Active wheel

Active wheel

SKU: 101 0101
€2,495.00 Regular Price
€1,921.15Sale Price

Powerful omnidirectional drive unit for mobile robots built on top of the KELO drive 100; inherently safe due to high back-drivability of gearless hub wheels; omni-directional due to Caster wheel suspension; without suspension.

  • Material

    • Housing: Anodized aluminium cube with T-slots 8 
    • Cover: Plastic (black)
    • Cable duct: Plastic (coloured)
  • Size and clearance

    • Footprint: 232 mm x 232 mm
    • Height: 240 mm
    • Ground clearance: 40 mm​
  • Weight and payload

    • Weight: 9,5 kg
    • Payload: 125 kg
  • Drive system (based on KELO drive 100)

    • Kinematics: differentially driven twin-wheels
    • Wheels: 2 x 4” wheels (Rubber)
    • Motors: 2 x 24 V direct drive hub motors
    • Gearbox: direct drive
    • Torque: 4,8 Nm
    • Back-drivability: high (direct drive)
    • Noise emission: low (no gears!)
  • Suspension system (optional)

    • Mechanical design: Spring damper mechanism
  • Electrical specifications

    • Voltage: 24 VDC 
    • Current: 20 A (continuous) / 50 A (30 sec. peak)
    • kV: RPM/V (24 V = 20 − 22 km/h)
    • Efficiency: 80%
  • Interface

    • Power supply: 24 VDC input (male) and output (female) port
    • Communication: EtherCAT (up to 40 kHz) with input (upstream) and output (downstream) port
    • Special signal line: one twisted pair in Ethernet cable for enabling and disable wheel (may be used by customer for emergency stop)
    • Mechanical: T-slot 8 compatible with standard aluminum profile fasteners and T-slot nuts
  • Software

    • Configuration: EtherCAT slave
    • Protocol: CANopen over EtherCAT
    • Firmware: velocity and force control, providing access to a variety of internal states and parameters
  • Cabling

    • Power supply: 24 V battery cable
    • Communication: Ethernet cable
    • Cable management: Plastic cable duct (see above)
  • Related products

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