Integrated Motion Module
iSWV Vertical Omnidirectional Steering Wheel Module
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| (Integrated Module) Model | iSWV00928-00627-Al30-MADT-☐A | |
| Power Supply(VDC) | 48V | |
| Logic Power(VDC) | 24V, 0.5A(Optional) | |
| Walking Motor Module | Model | iGML06010-00928-Al30-MADT-☐A |
| Performance parameters of walking integrated machine | ||
| Rated Power(W) | 294 | |
| Rated Current(Arms) | 8.5 | |
| Rated Torque(N·m) | 1 | |
| Rated Speed(rpm) | 2800 | |
| Max. Current(Arms) | 25 | |
| Brake Holding Torque T(N·m) | / | |
| Performance parameters of walking integrated machine with gearbox | ||
| Rated Torque With Gearbox(N·m) | 9 | |
| Rated Speed With Gearbox(rpm) | 280 | |
| Rated Power(W) | 264 | |
| Wheel Diameter(mm) | 130 | |
| Wheel Width(mm) | 30 | |
| Rated Linear Speed(m's) | 1.9 | |
| Max. imum Linear Speed(m's) | 2.2 | |
| Weight With Gearbox(kg) | 3.4 | |
| Insulation Class | F | |
| Protection Degree | IP54 | |
| Steering Motor Module | Model | iGMH06809-00627-LADR-iGMH06809-00627-LADR-☐A |
| Performance parameters of rotating integrated machine | ||
| Rated Power(W) | 195 | |
| Rated Current(A) | 6.5 | |
| Rated Torque(N·m) | 0.75 | |
| Rated Speed(rpm) | 2500 | |
| Max. Current(Arms) | 14.3 | |
| Performance parameters of rotating integrated machine with gearbox | ||
| Rated Torque With Gearbox(N·m) | 6 | |
| Rated Speed With Gearbox(rpm) | 277 | |
| Rated Power(W) | 174 | |
| Max. orque With Gearbox(N·m) | 13.5 | |
| Max. Speed With Gearbox(rpm) | 330 | |
| Weight With Gearbox(kg) | 0.88 | |
| Insulation Class | F | |
| Protection Degree | IP20 | |
| Integrated Module | Overall Parameters | |
| Overall Weight (kg) | 4.7 | |
| Tire Material | Polyurethane | |
| Tire Hardness Rating | 85A±2 | |
| Working System | S3-10min-60%(Cycle 10min,60% Working hours) | |
| Carrying Weight (kg) | Max. 100kg | |
| Energy Consumption Brake | The walking module contains a braking circuit | |
| Overvoltage Alarm(V) | Default 68±2V | |
| Undervoltage Alam(V) | Default 18±2V | |
| Modbus/RS485 | Supports a Max. baud rate of 115.2Kbps and can communicate with thecontroller using the Modbus RTU protocol | |
| CANopen | Supports a Max.baud rate of IMbps and can communicate with the cointroller using the CANopen protocol | |
| EtherCAT | Support CoE(CiA402 protocol) and CSP/CSV/PP/PV/PT/HM mode, communication speed 100M | |
| Evironmental Conditions | Working environment temperature: 0°C-40°C; Storage temperature: -20°C-60°C; 90%RH(below) for use and storage, non-condensation; Polyurethane tread requiresa flat road surface and no foreign objects. | |
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