neobotix MMO-700, Manual, Page: 20 / 66

CHAPTER 2. MPO-700 2.3. MECHANICAL PROPERTIES
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
2.3.4.2 Other Properties
Description Units Value
Weight kg 120
Expected working time a 10
2.3.5 Communication To Internal Devices
2.3.5.1 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 the documentation of this board.
2.3.5.2 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
3
. An introduction on how to configure the Omni Drive Modules
can be found here (page 55).
The CAN-IDs of the amplifiers 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
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https://www.elmomc.com/
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