neobotix MPO-500 Manuel utilisateur
MPO-500
Neobotix GmbH
Feb 25, 2022
Contents:
1 MPO-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 ....................................... 3
1.1.5 Safety Instructions ....................................... 3
1.2 Operating Elements ........................................... 4
1.2.1 Emergency Stop Buttons .................................... 4
1.2.2 Key Switch ........................................... 5
1.2.3 Brake Release Button ...................................... 5
1.2.4 Charging Socket ........................................ 5
1.2.5 LC-Display ........................................... 5
1.2.6 Access to the On-Board Computer ............................... 5
1.3 Mechanical 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
1.5.5 Fuses .............................................. 11
1.6 Taking out of Service ........................................... 11
1.7 Legal Notes ................................................ 11
1.7.1 EU Declaration of Conformity ................................. 11
1.7.2 RoHS Information ....................................... 12
2 General Hardware Information 13
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2.1 Key Switch ................................................ 13
2.1.1 Turning on ........................................... 13
2.1.2 Emergency Reset ........................................ 13
2.1.3 Shut down ............................................ 13
2.1.4 Switch off ............................................ 13
2.2 LC Display ................................................ 14
2.2.1 Main View ........................................... 14
2.2.2 The Info View .......................................... 15
2.3 Batteries ................................................. 16
2.3.1 Battery Types .......................................... 16
2.3.2 Charging ............................................ 17
2.3.3 Recycling ............................................ 18
2.4 Charging Stations ............................................ 18
2.4.1 Automatic Charging Station .................................. 18
2.4.2 External Battery Charging Station ............................... 20
2.5 Connectors ................................................ 22
2.5.1 TE Connectivity - HE14 .................................... 22
2.5.2 Würth Elektronik - MPC4 ................................... 22
2.5.3 Würth Elektronik - MPC3 ................................... 23
2.6 Safety Instructions ............................................ 24
2.6.1 General Safety Instructions ................................... 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 and Repairs .................................... 30
2.9 Qualified Personnel ........................................... 31
2.10 Taking out of Service ........................................... 32
2.10.1 Disassembly ........................................... 32
2.10.2 Recycling ............................................ 32
2.10.3 Mechanical parts ........................................ 32
2.10.4 Electrical components ..................................... 32
2.10.5 Batteries ............................................. 33
2.11 Legal Notes ................................................ 33
2.11.1 Version Information ....................................... 33
2.11.2 Liability ............................................. 33
2.11.3 Downloads and Further Information .............................. 33
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CHAPTER 1
MPO-500
_
Download as PDF1
The mobile robot MPO-500 features four Mecanum wheels which provide an extraordinary manoeuvrability. Each
Mecanum wheel has several independent rollers mounted along its circumference. The axles of the rollers are rotated
at 45° to the wheel’s main axle. This design 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 alignment and
• the required control software is very simple.
1https://neobotix-docs.de/hardware/en/MPO-500.pdf
1
CHAPTER 1. MPO-500 1.1. PRODUCT INFORMATION
These extraordinary features have made Mecanum wheels a very popular solution especially in robotics research.
1.1 Product Information
1.1.1 Intended Use
The MPO-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.
Depending on the intended application the MPO-500 can be used on its own, in combination with other robot vehicles
and in combination with stationary systems. Furthermore, application specific extensions can be integrated into the
basic platform. These might be a customised cargo area, a robot arm or special sensors.
The MPO-500 may only be used in laboratories, test halls or similar environments. It is not recommended to use the
MPO-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 assessment of risks. 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 working area of the mobile robot must be protected against rain and have a sufficiently firm and clean floor. The
floor must be even and horizontal.
Tip: Slopes, edges, steps and unevenness can result in problems when the robot is moving or with the localisation.
Under some circumstances the robot might not be able to continuously determine its exact position and therefore might
plan unnecessary or problematic paths or might even be unable to reach its destination.
Under certain conditions, rain or heavy splash water might enter the robot and cause damages. Flying sparks, heavy
dust and similar dirt may affect or damage the sensors and thus might make the operation of the mobile robot inefficient
or unsafe. Dirt and liquids on the floor may lead to slippage and problems of localisation and navigation.
The robot does not feature any sensor for detecting staircases, holes or other areas where it may drop down. In case of
loss of localisation or faulty programming the robot might fall down such place
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CHAPTER 1. MPO-500 1.1. PRODUCT INFORMATION
Warning: Always check for and secure all places where the robot might drop down before bringing it into
operation.
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 31).
1.1.5 Safety Instructions
Please also check the general safety instructions for Neobotix robots which can be found at Safety Instructions
(page 24).
1.1.5.1 Danger Areas
Wheels
Due to their unique design, the four Mecanum wheels of the MPO-500 have a higher potential for danger than normal
wheels. Please mind the following in order to prevent injuries or damages:
• Never touch the wheels of the moving robot and also prevent guests, passers-by and especially children from
touching them.
• Take care that no part of the cargo or additional components (e.g. cables, wires) can touch the wheels.
• Make sure that the working space of the 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 the battery drawer are completely safe to touch while the robot is in use. Neverthe-
less, opening the battery drawer allows one to reach into the robot platform and to touch powered components.
Warning: Never reach into the robot platform while the system is turned on. There is risk of electric shock!
All cables and wires on the batteries and inside the drawer are placed and cut to length in a way that will prevent
damages during normal operation. Modifying or moving these parts might cause damage to the wires.
Warning: Always take great care that no cables are clamped between drawer and platform or get caught in the
telescopic slides. Please contact Neobotix immediately when noticing any damages to the cables.
A robot with damaged battery cables must not be operated in any case!
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CHAPTER 1. MPO-500 1.2. OPERATING ELEMENTS
Laser Scanner Positions
The height of the scanning plane of the laser scanners must be chosen according to the applications safety require-
ments. In case the robot is to operate fully autonomously and without supervision in an area where it might encounter
unconscious people the scanning plane should be no more than 200 mm above the ground.
Each laser scanner has a 270° wide field of view which is symmetric to the scanner housing. Therefore the positions
of the laser scanners must also be 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 Connector for 2nd scannerr
8 Ethernet socket
9 USB socket
10 LC-Display
1.2.1 Emergency Stop Buttons
When one of these buttons is pressed the robot is immediately set to emergency stop. All drives are disconnected from
power supply and the fail-safe brakes are engaged. This state can be reset by unlocking the emergency stop buttons
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CHAPTER 1. MPO-500 1.3. MECHANICAL PROPERTIES
and turning the Key Switch (page 13) clockwise to position II for a few seconds.
1.2.2 Key Switch
See Key Switch (page 13).
1.2.3 Brake Release Button
Pressing this button will open the motors’ brakes allowing the robot to be moved even while it is turned off.
1.2.4 Charging Socket
The battery charger can be manually connected to this socket. Further information can be found at Charging (page 17).
1.2.5 LC-Display
This display shows the most important status information.
A detailed description of the LCD can be found in LC Display (page 14).
1.2.6 Access 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 aluminium profiles L2 680
Length of outer aluminium profiles L3 380
Distance from platform centre to wheel axes L4 250
Maximum length to platform centre L5 494
Width of top plate W1 500
Distance from platform centre to outer aluminium profiles W2 219
Distance from platform centre to inner aluminium profiles W3 73
Track width W4 548
Maximum width W5 662
Size of aluminium profiles P 30
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CHAPTER 1. MPO-500 1.3. MECHANICAL PROPERTIES
Fig. 2: Dimensions of the MPO-500
1.3.2 Absolute Maximum Ratings
Warning: Exceeding these ratings might cause malfunctions or damage the robot!
Description Units Value
Storage temperature °C -20 .. +50
Operating temperature (environmental temperature) °C +0 .. +35
Payload (equally distributed to aluminium profiles, default version) kg 80
Payload (equally distributed to aluminium profiles, high payload version) kg 250
Maximum speed m/s 0.9
Maximum bumpiness to pass over mm 5
Maximum acceleration m/s22.4
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 442 0 372 0 0
Rear laser scanner LS2 -442 0 372 0 180
1.3.4 Electrical Properties and Miscellaneous Data
1.3.4.1 Properties of Internal Components
All data are taken from the respective data sheets.
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CHAPTER 1. MPO-500 1.3. MECHANICAL PROPERTIES
Fig. 3: Coordinate system of MPO-500
Fig. 4: Positions of the laser scanners
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