Neobotix MMO-700 Manual de usuario

MMO-700

Neobotix GmbH

Apr 14, 2022

Contents:

1 MMO-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 ....................................... 2

1.1.5 Safety Instructions ....................................... 2

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

1.3 Changes in Handling ........................................... 3

1.3.1 With Radio Emergency Stop System .............................. 3

1.3.2 With Flexi Soft Safety Controller ................................ 3

1.4 Arm .................................................... 4

1.4.1 Properties of the Universal Robots Arms ............................ 4

1.4.2 Standalone Operation ...................................... 4

1.5 Mechanical Properties .......................................... 4

1.5.1 Dimensions of the Robot .................................... 4

1.5.2 Dimensions of the Manipulator ................................. 4

1.6 Transport ................................................. 5

1.6.1 Unpacking and Assembly .................................... 5

1.6.2 Installing the Auxiliary Batteries ................................ 6

1.7 Taking out of Service ........................................... 8

1.8 Legal Notes ................................................ 8

1.8.1 EU Declaration of Incorporation ................................ 8

1.8.2 RoHS Information ....................................... 8

2 MPO-700 9

2.1 Product Information ........................................... 10

2.1.1 Intended Use .......................................... 10

2.1.2 Improper Use .......................................... 10

2.1.3 Working Area .......................................... 10

2.1.4 Qualiﬁed Personnel ....................................... 11

2.1.5 Safety Instructions ....................................... 11

2.2 Operating Elements ........................................... 11

2.2.1 Emergency Stop Buttons .................................... 11

2.2.2 Key Switch ........................................... 11

2.2.3 Charging Connector ....................................... 11

2.2.4 Charging Contacts ....................................... 13

2.2.5 LC-Display ........................................... 13

2.2.6 Access to the On-Board Computer ............................... 13

2.3 Mechanical Properties .......................................... 13

2.3.1 Dimensions ........................................... 13

2.3.2 Absolute Maximum Ratings .................................. 14

2.3.3 Positions of Sensors ....................................... 14

2.3.4 Electrical Properties and Miscellaneous Data ......................... 14

2.3.5 Communication To Internal Devices .............................. 16

2.4 Transport ................................................. 17

2.4.1 Packaging ............................................ 17

2.4.2 Unpacking the Robot ...................................... 17

2.4.3 Short Distance Transport .................................... 17

2.4.4 Long Distance Transport .................................... 18

2.4.5 Shipping with AGM Battery .................................. 18

2.4.6 Shipping with LiFePO4 Battery ................................ 18

2.5 Maintenance ............................................... 19

2.5.1 Cleaning ............................................. 19

2.5.2 Omni Drive Modules ...................................... 19

2.5.3 Batteries ............................................. 19

2.5.4 Fuses .............................................. 20

2.6 Taking out of Service ........................................... 20

2.7 Legal Notes ................................................ 20

2.7.1 EU Declaration of Conformity ................................. 20

2.7.2 RoHS Information ....................................... 20

3 General Hardware Information 21

3.1 Key Switch ................................................ 21

3.1.1 Turning on ........................................... 21

3.1.2 Emergency Reset ........................................ 21

3.1.3 Shut down ............................................ 21

3.1.4 Switch off ............................................ 21

3.2 LC Display ................................................ 22

3.2.1 Main View ........................................... 22

3.2.2 The Info View .......................................... 23

3.3 Batteries ................................................. 24

3.3.1 Battery Types .......................................... 24

3.3.2 Charging ............................................ 25

3.3.3 Recycling ............................................ 26

3.4 Charging Stations ............................................ 26

3.4.1 Automatic Charging Station .................................. 26

3.4.2 External Battery Charging Station ............................... 28

3.5 Connectors ................................................ 30

3.5.1 TE Connectivity - HE14 .................................... 30

3.5.2 Würth Elektronik - MPC4 ................................... 30

3.5.3 Würth Elektronik - MPC3 ................................... 31

3.6 Safety Instructions ............................................ 32

3.6.1 General Safety Instructions ................................... 32

3.6.2 Brieﬁng ............................................. 33

3.6.3 Safety System .......................................... 33

