iSWV Vertical Omnidirectional Steering Wheel Module
Omnidirectional mobility chassis & drive module for general robotic platforms
iSWV Vertical Omnidirectional Steering Wheel Module
Designed for industrial AGVs, AMRs, wheeled humanoid robots, hybrid composite robots and intelligent material handling equipment, the iSWV series consists of fully integrated power drive modules. Each unit integrates traction drive, steering control, servo drive, high-precision reducers and position sensing components. Delivering compact, high-accuracy and dependable omnidirectional motion capabilities, the modules feature easy field installation. The hardware cuts R&D and production costs for system developers, boosts equipment operational efficiency and enables deployment across multiple scenarios.
| （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) |
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| 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. Frequent short‑term obstacle crossing is not recommended. For special requirements, please contact Kinco for confirmation. |
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