Neobotix MPO-700 Manuel utilisateur

MPO-700

Neobotix GmbH

Feb 25, 2022

Contents:

1 MPO-700 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 ........................................... 3

1.2.1 Emergency Stop Buttons .................................... 3

1.2.2 Key Switch ........................................... 3

1.2.3 Charging Connector ....................................... 3

1.2.4 Charging Contacts ....................................... 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

1.3.5 Communication To Internal Devices .............................. 8

1.4 Transport ................................................. 9

1.4.1 Packaging ............................................ 9

1.4.2 Unpacking the Robot ...................................... 9

1.4.3 Short Distance Transport .................................... 9

1.4.4 Long Distance Transport .................................... 10

1.4.5 Shipping with AGM Battery .................................. 10

1.4.6 Shipping with LiFePO4 Battery ................................ 10

1.5 Maintenance ............................................... 11

1.5.1 Cleaning ............................................. 11

1.5.2 Omni Drive Modules ...................................... 11

1.5.3 Batteries ............................................. 11

1.5.4 Fuses .............................................. 12

1.6 Taking out of Service ........................................... 12

1.7 Legal Notes ................................................ 12

1.7.1 EU Declaration of Conformity ................................. 12

1.7.2 RoHS Information ....................................... 12

2 General Hardware Information 13

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

3 Omni Drive Module 34

3.1 Product Description ........................................... 35

3.1.1 Components ........................................... 35

3.1.2 Possible Drive Kinematics ................................... 35

3.1.3 Special Features ......................................... 37

3.2 Safety ................................................... 38

3.2.1 Intended Usage ......................................... 38

3.2.2 Improper Usage ......................................... 38

3.2.3 Qualiﬁed Personnel ....................................... 38

3.2.4 Safety Measures and Precautions ................................ 39

3.3 Mounting ................................................. 39

3.3.1 Integrating the Module into a Platform ............................. 39

3.3.2 Mounting Components onto the Module ............................ 39

3.4 Electrical Installation ........................................... 39

3.4.1 Power Supply .......................................... 39

3.4.2 Communication Interfaces ................................... 44

3.4.3 Digital-I/Os ........................................... 45

3.5 Conﬁguration ............................................... 47

3.5.1 Connecting to the Ampliﬁers .................................. 48

3.5.2 Handling Different Conﬁgurations ............................... 50

3.5.3 Advanced Settings ....................................... 51

3.5.4 Testing and Debugging ..................................... 52

3.6 Maintenance ............................................... 52

3.6.1 Cleaning ............................................. 52

3.6.2 Traction Wheel ......................................... 52

3.7 Technical Data .............................................. 53

3.7.1 Dimensions ........................................... 53

3.7.2 Board-Layout .......................................... 53

3.7.3 Properties ............................................ 54

3.8 Taking out of Service ........................................... 54

3.9 Legal Notes ................................................ 54

3.9.1 Declaration of Incorporation .................................. 54

3.9.2 RoHS Information ....................................... 54

iii

CHAPTER 1

MPO-700

Download as PDF1

The omnidirectional MPO-700 is the ideal base for high-end service robots. Its four Omni Drive Modules (page 34) en-

able it to move extremely smoothly into any direction. This robot is even capable of rotating freely while driving to its

destination. The Omni Drive Modules of the MPO-700 feature important beneﬁts compared to other omnidirectional

drive kinematics, like for example the 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.

1https://neobotix-docs.de/hardware/en/MPO-700.pdf

CHAPTER 1. MPO-700 1.1. PRODUCT INFORMATION

1.1 Product Information

1.1.1 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.

Depending on the intended application the mobile robot 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 mobile robot has been designed with focus on indoor operation. It is not recommended to operate the mobile

robot outdoors, especially during rain, fog or snow.

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 places.

CHAPTER 1. MPO-700 1.2. OPERATING ELEMENTS

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

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. It is nevertheless possible that objects or body parts (e.g. hands or feet) get damaged or injured

when touching the drive modules during operation. Objects or limbs may get squeezed or crushed if they get pulled in

by a drive wheel or when the robot drives over them.

Great care is required while working on or with the robot to avoid such injuries or damages. Depending on the

application it can be necessary to design and mount protective covers around the drive modules.

1.2 Operating Elements

The locations of the basic operating elements of the MPO-700 are shown in the picture below.

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. This state can be reset by unlocking the emergency stop buttons 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 Charging Connector

This connector provides direct, not fuse protected access to the battery. The battery charger can be plugged in here.

Please see the chapter Maintenance (page 30) to know more.

CHAPTER 1. MPO-700 1.2. OPERATING ELEMENTS

Fig. 1: Basic control elements of the MPO-700

1 Emergency stop button

2 LC-Display

3 Key switch

4 Computer access

5 Battery connector

6 Charging connector

7 Charging contacts

8 Antenna of the radio controlled emergency stop system

CHAPTER 1. MPO-700 1.3. MECHANICAL PROPERTIES

1.2.4 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.

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

All peripheral connections of the on-board computer are accessible at the front of the platform.

1.3 Mechanical Properties

1.3.1 Dimensions

Fig. 2: Dimensions of the MPO-700

CHAPTER 1. MPO-700 1.3. MECHANICAL PROPERTIES

Description Symbol Value (mm)

Width of the top plate W1 488

Width of the Omni Drive Module conﬁguration W2 380

Recommended track width W3 470

Maximum width of the platform W4 509

Wheel eccentricity of the Omni Drive Modules O 45

Width of the wheels B 30

Diameter of the wheels D 180

Length of the Omni Drive Module conﬁguration L1 480

Maximum length of the platform L2 610

Overall length with one laser scanner L3 741

Overall length with two laser scanners L4 822

Ground clearance with battery H1 23

Height of scan plane H2 181

Ground clearance without battery H3 202

Height of top plate H4 348

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 kg 400

Maximum speed m/s 0.9

Maximum bumpiness to pass over (≤0.25m/s) mm 15

Maximum bumpiness to pass over (full speed) mm 5

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. b-angle

Front center laser scanner LS1 360 0 181 0

Rear center laser scanner LS2 -360 0 181 180

Front left laser scanner (Option) 327 277 201,5 45

Rear right laser scanner (Option) -327 -277 201,5 225

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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