iSWV 縦置き型全方向ステアリングホイールモジュール
全方向移動を実現し、未来のモビリティをスマートに制御
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iSWV 縦置き型全方向ステアリングホイールモジュール
iSWVシリーズは、走行駆動・操舵制御・サーボドライブ・高精度減速・位置センシングという5つのコアユニットを一体化した高度統合型の動力コア部品です。産業用AGV/AMR、ホイール型ヒューマノイドロボット、複合ロボット、スマート搬送設備向けに開発され、移動ロボットに高集積・高精度・高信頼性・導入しやすい全方向移動ソリューションを提供。お客様の研究開発・量産のハードルを大幅に下げ、設備の作業効率とシーン適合能力を全面的に向上させます。
| （Integrated Module） Model | iSWV00928-00627-A130-MADT-□A | iSWV00928-00627-A150-MBDT-□A | |
| Power Supply(VDC) | 48V | 48V | |
| Logic Power(VDC) | 24V,0.5A(Optional) | 24V,0.5A(Optional) | |
| Walking Motor Module | Model | iGML06010-00928-A130-MADT-□A | iGML06010-00928-A150-MBDT-□A |
| Performance parameters of walking integrated machine | |||
| Rated Power(W) | 294 | 294 | |
| Rated Current(Arms) | 8.5 | 8.5 | |
| Rated Torque(N.m) | 1 | 1 | |
| Rated Speed(rpm) | 2800 | 2800 | |
| Max Current(Arms) | 25 | 26 | |
| Brake Holding Torque T(Nm) | / | 1.32 | |
| Performance parameters of walking integrated machine with gearbox | |||
| Rated Torque With Gearbox(N.m) | 9 | 9 | |
| Rated Speed With Gearbox(rpm) | 280 | 280 | |
| Rated Power(W) | 264 | 264 | |
| MaxTorque With Gearbox(N.m) | 27 | 27 | |
| Wheel Diameter(mm) | 130 | 150 | |
| Wheel Width(mm) | 30 | 45 | |
| Rated Linear Speed(m/s) | 1.9 | 2.2 | |
| Maximum Linear Speed(m/s) | 2.2 | 2.5 | |
| Weight With Gearbox(kg) | 3.4 | 5.1 | |
| Insulation Class | F | F | |
| Protection Degree | IP54 | IP54 | |
| Steering Motor Module | Model | iGMH06809-00627-LADR-□A | iGMH06809-00627-LADR-□A-01 |
| Performance parameters of rotating integrated machine | |||
| Rated Power(W) | 195 | 195 | |
| Rated Current(A) | 6.5 | 6.5 | |
| Rated Torque(N.m) | 0.75 | 0.75 | |
| Rated Speed(rpm) | 2500 | 2500 | |
| Max Current(Arms) | 14.3 | 14.3 | |
| Performance parameters of rotating integrated machine with gearbox | |||
| Rated Torque With Gearbox(N.m) | 6 | 6 | |
| Rated Speed With Gearbox(rpm) | 277 | 277 | |
| Rated Power(W) | 174 | 174 | |
| MaxTorque With Gearbox(N.m) | 13.5 | 13.5 | |
| Max Speed With Gearbox(rpm) | 330 | 330 | |
| Weight With Gearbox(kg) | 0.88 | 1.4 | |
| Insulation Class | F | F | |
| Protection Degree | IP20 | IP20 | |
| Integrated Module | 0verall Parameters | ||
| 0verall weight (kg) | 4.7 | 7.5 | |
| Tire Material | Polyurethane | Polyurethane | |
| Tire Hardness Rating | 85A±2 | 90A±2 | |
| Working System | S3-10min-60% (Cycle 10min,60% Working hours) |
S3-10min-60% (Cycle 10min,60% Working hours) |
|
| Carrying weight (kg) | Max 100kg | Max 150kg | |
| Energy Consumption Brake | The walking module contains a braking circuit | ||
| Overvoltage Alarm(V) | Default 68±2V | ||
| Undervoltage Alarm(V) | Default 18±2V | ||
| Modbus/RS485 | Supports a Max baud rate of 115.2Kbps and can communicate with the controller using the Modbus RTU protocol | ||
| CANopen | Supports a Max baud rate of 1Mbps and can communicate with the controller using the CANopen protocol | ||
| CANFD | Supports a Max baud rate of 5 Mbps and can communicate with controller using the CANFD protocol. | ||
| EtherCAT | Support CoE(CiA402 protocol)and CSP/CSV/PP/PV/PT/HM mode，communication speed 100M | ||
| Evironmental Conditions | Working environment temperature:0℃~40℃; Storage temperature:-20℃ ~ +60℃; 90%RH(below) for use and storage，non-condensation; Polyurethane tread requiresa flat road surface and no foreign objects. |
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| Note：□=A：RS485、CANopen E：RS485、EtherCAT F：RS485、CANFD If obstacle crossing is needed, travel speed ≤0.5 m/s, obstacle height ≤10 mm. Avoid frequent consecutive obstacle crossing. For special requirements, please contact Kinco for confirmation. |
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