Mechanical Properties
---------------------
.. _mpo-700-dimensions:
Dimensions
**********
.. figure:: mpo_700_dimensions.PNG
Dimensions of the MPO-700
========================================================= ====== ==========
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
Maximum width of the platform with diagonal scanners W4’ 656
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
Overall length with two diagonal laser scanners L4’ 756
Ground clearance with battery H1 23
Height of scan plane H2 181
Ground clearance without battery H3 202
Height of top plate H4 348
========================================================= ====== ==========
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 .. +25
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
================================================= ===== ==========
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.
.. figure:: mpo_700_coordinate_system.PNG
Coordinate system of MPO-700
.. figure:: mpo_700_sensor_positions.PNG
Positions of the laser scanners
=========================== ======== ====== ====== ======= =======
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
=========================== ======== ====== ====== ======= =======
Electrical Properties and Miscellaneous Data
********************************************
Properties of Internal Components
+++++++++++++++++++++++++++++++++
All data are taken from the respective data sheets.
========================================= ===================== =======
Description Units Value
========================================= ===================== =======
Motor power W 400
Rated motor speed rpm 3000
Rated motor torque Nm 1.27
Maximum motor torque Nm 2.32
Encoder resolution Increments/Revolution 10000
Gear ratio of orientation drives 1 19:1
Gear ratio of traction drives (stage1) 1 15:1
Gear ratio of traction drives (stage2) 1 2:1
Rated battery voltage V 48
Maximum battery voltage V 59
Battery capacity Ah 28
========================================= ===================== =======
Other Properties
++++++++++++++++
===================== ===== =====
Description Units Value
===================== ===== =====
Weight kg 142
Expected working time a 10
===================== ===== =====
Communication To Internal Devices
*********************************
RelayBoard
++++++++++
The Neobotix RelayBoard communicates with the platform's on-board computer via a USB connection.
Detailed information on the RelayBoard and the protocol can be found
in its documentation (available on request).
Motor Amplifiers
++++++++++++++++
All motor amplifiers and the platform's on-board computer are connected to the same CAN-bus and set to a baud-rate of 1 MBaud. The amplifiers' settings might need to be changed to match the communication requirements of the used control software.
The configuration software "Composer" from Elmo Motion Control
can be used to configure, test and retune all motor amplifiers.
Each amplifier can be connected to a COM-port (57600 Baud, no parity)
of the configuration computer which runs the "Composer" by using an adapter cable.
Please contact Neobotix in case you need to modify the controllers' settings.
The documentation of the motor amplifiers (“Whistle” WHI 10-60) and the latest
version of the configuration software can be found on
`the homepage of Elmo Motion Control `_.
An introduction on how to configure the Omni Drive Modules can be found
:ref:`here `.
The amplifiers use the CANopen protocol for CAN communication.
The node IDs are as follows.
All amplifiers use group ID 30.
====== ============ ================= =====================
Device Position Traction drive ID Orientation drive ID
====== ============ ================= =====================
A2 Front left 2 1
A3 Rear left 4 3
A4 Rear right 6 5
A5 Front right 8 7
====== ============ ================= =====================
Connectors
++++++++++
See chapter :ref:`connectors`.