Page 5 - AGV-Platform Next Generation

BLDC-Wheel hub motors
Rated voltage Rated current1) Rated torque1) Rated speed1) Max speed at at rated torque1) Shaft power (output)1)
Idle running speed2)
No-load current2)
Max efficiency2)
Standstill torque2)
Starting current at idle speed2)
Max radial axle load F3)
Max axial axle load F3)
Encoder
resolution
Material of the coating Braking torque of the emergency stop brake 48 VDC 4 5 A 5 Nm 316 rpm
10 km/h
165 W 450 rpm
0 3 A 82 %
19 7 Nm 35 A 2 500 N 1 250 N 262 144 cpr PU-Rad: 92° ±3°
Shore A 16 Nm Communications interface Rated voltage range Max voltage Continuous phase current RMS
Max efficiency Hardware Protection
Standard Safety Functions Safe Motion Modul Certified Safety Functions EtherCAT FSoE (FailSafe over EtherCAT)
24 - 48 V DC 60 V DC 20 A 99 %
STO/SBC
1) Max ambient temperature = = 40 °C °C controller-specific controller-specific 2)
At the the nominal nominal point (TU = = 20°C) controller-specific controller-specific 3)
Radial and axial forces apply to to the the nominal nominal service life L10h = 20 000h according to to DIN ISO 281
i-Wheel Clever 3213 with integrated Circulo 9 Motion Controller by Synapticon EtherCAT Out
EtherCAT OUT
24-48 VDC EtherCAT In STO Input
STO Input
185 EtherCAT IN Power supply 24-48 VDC 3213 00-21XX
i-WheelC-A-170-185
Circulo 9 Motion Controller by Synapticon Overcurrent overvoltage undervoltage PW deadtime overtemperature PWM shoot through FSoE STO SBC
SS1/2 SOS SMS 4xSLS Safe Process Data (position velocity)
STO – – SAFE SAFE TORQUE OFF
SBC
– – – SAFE SAFE SAFE BRAKE BRAKE CONTROL
SBT – – – SAFE SAFE SAFE BRAKE BRAKE TEST*
SS1 – – – SAFE SAFE SAFE STOP STOP 1 1 SS2 – – – SAFE SAFE SAFE STOP STOP 2 2 SLS – – – SAFELY SAFELY LIMITED LIMITED SPEED
SLP – – – SAFELY SAFELY SAFELY LIMITED LIMITED LIMITED POSITION* SLT – – SAFELY SAFELY LIMITED LIMITED TORQUE* SAFE SAFE SAFE VELOCITY PROCESS PROCESS DATA DATA SAFE SAFE SAFE POSITION PROCESS PROCESS PROCESS DATA DATA DATA SAFE SAFE SAFE TORQUE PROCESS PROCESS DATA DATA SAFE SAFE DIGITAL GPIO AND ANALOG INPUTS
*The functions must be implemented in in the safety controller using secure process data
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