The all-inclusive powerhouse
Highly integrated wheel hub drive with Plug & Play function
All functional elements in one compact system
Framo Morat has developed a highly integrated wheel hub drive that combines all functional elements, such as the wheel, a high-precision planetary gear, a powerful electric motor and a brake and electronics, into one all-inclusive solution. This modular and scalable system boasts high performance in a compact design and lets users make adaptations to the load capacity, torque, interfaces, sensor system and control profiles.
The wheel hub drive is available in two sizes. The RNA250 is suitable for smaller and flatter vehicles. The standard variant features a two-stage gear box, a total system length under 242 mm, and a standard wheel size of 125 mm. This model can handle a load of up to 250 kg per wheel. The RNA500’s total system length of less than 200 mm and its standard wheel size of 160 mm make it a very compact system. With a wheel load of up to 500 kg, it is designed for larger vehicles.
Wheel hub drive – Technical features
Maximum power density
High radial loads and constantly high acceleration and speed
Long service life
Drive system designed for efficiency with a long-lasting PUR wheel
Low level of maintenance
Components can be replaced individually thanks to the modular design
Intelligent drive system
Plug & Play function and a central parameter check using an optional sensor system
High level of integration
All functional elements housed in a compact space with minimal weight
Comprehensive communication
Comprehensive drive control system as an e-axle thanks to standard interfaces (e.g. RS485 or CAN)
Wheel hub drive – Design
- Powerful, replaceable PUR wheel
- Efficient planetary gear (1- or 2-stage)
- Separate wheel bearing
- Universal customer interface
- High-performance BLDC motor
- Integrated holding brake
- Integrated secondary
motor encoder (RS422)
- Industrial standard serial interfaces
(RS485 / CAN) - Integrated primary motorencoder,
SPI (internal) / SSI
(external) - Complete sealed system
End-to-end system solutions designed to meet specific requirements
The modular, scalable system of the wheel hub drive comes in different versions with uniform installation space and identical load capacities. The Standard version boasts a tried-and-true system that’s easy to use in vehicles due to its quick and simple plug-and-play setup. With this, AGV manufacturers have a system matched to the application, yielding either more compact vehicles with the same load capacity or increased usable installation space for batteries and electronics.
There are also two higher-tier versions, each of which adds more functionality than the previous. In addition to the integrated motor controller, the “Advanced” system has a secondary motor encoder with safety function and thus offers intelligent and safe control and evaluation of the systems. The Ultimate version has additional sensors for optimizing operation according to the application and enabling continuous data capture to improve the entire drive cycle.
| Standard | Advanced | Ultimate | |
|---|---|---|---|
| High radial loads | |||
| Long service life | |||
| Low level of maintenance | |||
| Compact design | |||
| Plug & Play | * | ||
| Safe-Torque Off | * | ||
| Error diagnosis | * | ||
| Intelligent speed control and feedback | |||
| Intelligent power control | |||
| Real-time acquisition of operating parameters | |||
| Wheel-specific power adjustment depending on the radial loads | |||
| Predictive maintenance |
*with external controller
Wheel hub drive – Dimensions
RNA250
RNA500
| Maß | RNA250 | RNA500 | ||
|---|---|---|---|---|
| 1-stage | 2-stage | 1-stage | 2-stage | |
| L1 | 221 mm | 242 mm | 218 mm | |
| L2 | 204 mm | 225 mm | 196 mm | |
| L3 | 66 mm | 70 mm | ||
| D1 | Ø 125 mm | Ø 160 mm | ||
| D2 | Ø 44 mm | Ø 92 mm | ||
| D3 | - | Ø 136 mm | ||
| B1 | 50 mm | 50 mm | ||
| B2 | 67 mm | 120 mm | ||
| S1 | 125 mm | 160 mm | ||
| S2 | 60 mm | 75 mm | ||
| S3 | 140 mm | 183 mm | ||
| S4 | 75 mm | 100 mm | ||
Wheel hub drive – Performance data
| RNA250 | RNA500 | |||
|---|---|---|---|---|
| 1-stage | 2-stage | 1-stage | 2-stage | |
| Power continuous operation (S1) | 138 W | 360 W | ||
| Power intermittent operation (S3) | 220 W | 660 W | ||
| Max. power *1 | 500 W | 1300 W | ||
| Nominal voltage | 24 VDC | 48 VDC | ||
| Nominal current | 6 A | 20 A | ||
| Max. power consumption*2 | 40 A | 35 A | ||
| Brake holding torque*3 | 0,6 Nm | 2,2 Nm | ||
| Brake nominal voltage | 24/48 VDC | 24/48 VDC | ||
| Encoder | Contactless, absolute angle sensor (up to 14-bit) | |||
| Encoder communication | Serial SPI, incremental ABZ interface (12-bit) and SSI output (14-bit) | |||
| Max. speed*4 | 8 km/h | |||
| Max. acceleration*5 | 1 m/s2 | |||
| Acceleration (80% of the load capacity) | 0,75 m/s2 | |||
| Max. System speed*6 | 265 rpm | 340 rpm | ||
| Nominal torque*7 | 9 Nm | 11 Nm | 18 Nm | 21 Nm |
| Acceleration torque*8 | 18 Nm | 22 Nm | 36 Nm | 42 Nm |
| Emergency torque*9 | 27 Nm | 33 Nm | 54 Nm | 63 Nm |
| Protection class | IP54 | |||
| Ambient temperature | 0 - 40° C | |||
| Load capacity per wheel*10 | 250 kg | 500 kg | ||
| Max. radial force per wheel | 2.500 N | 5.000 N | ||
| Max. axial force per wheel | 850 N | 1.700 N | ||
| Wheel diameter | Ø 125 mm | Ø 160 mm | ||
| Whell width | 50 mm | |||
| Hardness of tread | 92° Shore | |||
| Rolling resistance | 65 N | |||
| Friction coefficient | > 0,25 | |||
| Drive weight*11 | 7,8 kg | 8,5 kg | 9 kg | 10 kg |
*1 – Maximum electrical power at stall torque
*2 – Maximum current consumption during the test cycle
*3 – Holding torque based on input side
*4 – Recommended maximum speed
*5 – Max. acceleration based on empty run
*6 – Corresponds to 8 km/h at Ø125 mm or Ø160 mm
*7 – Nominal values are based on a service life of 30,000 h
*8 – Max. 250 cycles per h, T2B proportion <5% of the total running time
*9 – Max. 1000 cycles during the entire service life
*10 – The load capacity specifications of the wheel manufacturer may vary
*11 – Drive weight based on condition upon delivery
All in one – one for all
Hub gearboxes – Platform and customer-specific adaptations
Besides the complete drive system, hub gearboxes from Framo Morat have proven their utility in connection with other motors, brakes & controlers, in wheel drives for driverless transport systems thanks to their compact design, which is achieved by integrating the planetary stage into the impeller. The advantageous arrangement of the bearings and the direct transmission of force into the vehicle frame enable high radial loads.
To facilitate short delivery times, the hub gearboxes are available in the NG250 and NG500 variants, each in single- and double-stage versions with polyurethan wheels. The low-maintenance design makes it easy to change the wheel. Customer-specific adaptations, such as a brush seal for outdoor applications or a toothed belt for use in high-bay warehouses, can be made upon request. Further information about the hub gears you’ll find at the Framo Morat website.
