IDEC ez-Wheel Safety Wheel Drive Solutions
Powering the Future of AGV & AMR Mobility
Introduction to ez-Wheel SWD
The ez-Wheel SWD (Safety Wheel Drive) is an integrated, self-contained unit designed to simplify integration, enhance efficiency, and ensure reliable performance for modern automation needs. It natively embeds safety features, including safe motion control and safety encoders, which facilitate and accelerate the development of mobile robots and automated load transfer solutions. The SWD motorizations address the functional needs of mobile robots in full compliance with AGV standards and machine safety regulations, often combined with other IDEC products like safety laser scanners and emergency stop switches.
Key Benefits:
- Up to 50% less components
- Simpler and faster assembly
- Shorter engineering time
- Simplified certification process
- Suitable for collaborative applications
- ISO 3691-4 compliance
- Modular architecture: Freedom of integration, flexible and scalable
Safety Functions Explained:
- STO (Safe Torque Off): Safe motor disconnection when a stop is requested, up to SIL3/PLe.
- SBC (Safe Brake Control): Ensures a lockout, up to SIL2/PLd.
- SS1 (Safe Stop 1): Monitors to ensure a controlled stop, up to SIL2/PLd.
- SDI (Safe Direction Control): Manages collision risk, up to SIL2/PLd.
- SLS (Safely Limited Speed): Limits speed for safety.
Diagram Description: Key safety functions (STO, SBC, SS1, SDI, SLS) are illustrated with waveform representations and their respective safety integrity levels.
Diagram Description: A comparison highlights the integrated SWD solution against conventional solutions requiring multiple separate components.
Product Lines
SWD 150: Heavy Duty Intralogistics Automation
Image Description: The SWD 150 is presented as a robust drive for heavy-duty intralogistics automation, featuring a Ø 150 mm wheel, IP66 electronic housing, and performance capabilities up to 2100 kg moved load and 700 kg vertical load, with speeds up to 3.7 km/h. A performance graph illustrates the relationship between load capacity and speed for different gear ratios (14:1 and 25:1).
Specifications:
- Ø 150 mm wheel
- Shockproof
- IP66 electronic housing
- Configurable products: available software (Pages 16 to 19)
Performance:
- Up to 2100 kg moved
- 700 kg max. vertical load
- Speed: From 0 to 3.7 km/h
Motor: High torque, ultra-compact, BLDC PM
Battery: Li-ion high power, 0-100 Wh - 24 VDC
Interfaces: Connectors for I/O, 24 VDC, CAN, USB, Ethernet (reserved), brake. LEDs for Status, CAN, Ethernet (reserved).
Key Features: Developed for industrial use, IP66 electronic housing, functional safety, wear-resistant tread.
Part Numbers & Designations:
| Ratio | Part Number | Designation |
|---|---|---|
| 14:1 | EW2A-150HN14A | SWD 150 - Safety Wheel Drive Industrial rubber, Heavy Duty, 14:1 reduction, CANopen communication, without battery |
| 25:1 | EW2A-150HN25A | SWD 150 - Safety Wheel Drive Industrial rubber, Heavy Duty, 25:1 reduction, CANopen communication, without battery |
| 14:1 | EW2A-150HN14B | SWD 150 - Safety Wheel Drive Industrial rubber, Heavy Duty, 14:1 reduction, CANopen communication, with brake |
| 25:1 | EW2A-150HN25B | SWD 150 - Safety Wheel Drive Industrial rubber, Heavy Duty, 25:1 reduction, CANopen communication, with brake |
SWD 125: Medium Duty Intralogistics
Image Description: The SWD 125 is designed for light to medium duty intralogistics automation, featuring a Ø 125 mm wheel, IP66 electronic housing, and performance capabilities up to 1500 kg moved load and 250 kg vertical load, with speeds up to 11 km/h. A performance graph shows load capacity versus speed for gear ratios 4:1 and 14:1.
Specifications:
- Ø 125 mm wheel
- Shockproof
- IP66 electronic housing
- Configurable products: available software (Pages 16 to 19)
Performance:
- Up to 1500 kg moved
- 250 kg max. vertical load
- Speed: From 0 to 11 km/h
Motor: High torque, ultra-compact, BLDC PM
Wheel: PU 80 sh.A, Flat profile
Interfaces: Connectors for I/O, 24 VDC, CAN, USB, Ethernet (reserved), brake. LEDs for Status, CAN, Ethernet (reserved).
Key Features: Extremely compact footprint, for medium loads at high speed, IP66 electronic housing, functional safety.
