Product Overview
The iSWV series vertical integrated steering wheel module combines the drive, motor, gearbox and wheel in a compact structure. It improves vehicle-space utilization and is suitable for mobile robots requiring a low overall height and flexible steering.
The product integrates separate travel and steering servo systems. A single wheel supports a maximum load of 100 kg, with 9 N·m rated travel torque, 1.9 m/s rated linear speed and 6 N·m rated steering torque. Multiple modules can be used to build an omnidirectional chassis capable of forward travel, lateral travel and in-place turning.
The series is available in AA and EA control versions. The AA version supports RS485 and CANopen, while the EA version supports RS485 and EtherCAT. Typical applications include wheeled humanoid robots, service robots and hybrid mobile-manipulation robots.
Key Features
Integrated Travel and Steering
The drives, motors and gearboxes are integrated into compact modules, reducing the space required inside the vehicle and helping control overall vehicle height.
Omnidirectional Mobility
Coordinated control of multiple steering wheels enables forward travel, lateral travel and flexible turning in narrow aisles and confined spaces.
Dual Communication Options
The AA version supports Modbus RTU and CANopen. The EA version supports Modbus RTU and 100 Mbit/s EtherCAT, simplifying integration with different control systems.
High Reliability
External connections are mainly limited to power and communication cables. Strong interference resistance helps improve overall vehicle stability and reliability.
Open Modular Design
The travel-motor module and steering-motor module can also be selected separately, allowing vehicle designs to be tailored to different mechanical structures.
Simplified Maintenance and Supply Chain
The integrated product is supplied by a single source, simplifying maintenance and reducing supply-chain and after-sales management costs.
Product Drawings
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Click to enlargeProduct Specifications
| Category | Product Model | JY‑ISD130‑090‑48‑C | JY‑ISD130‑090‑48‑E |
| Parameter | Specifications | ||
| Power Supply | Drive Power Supply (VDC) | 48 V | |
| Logic Power Supply (VDC) | 24 V, 0.5 A (optional) | ||
| Integrated Module | Complete-Unit Weight (kg) | 4.7 | |
| Wheel Material | Polyurethane | ||
| Wheel Hardness | 85A±2 | ||
| Duty Cycle | S3-10 min-60% (10 min cycle, 60% operating time) | ||
| Load Capacity (kg) | Maximum 100 | ||
| Dynamic Braking | Braking circuit integrated in the travel module | ||
| Overvoltage Alarm Threshold (V) | Default 68±2 | ||
| Undervoltage Alarm Threshold (V) | Default 18±2 | ||
| Travel Motor | Module Model | JY‑WDM130‑090‑48‑C | JY‑WDM130‑090‑48‑E |
| Rated Power (W) | 294 | ||
| Rated Current (A) | 8.5 | ||
| Rated Torque (N·m) | 1 | ||
| Rated Speed (rpm) | 2800 | ||
| Maximum Current (Arms) | 25 | ||
| Travel Gearmotor | Rated Torque (N·m) | 9 | |
| Rated Speed (rpm) | 280 | ||
| Rated Power (W) | 264 | ||
| Wheel Diameter (mm) | 130 | ||
| Wheel Width (mm) | 30 | ||
| Rated Linear Speed (m/s) | 1.9 | ||
| Maximum Linear Speed (m/s) | 2.2 | ||
| Weight (kg) | 3.4 | ||
| Insulation Class | F | ||
| Protection Rating | IP54 | ||
| Brake Holding Torque (N·m) | No brake | ||
| Steering Motor | Module Model | JY‑SDM060‑48‑C | JY‑SDM060‑48‑E |
| Rated Power (W) | 195 | ||
| Rated Current (A) | 6.5 | ||
| Rated Torque (N·m) | 0.75 | ||
| Rated Speed (rpm) | 2500 | ||
| Maximum Current (Arms) | 14.3 | ||
| Steering Gearmotor | Rated Torque (N·m) | 6 | |
| Rated Speed (rpm) | 277 | ||
| Rated Power (W) | 174 | ||
| Maximum Torque (N·m) | 13.5 | ||
| Maximum Speed (rpm) | 330 | ||
| Weight (kg) | 0.88 | ||
| Insulation Class | F | ||
| Protection Rating | IP20 | ||
| Encoder Type | Inductive communication encoder | ||
| Communication Interfaces | Modbus / RS485 | Maximum 115.2 Kbps; supports Modbus RTU | |
| CANopen | Maximum 1 Mbps; supports CANopen | Not supported | |
| EtherCAT | Not supported | 100 Mbit/s; supports CoE (CiA 402) and CSP/CSV/PP/PV/PT/HM modes | |
| Operating Environment | Operating Temperature | 0°C to 40°C | |
| Storage Temperature | -20°C to +60°C | ||
| Humidity | ≤90% RH during operation and storage; non-condensing | ||
| Floor Requirements | The polyurethane tread requires a level surface free of foreign objects. | ||