Nisso-Denko (Window) Motor Locking Pins

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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).
  • Locked-up motors are not mechanically constrained from turning.
  • 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. The problem encountered by other teams appears to be the same as the one we encountered (intermittant lock-up). Many responses indicated that switching to Victors solved the problem. One indicated that the new Black Jaguars avoided this problem. Others cited the motor's internal positive temperature coefficient (PTC) resistor as the problem's source.

Replacing tan Jaguars with Black Jaguars did not solve the lock-up problem.


  • 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

  • DB6 Nisso sequence 100526 csm 08.jpg
  • DB6 Nisso sequence 100526 csm 09.jpg
  • DB6 Nisso sequence 100526 csm 10.jpg
  • DB6 Nisso sequence 100526 csm 11.jpg

  • Douglas & Heather McKown modify the steering motors


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