Neobotix MMO-500 Manuel utilisateur

MMO-500

Neobotix GmbH

Feb 25, 2022

Contents:

1 MMO-500 1

1.1 Product Information ........................................... 2

1.1.1 Intended Use .......................................... 2

1.1.2 Improper Use .......................................... 2

1.1.3 Working Area .......................................... 2

1.1.4 Qualiﬁed Personnel ....................................... 2

1.1.5 Safety Instructions ....................................... 3

1.2 Operating Elements ........................................... 3

1.3 Arm .................................................... 3

1.3.1 Properties of the Universal Robots Arms ............................ 3

1.3.2 Standalone Operation ...................................... 3

1.4 Mechanical Properties .......................................... 3

1.4.1 Dimensions of the Robot .................................... 3

1.4.2 Dimensions of the Manipulator ................................. 5

1.5 Transport ................................................. 5

1.5.1 Unpacking and Assembly .................................... 5

1.5.2 Installing the Auxiliary Batteries ................................ 7

1.6 Taking out of Service ........................................... 7

1.7 Legal Notes ................................................ 8

1.7.1 EU Declaration of Incorporation ................................ 8

1.7.2 RoHS Information ....................................... 8

2 General Hardware Information 9

2.1 Key Switch ................................................ 9

2.1.1 Turning on ........................................... 9

2.1.2 Emergency Reset ........................................ 9

2.1.3 Shut down ............................................ 9

2.1.4 Switch off ............................................ 9

2.2 LC Display ................................................ 10

2.2.1 Main View ........................................... 10

2.2.2 The Info View .......................................... 11

2.3 Batteries ................................................. 12

2.3.1 Battery Types .......................................... 12

2.3.2 Charging ............................................ 13

2.3.3 Recycling ............................................ 14

2.4 Charging Stations ............................................ 14

2.4.1 Automatic Charging Station .................................. 14

2.4.2 External Battery Charging Station ............................... 16

2.5 Connectors ................................................ 18

2.5.1 TE Connectivity - HE14 .................................... 18

2.5.2 Würth Elektronik - MPC4 ................................... 18

2.5.3 Würth Elektronik - MPC3 ................................... 19

2.6 Safety Instructions ............................................ 20

2.6.1 General Safety Instructions ................................... 20

2.6.2 Brieﬁng ............................................. 21

2.6.3 Safety System .......................................... 21

2.6.4 Cooperating with the Robot ................................... 22

2.6.5 Bringing into Service ...................................... 23

2.6.6 Modiﬁcation of the System ................................... 23

2.6.7 Expected Misuse ........................................ 23

2.6.8 Conﬁguring the Safety Fields .................................. 24

2.7 Safety Instructions (Manipulators) .................................... 25

2.7.1 Robot Arms ........................................... 25

2.7.2 Laser Scanners ......................................... 25

2.7.3 Working required from the Customer .............................. 25

2.8 Maintenance ............................................... 26

2.8.1 Cleaning ............................................. 26

2.8.2 Maintenance and Repairs .................................... 26

2.9 Qualiﬁed Personnel ........................................... 27

2.10 Taking out of Service ........................................... 28

2.10.1 Disassembly ........................................... 28

2.10.2 Recycling ............................................ 28

2.10.3 Mechanical parts ........................................ 28

2.10.4 Electrical components ..................................... 28

2.10.5 Batteries ............................................. 29

2.11 Legal Notes ................................................ 29

2.11.1 Version Information ....................................... 29

2.11.2 Liability ............................................. 29

2.11.3 Downloads and Further Information .............................. 29

CHAPTER 1

MMO-500

Download as PDF1

The mobile manipulator MMO-500 combines the omnidirectional robot mpo-500 with a light-weight robot arm, for

example from Universal Robots.

Its Mecanum wheels allow the MMO-500 to move freely into any direction and thus to re-position the integrated arm

1https://neobotix-docs.de/hardware/en/MMO-500.pdf

CHAPTER 1. MMO-500 1.1. PRODUCT INFORMATION

very easily. This way the arm’s workspace is signiﬁcantly enlarged without having to deal with any constraints and

kinematics problems.

The MMO-500 can integrate most of the available light weight arms. Due to its big footprint and high payload, the

MMO-500 is also capable of carrying the big Universal Robots arm UR10 which can handle loads up to 10 kg.

The platform’s movement can be controlled by the free Robot Operating System. The Universal Robots arm, like

most suitable robot arms, can be conﬁgured with its original control software and manual control unit and connected

to ROS.

1.1 Product Information

1.1.1 Intended Use

The MMO-500 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.

The MMO-500 may only be used in laboratories, test halls or similar environments. It is not recommended to use the

MMO-500 in any other surrounding, especially not outdoors, in ofﬁces or factories.

1.1.2 Improper Use

Danger:

• The mobile robot must not be used for transportation of passengers in any way. No person must ride on the

robot itself, nor must the robot be used to move any other vehicle or hanger with passengers aboard.

