Application Cases of Integrated Servo Motors in AGV Carts
AGVs (Automated Guided Vehicles) play a central role in automated material handling in logistics, warehousing, and production workshops. The demand for miniaturization, high precision, and flexibility in AGVs is increasingly prominent, especially within the space-constrained interior of the AGV. The traditional separate "motor + driver + encoder" solution has become a technical bottleneck due to its size and wiring complexity. In the control of the AGV's steering wheels, the adoption of an integrated servo motor has successfully achieved high-precision steering control in confined spaces, effectively improving the AGV's movement flexibility and system integration.
1. Application Solution
The AGV steering wheel control solution is based on the PMM60 series integrated servo motor:
1. Mechanical Structure: A combination of motor and reducer is used, with the steering wheel directly driven by a synchronous pulley, eliminating the need for a complex transmission mechanism and adapting to the limited internal space of the AGV.
2. Control Flow:
Origin Calibration: Utilizing the motor's stall detection function, origin return is achieved, eliminating the need for additional limit switches and further saving space.
Steering Control: Steering angle is controlled in real-time via CANpen communication in Cyclic Synchronous Periodic (CSP) mode, ensuring precise and synchronized steering response.
3. System Integration: The motor directly collaborates with the AGV main controller (such as the NIMC2000N motion controller supporting EtherCAT), achieving seamless integration of path planning and motion scheduling.
2. Application Products
• Core Motor: PMM6020B-CANpen-0FS integrated servo motor.
• Control Support: CANpen communication protocol, compatible with CSP mode and origin return function.
• Associated Devices: Can be expanded with high-precision LiDAR (such as the LR-1F series) and fanless industrial PCs (such as the DTB-3094-H610E) as needed to enhance navigation and obstacle avoidance capabilities.
3. Problems and Solutions
1. Extremely limited internal space in AGVs makes traditional servo systems difficult to install.
The highly integrated PMM6020B all-in-one motor was selected, reducing size and wiring space requirements.
2. Need to save hardware costs and space for steering origin calibration.
Software origin return was achieved using the motor's stall function, eliminating the need for physical limit switches.
3. Steering control requires high real-time performance and synchronization accuracy.
The CSP mode under CANopen was adopted to ensure strict synchronization between steering commands and system cycles.
4. High reliability is required for long-term operation.
The motor incorporates multiple protection mechanisms, including overvoltage and overheat protection, reducing the failure rate.
4. Summary and Conclusion
In this case study, the PMM6020B all-in-one servo motor successfully solved the core challenges of space constraints, accuracy, and real-time performance in AGV steering wheels, providing a reliable drive solution for logistics automation and intelligent manufacturing scenarios.
