Difference between revisions of "Nisso-Denko (Window) Motor Locking Pins"
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Team 1640's 2010 [http://en.wikipedia.org/wiki/Breakaway_(FIRST) ''BREAKAWAY''] robot, [[DEWBOT VI]] is equipped with a a novel, [[DEWBOT VI Creativity Award sponsored by Xerox (Philadelphia Regional) | award-winning]] multi-mode, [[4-Wheel Pivot Drive | 4-wheel independent pivot drive-train]]. Kit-of-Parts Nisso-Denko (Window) Motors were selected as steering motors for the four (4) pivots. These steering motors are driven by tan Jaguar motor controllers. | Team 1640's 2010 [http://en.wikipedia.org/wiki/Breakaway_(FIRST) ''BREAKAWAY''] robot, [[DEWBOT VI]] is equipped with a a novel, [[DEWBOT VI Creativity Award sponsored by Xerox (Philadelphia Regional) | award-winning]] multi-mode, [[4-Wheel Pivot Drive | 4-wheel independent pivot drive-train]]. Kit-of-Parts Nisso-Denko (Window) Motors were selected as steering motors for the four (4) pivots. These steering motors are driven by tan Jaguar motor controllers. | ||
| − | 1640 has experienced on-going, intermittant lock-up of the steering motors during practice and competition. | + | 1640 has experienced on-going, intermittant lock-up of the steering motors during practice and competition. Symptoms are: |
| + | :* One pivot suddenly ceases to respond to control, becoming locked at current angle | ||
| + | :* Wheel drive (CIM) continues to operate. So do the other pivots' steering | ||
| + | :* Motor at low temperature when lock-up occurs, but rapidly becomes too hot to touch. | ||
| + | :* Jaguar LED indicates that full power is being provided to the locked motor. | ||
| + | :* Voltmeter confirms that full power (12 V) is being provided to the locked motor. | ||
| + | :* Either removing the Jaguar PWM cable, or "rebooting" the robot corrects the lock-up. | ||
| + | :* Lock-up has been experienced with all wheels, although it appears to occur more frequently with some (wheels 1 & 4) than others (2 & 3). | ||
| + | :* Anecdotally, lock-ups may be associated with aggressive steering maneuvers. | ||
| + | |||
<gallery widths=250 heights=250 perrow=3> | <gallery widths=250 heights=250 perrow=3> | ||
Revision as of 12:31, 27 May 2010
Team 1640's 2010 BREAKAWAY robot, DEWBOT VI is equipped with a a novel, award-winning multi-mode, 4-wheel independent pivot drive-train. Kit-of-Parts Nisso-Denko (Window) Motors were selected as steering motors for the four (4) pivots. These steering motors are driven by tan Jaguar motor controllers.
1640 has experienced on-going, intermittant lock-up of the steering motors during practice and competition. Symptoms are:
- One pivot suddenly ceases to respond to control, becoming locked at current angle
- Wheel drive (CIM) continues to operate. So do the other pivots' steering
- Motor at low temperature when lock-up occurs, but rapidly becomes too hot to touch.
- Jaguar LED indicates that full power is being provided to the locked motor.
- Voltmeter confirms that full power (12 V) is being provided to the locked motor.
- Either removing the Jaguar PWM cable, or "rebooting" the robot corrects the lock-up.
- Lock-up has been experienced with all wheels, although it appears to occur more frequently with some (wheels 1 & 4) than others (2 & 3).
- Anecdotally, lock-ups may be associated with aggressive steering maneuvers.
Nisso-Denko (Window) Motor, as-installed on DEWBOT VI
Motor removed, showing motor-side coupling
- DB6 Nisso sequence 100526 csm 03.jpg
Motor with motor-side coupling removed (the motor-side coupling need not be removed from the motor)
- DB6 Nisso sequence 100526 csm 05.jpg
Motor-side coupling (need not be removed)
- DB6 Nisso sequence 100526 csm 06.jpg
Gearbox showing gearbox-side coupling and retaining clip
Removing the retaining clip
Douglas & Heather McKown modify the steering motors
