDOWN IN XXs T...

Page 18: ... of the batteries Due to the batteries characteristics the actual battery voltage may be higher than the platform s rated main voltage Nominal voltage Shut down Working range Charging 24 V 22 V 23 V 25 V 25 V 29 V 48v 44 V 46 V 52 V 52 V 59 V 2 2 1 4 Temperature T 20C This is the temperature in C inside the platform measured at the RelayBoard 2 2 1 5 Uptime 00d 00h 02m 37s The bottom line shows th...

Page 19: ...ulting in high weight for a given capacity and a limited number of charge discharge cycles Their capacity will reduce over time until at some point approximately after two years of use the robot s available uptime is no longer sufficient and the batteries need to be replaced There are several measures to prolong the life of AGM batteries and to save costs and resources Recharge the robot whenever ...

Page 20: ... 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 The battery charger needs a power supply of 230 VAC 50 Hz The charger must be placed in a dry environment Do not cover the housing so appropriate cooling is possible and avoid direct sunlight First connect ...

Page 21: ...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 The automatic charging station is very robust and can easily be installed and integrated into the robot s program In order to allow a fast and trouble free docking there needs to be some free space ...

Page 22: ...arging station requires the same power supply as the external battery charger To allow automatic charging the battery charger inside the station needs to remain switched on at all times Despite the open contacts which the robot needs for charging there is no danger of electric shock or short circuiting due to the charger s control mechanism There will only be a current if the device has detected t...

Page 23: ...ion to an ordinary power outlet Before installing any batteries always make sure that the integrated battery charger is switched off The main power switch is located directly beside the power cable connector Batteries can only be charged as a complete set of two identical batteries with the same charge level Place the batteries onto the station s base plate between the aluminium profiles with the ...

Page 24: ...CHAPTER 2 GENERAL HARDWARE INFORMATION 2 4 CHARGING STATIONS Fig 2 Position of the main power switch X 21 ...

Page 25: ...839 4 429661 532 412 10 pins 2 rows 281839 5 429673 532 428 12 pins 2 rows 281839 6 429685 532 434 Crimp contacts TE Connectivity 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 catalogue2 for details on the MPC43 2 https www we online de web...

Page 26: ...22 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 catalogue4 for details on the MPC35 4 https www we online de web de wuerth_elektronik start php 5 https www we online de katalog de em connectors wire to board wr_mpc3 23 ...

Page 27: ...6113322 12 662012113322 Crimp contacts 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 24 ...

Page 28: ...s strongly recommended to attend a training This online documentation is only provided as a work of reference when facing minor or common problems All other problems mistakes and difficulties can best be avoided by an in depth training for programmers and a proper briefing for operators Attention Always make yourself familiar with the robot its control and behaviour before starting your work or se...

Page 29: ...rgency stop and or to reset the safety system Additional safety devices can also be integrated into the mobile robot Please contact Neobotix if you plan to implement any special functions 2 6 4 Cooperating with the Robot 2 6 4 1 Close Proximity As long as the robot is not in full emergency stop a minimum distance should always be kept Direct contact to the active robot system is to be avoided Warn...

Page 30: ...ended 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 Attention All warranties are void in case of any unauthorised or improper modification of the mobile robot system All responsibilities for the further operation of ...

Page 31: ...even cause the robot to leave the predefined paths 2 6 7 5 Electrical Overload 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 2 6 7 6 Modifications The robot must always be turned off and disconnected fr...

Page 32: ...ng required from the Customer Mobile manipulators are very complex robot systems The applications in which they will be used could not be foreseen in detail during the development of the robot Therefore beside any modifications needed for certain research work or experiments some very basic tasks must be completed before the mobile manipulator can be used safely An assessment of risks must be perf...

Page 33: ...able also may reduce the robot s capability to safely discharge electrostatic charge 2 8 1 2 Sensors Cleaning the various sensors is indispensable to assure that the robot can move safely and swiftly through its environ ment Attention Be very careful not to scratch the cover of the laser scanner or the membranes of the ultrasonic sensors Damaging these components might cause severe malfunctions 2 ...

Page 34: ...y use replacement parts with features and properties identical to those of the original parts Always mount all covers and hull parts properly and securely after finishing your work Make sure to reconnect and fix all electrical connections especially shieldings and earthing straps 2 8 2 4 Batteries The batteries need to be checked regularly and have to be replaced after some time Additional informa...

Page 35: ... risk of injuries or damages to components that are to be reused and proper sorting of parts according to materials and way of recycling More information on qualified personnel can be found at Qualified Personnel page 31 2 10 2 Recycling 2 10 2 1 Reusable components Many components of the mobile robot e g the servo motors and the amplifiers have a very long life expectancy and will most probably s...

Page 36: ...composing However inaccuracies or omissions might occur Please inform Neobotix in case you notice any 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 t...