Technical Data
==============

Dimensions
----------

Dimensional drawings of the OmniDriveModule can be found in chapter :ref:`omni-mounting`.

Board-Layout
------------

.. image:: PIN_Layout.JPG

Properties
----------

+--------------------------------------------------+-------------+--------+
| Description                                      | Unit        | Value  |
+==================================================+=============+========+
| Weight                                           | kg          | 18     |
+--------------------------------------------------+-------------+--------+
| Traction drive gear ratio (second stage)         | 1           | 2:1    |
+--------------------------------------------------+-------------+--------+
| Traction drive gear ratio (first stage)          | 1           | 15:1   |
+--------------------------------------------------+-------------+--------+
| Rated wheel torque @ 48V                         | Nm          | 34     |
+--------------------------------------------------+-------------+--------+
| Rated wheel torque @ 48V                         | rpm         | 100    |
+--------------------------------------------------+-------------+--------+
| Position sensor supply voltage                   | VDC         | 24     |
+--------------------------------------------------+-------------+--------+
| Orientation drive gear ratio                     | 1           | 19:1   |
+--------------------------------------------------+-------------+--------+
| Motor encoder resolution                         | Inc. / Rev. | 10.000 |
+--------------------------------------------------+-------------+--------+
| Maximum payload per module                       | kg          | 150    |
+--------------------------------------------------+-------------+--------+
| Expected working time                            | a           | 10     |
+--------------------------------------------------+-------------+--------+
| Amplifier supply voltage (minimum / recommended) | VDC         | 24 / 48|
+--------------------------------------------------+-------------+--------+