Part Numbers & Designations:
| Ratio | Part Number | Designation |
|---|---|---|
| 4:1 | EW2A-125HN04A | SWD 125 - Safety Wheel Drive Industrial rubber, Medium Duty, 4:1 reduction |
| 14:1 | EW2A-125HN14A | SWD 125 - Safety Wheel Drive Industrial rubber, Medium Duty, 14:1 reduction |
| 4:1 | EW2A-125HN04B | SWD 125 - Safety Wheel Drive Industrial rubber, Medium Duty, 4:1 reduction, with brake |
| 14:1 | EW2A-125HN14B | SWD 125 - Safety Wheel Drive Industrial rubber, Medium Duty, 14:1 reduction, with brake |
SWD Core: Safety Gear Motor
Image Description: The SWD Core is a safety gear motor without a gearbox, offering high torque (up to 37 Nm at 100 rpm) and IP66 electronic housing, suitable for safety-critical movements and a wide range of applications. It is presented with its motor and gearbox components.
Specifications:
- High torque up to 37 Nm at 100 rpm
- Shockproof
- IP66 electronic housing
- Configurable products: available software (Pages 16 to 19)
Motor: High torque, ultra-compact, BLDC PM
Interfaces: Connectors for I/O, 24 VDC, CAN, USB, Ethernet (reserved), brake. LEDs for Status, CAN, Ethernet (reserved).
Key Features: For safety critical movements, generic design for wide applications range, IP66 electronic housing, functional safety.
Part Numbers & Designations:
| Gear Ratio | Part Number | Designation |
|---|---|---|
| 1:1 | EW2A-000N00A | SWD Core - Safety Gear Motor without gearbox - CANopen communication |
| 1:1 | EW2A-000N00B | SWD Core - Safety Gear Motor without gearbox, with Brake - CANopen communication |
| x:1 (e.g., 4:1, 14:1, 25:1, 50:1, 100:1) | EW2A-000N*A | SWD Core - Safety Gear Motor x:1 reduction ratio - CANopen communication |
| x:1 (e.g., 4:1, 14:1, 25:1, 50:1, 100:1) | EW2A-000N*B | SWD Core - Safety Gear Motor x:1 reduction ratio and Brake - CANopen communication |
Note: Gear ratios include 1:1, 4:1, 14:1, 25:1, 50:1, 100:1.
Typical Setups and Software
AGVs and AMRs: Manual or Remote Control
Image Description: Typical setup diagrams for AGVs and AMRs for manual or remote control are shown. These include the SWD Starter Kit, battery, interconnection box, charger, emergency stop button, and joystick. The setup also highlights the integration with ROS (Robot Operating System) drivers.
SWD Starter Kit: Development kit for AGVs and AMRs.
ROS Integration: Includes differential driver for SWD products in ROS1 & ROS2, with a pre-installed ROS environment.
Components in Setup:
- Safety wheel drives (SWD 125 or SWD 150 without battery version)
- Lithium battery (e.g., EW9Z-1BEXT20VL)
- Central interconnection box (e.g., EW9Z-2HUB1)
- 10 Amp Lithium charger (e.g., Mascot10A-Li)
- Emergency stop (e.g., XW1E)
- Joystick (e.g., XF Series CANopen)
AMRs: With Navigation
Image Description: A typical setup diagram for AMRs with navigation is illustrated, featuring SWD drives (150 or 125), emergency stop buttons, and safety laser scanners. It also lists recommended components that are not supplied, such as charging systems and PCs or PLCs.
SWD Drives: SWD 150 or SWD 125 (with integrated battery or external).
Safety Components: Emergency stop (XW1E5I), Safety Laser Scanners (SE2L).
Recommended Components (Not Supplied):
- Charging system
- PC or PLC
Software: SWD Update Tool & ez-Config
SWD Update Tool:
- Upgrade or downgrade firmware versions.
- Compatibility guaranteed by automatic check before update.
- Only compliant firmware can be uploaded.
- Supports autonomous recognition of SWD 150, SWD 125, and SWD Core.
- Provides device information: Serial number, Hardware ID, Product ID, Firmware Reference, Firmware Version, Firmware Status.
- Interface includes Menu, Product List, Main Window, and Firmware Update section.
SWD ez-Config: Configure your drives and wheel drives.
Main Features and Configuration Options
Benefits:
- User-friendly interface: intuitive operation, easy access to settings and clear explanations for each function and option.
- Ensures consistent configuration for SWD products.
- Reduces commissioning time for equipped machines.
- Multi-OS tool: ensures optimal compatibility across platforms.
Product Compatibility:
- SWD 150 - Page 6
- SWD 125 - Page 8
- SWD Core - Page 10
Main Features and Configuration Options:
- Device Configuration: Setup gearbox, Polarity, Power supply output.
- Drive Configuration: Min and Max speed, Ramps (Accel / Decel, Quick Stop), PID.
- CANopen Configuration: Configure PDO, SRDO, Safety words.
- Safety Functions: Customize the Safe Motion configuration.
Technical Specifications
OS Operating System: Windows, Linux
Minimum System Requirements:
- x86 64-bit system
- Internet connection
Interface: English
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