Motor, Gearbox and Controller Specification (All Custom Built):

Motor, Gearbox and Controller Specification (All Custom Built):

• Low cost (120mm diameter motor, gearing and controller < $30 US)
• Lite weight as possible
• Durable
• High power/speed (1 – 3 ft. lb. at 8k – 12k RPM)
• Small controller board with only the required interfaces exposed, Lock, Power, CANBUS, MOSFETs, encoder, temperature and current sensors
• Rapid manufacture (Moldable)
• Stator (silicon steel stator stampings supported by a cast Torlon PAI frame)
• Cast motor bell with embedded magnets
• Available in a wide number of sizes and power bands 30mm to 120mm diameter with varying heights
• Solenoid shaft lock (engaged by default, released before motor actuation)
• High resolution absolute magnetic encoder (65,000 data points per rotation) supporting position on power up and during rotation
• 100x gear down (cast gearbox and gears)
• Low cost custom Arduino based control board (Embedded in the motor and gearbox)
• CANBUS to connect the motors to a central PC
• Support for regenerative braking
• Powered forward /reverse
• Fan and fan power – cooling motor when inactive
• Powered forward /reverse brake
• Temperature and current sensors
• Able to take commands from the central PC, Example: Move to position 1400
• Able to send messages to the central PC, example “Overheat warning” and “Arrived at position 1400”
• Micro on-board debug LEDs (power, CAN transmit, CAN receive, fan, lock engaged, lock open, magnetic encoder transmitting data and 6 lights for MOSFETs on/off.  (All on/off jumper)

Implementation:

• ARM Cortex-M3 based microcontroller (LPC1768)  or (STM32F103)
• 6x 30A 60V MOSFETs (RFP30N06LE)
• Absolute magnetic encoder (Avago AEAT-6600-T16)
• Bus: CANBUS