3.6.4 Cooperating with the Robot ................................... 34

3.6.5 Bringing into Service ...................................... 35

3.6.6 Modiﬁcation of the System ................................... 35

3.6.7 Expected Misuse ........................................ 35

3.6.8 Conﬁguring the Safety Fields .................................. 36

3.7 Safety Instructions (Manipulators) .................................... 37

3.7.1 Robot Arms ........................................... 37

3.7.2 Laser Scanners ......................................... 37

3.7.3 Working required from the Customer .............................. 37

3.8 Maintenance ............................................... 38

3.8.1 Cleaning ............................................. 38

3.8.2 Maintenance and Repairs .................................... 38

3.9 Qualiﬁed Personnel ........................................... 39

3.10 Taking out of Service ........................................... 40

3.10.1 Disassembly ........................................... 40

3.10.2 Recycling ............................................ 40

3.10.3 Mechanical parts ........................................ 40

3.10.4 Electrical components ..................................... 40

3.10.5 Batteries ............................................. 41

3.11 Legal Notes ................................................ 41

3.11.1 Version Information ....................................... 41

3.11.2 Liability ............................................. 41

3.11.3 Downloads and Further Information .............................. 41

4 Omni Drive Module 42

4.1 Product Description ........................................... 43

4.1.1 Components ........................................... 43

4.1.2 Possible Drive Kinematics ................................... 43

4.1.3 Special Features ......................................... 45

4.2 Safety ................................................... 46

4.2.1 Intended Usage ......................................... 46

4.2.2 Improper Usage ......................................... 46

4.2.3 Qualiﬁed Personnel ....................................... 46

4.2.4 Safety Measures and Precautions ................................ 47

4.3 Mounting ................................................. 47

4.3.1 Integrating the Module into a Platform ............................. 47

4.3.2 Mounting Components onto the Module ............................ 47

4.4 Electrical Installation ........................................... 47

4.4.1 Power Supply .......................................... 47

4.4.2 Communication Interfaces ................................... 52

4.4.3 Digital-I/Os ........................................... 53

4.5 Conﬁguration ............................................... 55

4.5.1 Connecting to the Ampliﬁers .................................. 56

4.5.2 Handling Different Conﬁgurations ............................... 58

4.5.3 Advanced Settings ....................................... 59

4.5.4 Testing and Debugging ..................................... 60

4.6 Maintenance ............................................... 60

4.6.1 Cleaning ............................................. 60

4.6.2 Traction Wheel ......................................... 60

4.7 Technical Data .............................................. 61

4.7.1 Dimensions ........................................... 61

4.7.2 Board-Layout .......................................... 61

4.7.3 Properties ............................................ 62

4.8 Taking out of Service ........................................... 62

4.9 Legal Notes ................................................ 62

4.9.1 Declaration of Incorporation .................................. 62

4.9.2 RoHS Information ....................................... 62

iii

CHAPTER 1

MMO-700

Download as PDF1

The mobile manipulator MMO-700 combines the omnidirectional MPO-700 (page 9) with a light-weight robot arm,

for example from Universal Robots.

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

CHAPTER 1. MMO-700 1.1. PRODUCT INFORMATION

The MMO-700’s four Omni Drive Modules (page 42) create very smooth omnidirectional movements. This is a

signiﬁcant advantage over vehicles with Mecanum wheels when handling or transporting fragile or expensive parts.

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-700 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-700 may only be used in laboratories, test halls or similar environments. It is not recommended to use the

MMO-700 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-700 apply and can be found at Product Information (page 10) .

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 39).

1.1.5 Safety Instructions

Please refer to the safety instructions for the MPO-700 which can be found at Safety Instructions (page 11).

Additionally, refer to Safety Instructions (Manipulators) (page 37).

CHAPTER 1. MMO-700 1.2. OPERATING ELEMENTS

1.2 Operating Elements

Please refer to the corresponding page for the MPO-700: Operating Elements (page 11).

When installing some options please follow the instructions at Changes in Handling (page 3).

1.3 Changes in Handling

1.3.1 With Radio Emergency Stop System

If the robot is equipped with a radio emergency stop system the reset procedure changes slightly.

1.3.1.1 Starting The Robot

After starting up the robot it is necessary to turn the key switch clockwise once more in order to activate the radio

receiver.

