Test Overview:
Purpose of the test: to verify new motor actuator set up and see if the EC90 600W can output larger required torque values.
3 tests will be performed at each weight and the current will be measured: static at 90 degrees (parallel to floor), velocity moving CW (upwards) from 90 to 0 degrees and stopping at 0 degrees, and velocity moving CCW (downwards) from 0 to 90 degrees stopping at 90 degrees.
Set up axis 2 test rig with odrive, encoder, and hal effect sensor with 2 limit switches mounted at 0 and 90 degrees triggered by the bolt. Commands will be sent through CAN commands. 24V power source
Important Specs:
Part | ||
|---|---|---|
Maxon EC 90 Flat 600W 30V | Note: Since we’re running it at 24V, spec sheet info might not reflect actual results Nominal Torque: 1.56 Nm Nominal Current: 10.5 A | |
GAM GSL-CS-020 | Nominal Output 49Nm Max Acceleration Output: 87 Nm Emergency Output 147 Nm |
Weight (kg) | Equivalent Torque (90 degrees, Static) | Expected Current (A) (((T/120)/0.85)/0.138) | Current (static ad 90 Degrees) (A) | Current (with -2 velocity) (A) |
|---|---|---|---|---|
5.5 | 27.4 | 1.9 | Can we output a current graph from Odrive? | |
8.1 | 40.4 | 2.9 | ||
10.4 | 51.8 | 3.7 | ||
12.7 | 64.3 | 4.6 | ||
15 | 74.8 | 5.3 | ||
18 | 89.7 (Max Acc of Gearbox) | 6.4 | ||
20 | 100 | 7.1 | ||
25 | 130 | 9.2 | ||
29.6 | 148 | 10.5 (Nominal output for motor) |
Test Procedure:
Set up actuator 2 with Saheed’s testing rig consisting of 0.508m metal arm attached to axis where load would be applied that corresponded to torque being applied on the gearbox + motor.
Set up active cooling using a fan
Connected axis to power supply, odrive and hal effect to input closed loop into arm when testing. Commands will be sent using CAN through the jetson.
First measurement: Actuator supports the weight horizontally at 90 degrees, record current
Second measurement: Actuator moves upwards using velocity control (2), stops at 0 degrees when limit switch is hit. (Ask Billy if we can get record continuous current reading from odrive
Third measurement: Actuator moves downwards using velocity control (2), stops at 90 degrees when limit switch is hit.
Current draw from Odrive is monitored from the power supply while current draw fro the motor would be examined from current probe
Test would first measure the current draw at static to just hold up the load, then velocity control of -2 would be applied and highest current draw would be taken
Test results: