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All 5 motors disassembled 3 motors were labelled as bad, other 2 performed strong torque resistance that we expected. More tests needed.
L3, R1, L1
Testing Results May 23rd
Test 1:
Retested the 5 motors, confirmed that 2 were behaving as expected exerting necessary torque while the other three would lock-in and draw too much current heating up the wires when torque was applied
Note: Some of the wires came out of the encoders, need to be addressed and fixed
Test 2:
Using the 2 good motors, mounted them onto the drive train, respectively R2 and R3. R2 ran as expected after being mounted, calibration was successful and motor ran for 1 minute at velocity 10 and 20.
R3 would go through calibration sequence but when ran at velocity it would lock-in. Hypothesis is mechanical issue with the mounting or alignment. Additional test to losen the screws mounting the drivetrain did not work, motor would not run in closed loop on velocity 10.
Test 3:
Took apart one of the bad motors (L3) from the fixture to test seperately from gearbox and fixture. Calibration would be succesful but motor would not exert sufficient torque when running at velocity. Same behavior as tests prior, when torque is exerted motor would lock/stop and draw current heating up the wires.
Summary of Results
R3 is likely a fixture misalignment/tolerancing issue as motor fixture runs as expected when not attached to drivetrain however doesn’t behave when it is mounted.
Other 3 motors could be broken, not enough torque. Further testing/research required to see if different drivers would help or if motors are just broken. Test results point that it is likely not a fixture or gearbox issue.
Next steps:
Test out the new spark drivers to see if they are compatible with the motors and if we are getting same results as the odrives
Take out the test motor and mount it to the fixture to see if that one works, if thats the case maybe buy replacement motors.
Outstanding tickets:
- <action name>, <Assignee>
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