• The mobile robot must not be operated in any publicly accessible area without safety assessment. If the

robot is to be modiﬁed either permanently (e.g. by mounting additional components) 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, elevated platforms or

other possibilities for falling or dropping down. This may cause serious injuries or death!

1.1.3 Working Area

The same conditions as for the MPO-500 apply and can be found at mpo500-product .

1.1.4 Qualiﬁed Personnel

This product must only be modiﬁed, commissioned, operated and serviced by qualiﬁed personnel.

The requirements on qualiﬁed personnel can be found at Qualiﬁed Personnel (page 27).

CHAPTER 1. MMO-500 1.2. OPERATING ELEMENTS

1.1.5 Safety Instructions

Please refer to the safety instructions for the MPO-500 which can be found at mpo-500-safety.

Additionally, refer to Safety Instructions (Manipulators) (page 25).

1.2 Operating Elements

Please refer to the corresponding page for the MPO-500: mpo-500-operating-elements.

1.3 Arm

1.3.1 Properties of the Universal Robots Arms

The UR robot arm has not been modiﬁed. All features and properties of the arm remain unchanged as stated in the

manufacturer’s documentation. Please refer to this documentation for further information.

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-500 and in the operating manual

of the robot arm. In case the arm is to be operated separately this connection has to be bridged with the Harting

connector that was included in delivery. Please see the following chapter for details.

Tip: The conﬁgurable inputs CI0 and CI1 have been changed to “Unassigned”. The conﬁgurable outputs CO0 and

CO1 have been set to “Emergency stop”. The safety conﬁguration password was set to neobotix. Please contact

Neobotix if you have any questions concerning the safety system.

1.3.2 Standalone Operation

The mobile platform can be operated without switching on the arm or completely without arm. To do so please plug

in the bridging connector -X31 instead of the cable to the UR arm controller. This connector can be found at the front

left of the platform’s top plate.

The robot arm can be operated independently of the mobile platform if the corresponding bridging connector -X31 is

connected to the cable leading to the controller box.

Additionally another connector has to be replaced inside the controller box to make the safety system of the arm inde-

pendent of the platform’s power supply. This grey bridging connector replaces the green one required for combined

operation.

When operating the arm without the platform it is recommended to power it from an ordinary 230V power outlet and

not from the mobile robot’s integrated DC/AC inverter.

Please check the robot arm’s operating manual for details on the power requirements.

1.4 Mechanical Properties

1.4.1 Dimensions of the Robot

See mpo-500-dimensions.

CHAPTER 1. MMO-500 1.4. MECHANICAL PROPERTIES

Fig. 1: Connector -X31

Fig. 2: Power Connector for Standalone Operation

CHAPTER 1. MMO-500 1.5. TRANSPORT

1.4.2 Dimensions of the Manipulator

Fig. 3: Dimensions of the MMO-500 UR10

All dimensions are in millimetres.

Description Symbol Value

Height of the mounting plane H1 386

Height of the control cabinet’s to plate H2 805

Offset between arm base and platform centre O 205

Distance to the front of the cabinet L1 115

Length of the cabinet’s top plate L2 496

Width of the cabinet’s top plate W 550

1.5 Transport

Note: The corresponding conditions of the MPO-500 also apply and can be found at mpo500-transport.

1.5.1 Unpacking and Assembly

The mobile robot MMO-500 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 below. Make sure

that the front of the cabinet’s base plate is ﬂush with the front of the inner aluminium proﬁles on the platform’s top

plate.

CHAPTER 1. MMO-500 1.5. TRANSPORT

Fig. 4: Controller cabinet and robot arm mounted to mobile platform

CHAPTER 1. MMO-500 1.6. TAKING OUT OF SERVICE

Now fasten the control cabinet to the mobile platform using the counter sunk screws that were included in delivery.

The cover plates at the front and the sides of the control cabinet (marked in red in the ﬁgure) can be removed to provide

easy access to the inside of the cabinet.

Connect the cables inside the control cabinet to the appropriate plugs of the mobile platform. Please see the electrical

circuit diagram for details.

If the robot arm was shipped separately, position it on top of the control cabinet as shown above. Then fasten it securely

using the M8 screws included in the delivery. Finally plug the robot arm’s cable into the socket at the underside of the

controller box.

1.5.2 Installing the Auxiliary Batteries

In order to extend the robot’s uptime, a second battery pair 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.

Remove the front plate of the controller cabinet and place the batteries inside the aluminium frame on the cabinet’s

base plate, with the battery cables facing into the cabinet.

Fig. 5: Position of the auxiliary batteries

Danger: When the auxiliary batteries are in use, the robot must only be recharged by connecting the battery

charger to the robot manually or by using the automatic charging station. Do not recharge either pair of batteries

individually by connecting them to the battery charger directly.

Two regular ATO fuses (32V) inside the cabinet protect the electrical systems from excessive currents.

1.6 Taking out of Service

You can ﬁnd information about taking out of service and about recycling here (page 28).

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