neobotix Omni Drive Module, Manual

Page 1: ...Omni Drive Module Neobotix GmbH Apr 14 2022 ...

Page 2: ...Electrical Installation 6 1 4 1 Power Supply 6 1 4 2 Communication Interfaces 11 1 4 3 Digital I Os 12 1 5 Configuration 14 1 5 1 Connecting to the Amplifiers 15 1 5 2 Handling Different Configurations 17 1 5 3 Advanced Settings 18 1 5 4 Testing and Debugging 19 1 6 Maintenance 19 1 6 1 Cleaning 19 1 6 2 Traction Wheel 19 1 7 Technical Data 20 1 7 1 Dimensions 20 1 7 2 Board Layout 20 1 7 3 Proper...

Page 3: ...3 2 Recycling 23 3 2 1 Reusable components 23 3 3 Mechanical parts 24 3 4 Electrical components 24 3 5 Batteries 24 4 Legal Notes 25 4 1 Version Information 25 4 2 Liability 25 4 3 Downloads and Further Information 25 ii ...

Page 4: ...ectly flat These modules are intended for research and experiments and need to be modified and completed by the customer Several important issues must be considered when working with them The Omni Drive Module is a partly completed machine and not ready for immediate operation The drive amplifiers have been configured with general purpose settings Some of these settings might need to be adjusted a...

Page 5: ...vo amplifier each Whistle 10 60 from Elmo Motion Control mounted to a common printed circuit board One of the motors drives the mod ule s driving wheel while the other motor rotates the wheel around its vertical axis Both motors can rotate infinitely without mechanical boundaries thus allowing an omnidirectional robot to move continuously and without the need to re align the wheels due to any limi...

Page 6: ...mni Drive Modules This configuration ensures high stability for smaller robots avoids static indeterminacy and allows fully omnidirec tional movement All three 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 1 1 2 3 4 Omni Drive Modules This configuration is most comm...

Page 7: ...tly differ from module to module Therefore the control software must implement an adjustable offset for each orientation drive Tip Proper functioning of the overall drive system can only be achieved by aligning all wheels correctly at all times 1 1 3 3 Digital and Analogue I Os Each drive amplifier provides six digital inputs two digital outputs and one analogue input Three digital inputs and one ...

Page 8: ...e ventilation or other means of cooling might become necessary 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 1 2 2 Improper Usage Warning Using a vehicle based on the Omni Drive Modules for any kind of passenger transport...

Page 9: ... designed to be mounted under a vehicle but into it The base plate of your vehicle must be in between the wheel carrier assembly and the gearbox housing A U shaped cut out of 60 mm to 70 mm width is recommended for the vertical axle of the wheel carrier assembly 1 3 2 Mounting Components onto the Module If all Omni Drive Modules are mounted to a common base plate additional components may be place...

Page 10: ...CHAPTER 1 OMNI DRIVE MODULE 1 4 ELECTRICAL INSTALLATION Fig 1 Dimensions of the Omni Drive Module 7 ...

Page 11: ...CHAPTER 1 OMNI DRIVE MODULE 1 4 ELECTRICAL INSTALLATION Fig 2 Bottom view of the Omni Drive Module 8 ...

Page 12: ...CHAPTER 1 OMNI DRIVE MODULE 1 4 ELECTRICAL INSTALLATION Fig 3 Top view of the Omni Drive Module 9 ...

Page 13: ...on drive is powered directly from the amplifiers PCB If different voltages are used they must be connected to a common ground Attention The ground line of the digital input is by default connected to the common ground of the amplifier power supply In case independent supply voltages are required please contact Neobotix Use the following components for the power supply of the switch in case you are...

Page 14: ...or Please use the following components for the CAN bus connection Housing TE Connectivity HE14 receptacle double row 8 circuits 281839 4 Contacts TE Connectivity HE14 crimp terminal female 28 24 AWG 182734 2 The pin assignment is as follows Pin Function 1 5 GND 2 6 CANL 3 7 CANH 4 8 Shield If the CAN bus ends at one of the Omni Drive Modules a terminating resistor of 120 Ω has to be activated Plea...

Page 15: ...ase keep in mind that the limiting resistor has to be bridged if the default signal level of 5 V is used The digital input 1 of the orientation drive amplifier is connected to the output of the position switch and cannot be used for customised functions 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...

Page 16: ...d the limiting resistor 12 I3 Digital input 3 mind the limiting resistor 1 4 3 1 Motion Monitoring On request the connectors can be prepared to provide direct access to the encoder signals of the traction and or orientation motor from outside This option will change the pin assignment as follows Pin Function Description 1 O Emitter contact of the optocoupler of digital output 1 2 B Channel A of th...

Page 17: ...ce software Composer which is provided for free download from the homepage of the manufacturer Elmo Motion Control The latest version can be found at https www elmomc com product composer It is recommended to connect the computer that runs the Composer to the amplifier by a standard RS 232 serial connection COM port The appropriate configuration cable can be supplied on request The drive amplifier...

Page 18: ... the amplifier Note Please be careful to actually connect to the amplifier which you currently want to access Choose Open Communication Directly to open the communication settings dialogue After selecting RS 232 as inter face and clicking Properties you can select the COM port that you are using Please select a baud rate of 57600 Bit Per Second and click Connect The dialogue should close and the c...

Page 19: ...it sometimes happens that only the power supply is connected to the next module while the configuration cable is still plugged to the previous module Baud rate The baud rate of the serial connections has been changed to 57 6 kBaud to make working with the modules more convenient The default baud rate of the Composer is only 19 2 kBaud COM port Try other COM port numbers If a USB to serial converte...

Page 20: ... file and click Download in the open dialogue In case the current interface differs from the settings stored in the file you will need to open the properties dialogue by clicking Change in the Communication Info area of the file open dialogue After the connection has been established successfully the configuration is downloaded to the volatile memory of the amplifier To save the configuration perm...

Page 21: ...vanced Settings The motor must be deactivated for some settings to be applied Use the button Stop Motor Off to deactivate the motor 1 5 3 1 Acceleration and Deceleration The maximum permitted acceleration and deceleration can be set by editing the two according fields in the tab Profile of the Smart Terminal and clicking Apply These values are the limiting values and will be used by the internal c...

Page 22: ...to the given Position Simply click the Go button to start the motion and Stop to set the velocity back to zero 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 requi...

Page 23: ...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 20 ...

Page 24: ...rmation about taking out of service and about recycling here page 23 1 9 Legal Notes The general legal notes can be found at Legal Notes page 25 1 9 1 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 co...

Page 25: ...liar with the applicable official health and safety regulations directives and generally recog nised engineering practice e g DIN standards VDE stipulations engineering regulations from other EC mem ber states that they can assess the work safety aspects of the product and have access to this manual and who have read it The following groups of persons are generally not considered qualified Employe...

Page 26: ...ied personnel only preferably someone who has already worked on the robot in the past and knows its technical details This will ensure fast and trouble free disassembly reduced 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 22 3 2...

Page 27: ...als should be separated completely and can then be sold to certified recycling companies 3 4 Electrical components Electronic scrap and electrical wires are both a source of valuable resources as well as a threat to the environment and must not be treated like consumer waste Attention All electrical wires and components must therefore be collected and sold to or deposited at the appropriate recycl...

Page 28: ...y 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 Neobotix GmbH shall not be liable or responsible for incidental or conse...