neobotix Omni Drive Module, Руководство пользователя

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CHAPTER 1. OMNI DRIVE MODULE 1.5. CONFIGURATION
1.4.3.2 Enable Lines
On request the drive amplifiers can be configured to have two 24 V enable lines. The signals can be integrated into the
CAN bus cable and then be conveniently patched through to all Omni-Drive-Modules.
This option uses digital inputs 2 and 3 which then are no longer available for other functions.
Attention: Please note that this feature is not safety approved.
The pin assignment of the CAN bus connector changes as follows:
Pin Function
1,7 GND
2,8 CANL
3,9 CANH
4,10 Shield
5,11 Enable1
6,12 Enable 2
This option requires the same connector housings as the digital I/Os.
1.5 Configuration
The best way to configure and optimise the drive amplifiers is by using the interface software Composer which is
provided for free download from the homepage of the manufacturer Elmo Motion Control. The latest version can be
found at:
https://www.elmomc.com/product/composer/
It is recommended to connect the computer that runs the Composer to the amplifier by a standard RS-232 serial
connection (COM port). The appropriate configuration cable can be supplied on request.
The drive amplifiers are configured with general purpose settings and ready for operation. Before the Omni-Drive-
Module can be used in a mobile robot, the communication parameters have to be adjusted according to the features of
the control system.
If extraordinary kinematics are to be realised or if the modules are to be used under extreme conditions (very heavy
vehicle or payload, uneven or soft floor, asymmetric centre of gravity, . . . ) it might be necessary to adjust the control
loop parameters of some or all amplifiers. Please contact Neobotix in such cases.
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