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Mission-critical & mobility

Mobile Robots (AGV / AMR)

Quiet, efficient low-voltage traction running from a battery.

  • Typical axes3
  • NetworkCANopen · EtherCAT
  • Control modeCSV · PP
  • Recommended seriesSDE2 / SD2E2 · SML · SDE3
Start Product Selection See the solution
01
The sector at a glance

Mobile Robots (AGV / AMR)

On AGVs and AMRs the traction wheels run at low voltage, from a battery, safely in spaces shared with people.

Three things that decide it on the shop floor

  1. 01

    Battery and regeneration

    Braking energy returns to the battery; charge limits are part of the design.

  2. 02

    Holding on a ramp

    A braked motor and correct brake timing stop the vehicle rolling.

  3. 03

    Shared with people

    The safe stop comes from the risk assessment; STO is the drive side of it.

02
Our advantages

Why SMB TECHNICS?

One set, controller to cable

Controller, drive, motor, cable and connector arrive checked against each other; interface problems are solved at the desk, not on the shop floor.

Open standards

EtherCAT, CANopen, Modbus RTU, CODESYS and CiA 402: your machine is not tied to a closed ecosystem.

Engineer-to-engineer support

The same team from sizing to commissioning, on site and remotely.

Documented products

Manuals, CAD, ESI/EDS and firmware in the Document Centre; every product you choose comes with its documents.

Our application know-how for this sector
  • Differential drive and CANopen wheel control
  • Energy recovery to the battery and charge limits
  • Holding on ramps and safe stop
03
How we build the system

From control chain to commissioning, which product goes where

3.1

The control chain and the recommended products

How the machine is driven and the SMB products we choose for it.

AGVs and autonomous mobile robots (AMRs) have to drive battery-powered traction wheels at low voltage, quietly and efficiently. Braking energy returns to the battery, the vehicle must hold safely on a ramp, and it needs a safe stop in spaces shared with people.

On a mobile robot every watt comes from the battery: a low-voltage, low-inertia drive train decides range and dynamics together.

The control chain

The vehicle controller works out the wheel speeds and sends them to the drives over CANopen or EtherCAT. The catalogue parts that fit this class: 48 V DC SML motors in 60–130 mm frames with BiSS magnetic absolute encoders; 70 V DC CANopen SDE2 and dual-axis SD2E2 drives; and the low-voltage EtherCAT SDE3 platform. A dual-axis drive runs both wheels of a differential-drive vehicle from one housing.

What decides the result

  • Recovered energy. While slowing down the motor charges the battery; the charge current and voltage the battery can accept must be part of the system design.
  • Holding on a ramp. A motor with a brake and the right brake timing keep the vehicle from rolling when power is lost.
  • Sharing space with people. The safe stop is designed from the risk assessment; STO is the drive's part of it.

Sizing it

We need vehicle and payload mass, wheel diameter, top speed, acceleration and the steepest ramp. The wheel torque follows from those, and the sizer confirms the motor.

Select the products for this machine Enter power, torque and network; compare compatible drives and motors and add them to your basket. Selection guide
3.2

The architecture: which product goes where

The boxes show the real products; click one to open the series.

CANopen Operator panel HMI-R9 Controller · CODESYS MAT-LC CPU I/O and sensors MAT-LC I/O · PNP / NPN Safe stop STO · brake Supply protection EMI · braking resistor Left / right drive wheel Drive · SDE2 / SD2E2 CSV · CANopen Motor SML Lift unit Drive · SDE2 / SD2E2 PP · CANopen Motor SML Turntable Drive · SDE3 PP · EtherCAT Motor SML
  • CANopen
  • Ethernet
  • Power and feedback
  • Safety
Where this machine sits on the full SMB system map
CPU / PLC & Motion Control 3 series Expansion Rack / IO 10 products Ethernet switch Ethernet Operator Panels 3 series Sensors 3 series EtherCAT Servo Drives 17 products CANopen Servo Drives 6 products Modbus RTU Servo Drives 4 products Servo Motors 6 series Power and Encoder Cables 2 series CODESYS IEC 61131-3 PLCopen Motion Control CiA 402 Drive profile
EtherCAT Ethernet CANopen Modbus RTU Digital I/O Power and feedback

CPU / PLC & Motion Control

Expansion Rack / IO

Ethernet switch

The industrial switch distributes Ethernet traffic between the controller, the operator panel and the engineering PC. It is part of the architecture, not part of the SMB catalogue.

