Highly integrated: The four main components of the driver, motor, gearhead, and wheel are highly integrated, resulting in a compact structure that facilitates downsizing.
High mounting accuracy: Supported mounting, simple and convenient mounting method, high mounting accuracy, and high control accuracy.
High reliability: The integrated module, with only an external power supply and communication cables, offers improved stability and reliability of the entire system.
Compatible design & seamless switching: The CANopen communication and usage modes of the servo wheel products are no different from those of the standard Kinco products, allowing seamless switching.
iWMC Integrated Servo Wheel Model
iWMC10409-02222-A165-MBDT
iWMC10409-02222-A165-MADT
Power
Power Supply
24VDC～60VDC
Logic Supply
24VDC
Rated Linear Speed（m/s）
1.9m/s
Rated Torque Tn(Nm)
21Nm
Peak Torque Tn(Nm)
60Nm
Tire Diameter（mm）
165
Tire Width（mm）
39.5
Tire Material
Polyurethane, diamond pattern
Tire Hardness Rating
85A
Energy Consumption Braking
External braking resistor is required (depending on the operating conditions, mainly used for rapid starting and stopping)
Energy Consumption Braking Voltage Absorption Point
DC63V ± 2V（Default, settable）
Overvoltage alarm point
DC68V ± 2V
Undervoltage alarm point
DC18V ± 2V
Input Specifications
2 digital inputs / Common COMI terminal / High level: 12.5-30VDC / Low level: 0-5VDC / Maximum frequency: 1KHz / Input impedance: 5KΩ.
Output Specifications
1 digital output common COMO terminal / Maximum output current: 100mA
Brake
Built-in brake and control circuit
None
Forced Unlock Interface
1-way forced unlock interface, only for use when there is no power input to the servo wheel.
None
RS485 Debug Port
Maximum support for 115.2Kbps baud rate, using the RS232 protocol to communicate with the upper computer, debugging servo wheel
CAN BUS
1 digital output common COMO terminal / Maximum output current: 100mA
Drive Current
Maximum continuous output current（rms）
16Arms
Peak Current(PEAK)
64Ap
Motor
Rated RPM nN(rpm)
2000
Rated Torque Tn(Nm)
2.4
Brake Holding Torque T(Nm)
4
None
Noise
<65dB
Cooling Methods
Natural cooling & Body-assisted cooling
Operating Environment
Operating Temperature
0～40C
Storage Temperature
﹣20C～60C
Humidity (non-condensing)
90%RH below
Protection Level
IP54
Altitude
The rated working altitude is up to 1000m above sea level. For working altitudes above 1000m, a reduction of 1.5% is required for every 100 meters of rise in altitude, with a maximum working altitude of 4000 meters above sea level.