1.3.1.2 Engaging The Radio Connection

1. Pull the red button on the handset upwards to activate the sender.

2. Wait until the two LEDs next to the red button have stopped blinking.

3. Press the green button on the handset to engage the safe connection.

4. Turn the key switch clockwise to reset the safety system and switch to normal operation.

1.3.1.3 Stopping The Robot Remotely

There are four ways to raise an emergency stop remotely:

• Press the red button on the handset. This is the intended operation and can be reset as described above.

• Placing the handset in the charging bay. Whenever the handset is charged in the charging bay it is considered

inaccessible to the operator who might be needing it. Since this would be an unsafe situation the system will

trigger an emergency stop. To reset this remove the handset from the charging bay and follow the steps stated in

the paragraph above.

• The handset’s battery runs out. The radio connection between handset and receiver is constantly maintained as

long as the red button is not in its lower (pressed) position and will drain the battery. If the battery level is too

low to keep up a stable connection the receiver will switch to emergency stop. Please press the red button or

recharge the handset whenever it is not in use.

• The radio connection is interrupted. The connection between handset and receiver can also be lost when the

distance is too big or when the radio signal is dampened or blocked by obstacles like machines or building

structures. In rare cases high electromagnetic noise from big machinery might also cause connection problems.

1.3.2 With Flexi Soft Safety Controller

If the robot features a Flexi Soft safety controller from Sick all safety functions are shifted from the RelayBoard to the

Flexi Soft. In this case the LCD will only report SCANNER STOP for all kinds of emergency stop. Please connect to

the Flexi Soft directly to get detailed status information

CHAPTER 1. MMO-700 1.4. ARM

1.4 Arm

1.4.1 Properties of the Universal Robots Arms

The hardware of 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-700 UR 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 white

connector -X32’ that was included in delivery.

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.

1.4.2 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 -X32 instead of the cable to the UR arm controller. This connector can be found at the cables

from platform to cabinet at the right side of the platform’s top plate.

The robot arm can be operated independently of the mobile platform if the corresponding bridging connector -X32 is

connected to the cable leading to the controller box.

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.

1.5 Mechanical Properties

1.5.1 Dimensions of the Robot

See Dimensions (page 13).

1.5.2 Dimensions of the Manipulator

All dimensions are in millimetres.

Description Symbol Value

Height of the mounting plane H1 348

Height of the control cabinet’s top plate H2 767

Offset between arm base and platform centre O 161

Distance to the front of the cabinet L1 115

Length of the cabinet’s top plate L2 492

Width of the cabinet’s top plate W 515

CHAPTER 1. MMO-700 1.6. TRANSPORT

Fig. 1: Dimensions of the MMO-700 UR10e

1.6 Transport

Note: The corresponding conditions of the MPO-700 also apply and can be found at Transport (page 17).

1.6.1 Unpacking and Assembly

The mobile robot MMO-700 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. Make sure that

the countersunk holes in the cabinet’s base plate are aligned with the threaded holes in the platform’s top plate.

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 picture) can be removed to

provide easy access to the inside of the cabinet.

If the UR10e controller box was shipped separately, place it inside the cabinet and ﬁx its base to the cabinet’s base

plate with four M6 screws and washers. Then connect the black AC power cable and the cable with the white Molex

connector to the appropriate connectors of the cabinet.

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.

CHAPTER 1. MMO-700 1.6. TRANSPORT

Fig. 2: Controller cabinet and robot arm mounted to mobile platform

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

circuit diagram for details.

1.6.2 Installing the Auxiliary Batteries

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

Warning: It is very important to fully charge both sets of batteries before connecting them. This will prevent

internal currents between battery sets of different charge levels. Such currents may cause overheating and damage

to the robot.

For charging the auxiliary batteries please use the adapter that was included in delivery to connect the battery charger

directly to the green 2 pin power connector -X42 inside the cabinet.

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 to the right side of the robot.

Plug the battery cables into the four green connectors inside the cabinet. The connectors are protected against wrong

polarity.

Now put the front and side plates back in place, fasten them securely and start the robot.

Danger: When the auxiliary batteries have been used, 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 set of batteries

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