Operator Panels

Sensors

EtherCAT Servo Drives

CANopen Servo Drives

Modbus RTU Servo Drives

Servo Motors

Power and Encoder Cables

CODESYS

SMB controllers are programmed in CODESYS: the IEC 61131-3 languages, integrated motion and a single project covering both machine logic and the axes.

PLCopen

PLCopen Motion Control function blocks give every axis the same standard interface, so proven machine code carries over from one project to the next.

CiA 402

SMB servo drives implement the CiA 402 drive profile: the same state machine and the same operating modes over EtherCAT and over CANopen.

3.4

The build, step by step

From requirement to support; the SMB products and tools each step uses.

  1. 1

    Requirements and sizing

    The motion profile, load and cycle time of every axis are collected; torque, speed and inertia ratio are calculated per axis.

    • Peak and RMS torque, top speed
    • Load-to-motor inertia ratio and gearing
    • Supply: 220 V AC, 380 V AC or 24–70 V DC
    Sizer Selection guide
  2. 2

    Architecture and product choice

    The network (EtherCAT, CANopen, Modbus RTU), the controller and the drive–motor pair per axis are chosen; the safety and power side is drawn at this step.

    • EtherCAT for synchronised axes, CANopen for independent ones
    • Drive current covers the motor peak current
    • STO and braked motors come from the risk assessment
    MAT-SDE2-LV-7040-CS-C MAT-SDE3-LV-7020-NC-C MATSPS1M8-350P4NOC MAT-SML06-JS-D48S30-MT16ST17-040B0
  3. 3

    Cabinet, cabling and EMC

    Power and encoder cables run in separate ducts with their shields bonded 360°; an EMI filter goes at the drive input and a braking resistor where the load regenerates.

    • Flexible cable for the cable chain
    • Shields are earthed at both ends
    • The braking resistor is sized from the braking energy
    Power / Motor Cables Encoder Cables SMKP Power Connectors SMKE Encoder Connectors EMI Filters Braking Resistors
  4. 4

    Software and network

    In the CODESYS project the axes are defined with PLCopen blocks; the drives join the network through their ESI/EDS files and run the CiA 402 state machine.

    • IEC 61131-3 languages and PLCopen Motion Control
    • ESI (EtherCAT) and EDS (CANopen) in the Document Centre
    • EtherCAT coupler for remote I/O
    MAT-LC CodeSys CPU MAT-LC I/O Modules MAT-LC System Modules
    CODESYS FAQ Document centre
  5. 5

    Commissioning and tuning

    After wiring and direction checks the gains are tuned and the axes homed; the operator panel carries the machine recipes.

    • Direction, limit and emergency-stop tests
    • Speed and position loop gain tuning
    • Backing up the parameter sets
    HMI-R9 Series
    Commissioning FAQ Troubleshooting
  6. 6

    Support and lifecycle

    Alarm codes, spare parts, firmware and training, from the same engineering team.

    • Alarm-code and troubleshooting guides
    • Manual, CAD and firmware downloads
    • Remote and on-site support
    Technical support Document centre
3.5

The solution package: what comes with the product

Hardware, software, engineering and lifecycle.

02

Software and know-how

The CODESYS project, PLCopen motion blocks and know-how specific to this machine.

  • Differential drive and CANopen wheel control
  • Energy recovery to the battery and charge limits
  • Holding on ramps and safe stop
03

Engineering support

Sizing, architecture, commissioning and tuning, on site and remotely.

  • Motor and drive sizing per axis
  • System architecture and network choice
  • Commissioning, gain tuning and homing
04

Lifecycle

Manuals, ESI/EDS files, spare parts and training.

  • Document Centre: manuals, CAD, firmware
  • ESI and EDS files, parameter backups
  • Spare parts and user training
Engineering knowledge base

Commissioning this application

The topics engineers in this industry ask about most, each with answers, checklists and troubleshooting steps.

CANopen System design Servo commissioning & tuning Servo alarms

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