Difference between revisions of "Nisso-Denko (Window) Motor Locking Pins"

Revision as of 12:38, 27 May 2010

Team 1640's 2010 BREAKAWAY robot, DEWBOT VI is equipped with 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 unplugging 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.

Mentor Gary Deaver, following a thread on Chief Delphi cited incompatability between Jaguars and Window Motors.

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  Nisso-Denko (Window) Motor, as-installed on DEWBOT VI

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  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

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  Removing the retaining clip

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  Douglas & Heather McKown modify the steering motors