Actuators Available in the Mechatronics Lab - Revision history

Lynch: /* Hitachi motor with 100-line encoder */

2011-03-08T21:24:27Z

Hitachi motor with 100-line encoder

Lynch: /* Hitachi motor with 100-line encoder */

2011-03-03T13:24:10Z

Hitachi motor with 100-line encoder

Lynch: /* Hitachi motor with 100-line encoder */

2011-03-03T13:23:39Z

Hitachi motor with 100-line encoder

Lynch: /* Hitachi motor with 100-line encoder */

2011-03-03T13:23:01Z

Hitachi motor with 100-line encoder

Lynch: /* Hitachi motor with 100-line encoder */

2011-03-03T13:18:32Z

Hitachi motor with 100-line encoder

Lynch: /* DC Motors (with gearheads and encoders) */

2011-03-03T13:18:05Z

DC Motors (with gearheads and encoders)

Lynch: /* Pittman 9236 motor with 500 line encoder */

2010-05-25T17:04:14Z

Pittman 9236 motor with 500 line encoder

Lynch: /* Pittman 700935 motor with 500 line encoder */

2010-05-25T16:57:47Z

Pittman 700935 motor with 500 line encoder

Lynch: /* Pittman GM8224 motor with 19.5:1 gearhead and 500 line encoder */

2010-05-20T21:41:42Z

Pittman GM8224 motor with 19.5:1 gearhead and 500 line encoder

Lynch: /* Pittman GM8224 motor with 19.5:1 gearhead and 500 line encoder */

2010-04-20T04:19:43Z

Pittman GM8224 motor with 19.5:1 gearhead and 500 line encoder

@@ Line 324: / Line 324: @@
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-===Hitachi motor with 100-line encoder===
+===Hitachi motor with 99-line encoder===
 [[Image:hitachi-motor.jpg|400px|right]]
@@ Line 334: / Line 334: @@
 * torque constant:  approximately 0.02 Nm/A
-This motor's 100-line encoder is implemented using a Hall effect sensor.  A ferrous wheel with 100 teeth is attached to the motor's shaft.  As teeth go past the magnet (the square block attached to the PCB by white glue), the magnetic field, as picked up by a Hall effect sensor (not visible, on the other side of the PCB), changes.  The Hall sensor's voltage variation is converted to digital A/B pulse trains.
+This motor's 99-line (yes, 99!) encoder is implemented using a Hall effect sensor.  A ferrous wheel with 99 teeth is attached to the motor's shaft.  As teeth go past the magnet (the square block attached to the PCB by white glue), the magnetic field, as picked up by a Hall effect sensor (not visible, on the other side of the PCB), changes.  The Hall sensor's voltage variation is converted to digital A/B pulse trains.
 The motor shaft is visible going out of the image to the left.  The encoder cable has four wires:  red (power, +3.3 V or +5 V), black (GND), and blue and white (A and B channels).  The encoder seems to work fine powered by +3.3 V and no pull-up resistors on A and B.

@@ Line 334: / Line 334: @@
 * torque constant:  approximately 0.02 Nm/A
-This motor's 100-line encoder is implemented using a Hall effect sensor.  A ferrous wheel with 100 teeth is attached to the motor's shaft.  As teeth go past the magnet (the square block attached to the PCB by white glue), the magnetic field, as picked up by a Hall effect sensor (not visible, on the other side of the PCB), changes.  This is converted to digital A/B pulse trains.
+This motor's 100-line encoder is implemented using a Hall effect sensor.  A ferrous wheel with 100 teeth is attached to the motor's shaft.  As teeth go past the magnet (the square block attached to the PCB by white glue), the magnetic field, as picked up by a Hall effect sensor (not visible, on the other side of the PCB), changes.  The Hall sensor's voltage variation is converted to digital A/B pulse trains.
 The motor shaft is visible going out of the image to the left.  The encoder cable has four wires:  red (power, +3.3 V or +5 V), black (GND), and blue and white (A and B channels).  The encoder seems to work fine powered by +3.3 V and no pull-up resistors on A and B.

@@ Line 334: / Line 334: @@
 * torque constant:  approximately 0.02 Nm/A
-This motor's 100-line encoder is implemented using a Hall effect sensor.  A ferrous wheel with 100 teeth is attached to the motor's shaft.  As teeth go past the magnet (the square block attached to the PCB by white glue), the magnetic field, as picked up by a Hall sensor (not visible, on the other side of the PCB), changes.  This is converted to digital A/B pulse trains.
+This motor's 100-line encoder is implemented using a Hall effect sensor.  A ferrous wheel with 100 teeth is attached to the motor's shaft.  As teeth go past the magnet (the square block attached to the PCB by white glue), the magnetic field, as picked up by a Hall effect sensor (not visible, on the other side of the PCB), changes.  This is converted to digital A/B pulse trains.
 The motor shaft is visible going out of the image to the left.  The encoder cable has four wires:  red (power, +3.3 V or +5 V), black (GND), and blue and white (A and B channels).  The encoder seems to work fine powered by +3.3 V and no pull-up resistors on A and B.

@@ Line 330: / Line 330: @@
 '''Summary:'''
 * rated at 24 V
-* 5 W continuous power output
+* 5 W continuous power output at 24 V
-* approximately 6 ohms resistance
+* resistance:  approximately 6 ohms
 * torque constant:  approximately 0.02 Nm/A
 This motor's 100-line encoder is implemented using a Hall effect sensor.  A ferrous wheel with 100 teeth is attached to the motor's shaft.  As teeth go past the magnet (the square block attached to the PCB by white glue), the magnetic field, as picked up by a Hall sensor (not visible, on the other side of the PCB), changes.  This is converted to digital A/B pulse trains.
+The motor shaft is visible going out of the image to the left.  The encoder cable has four wires:  red (power, +3.3 V or +5 V), black (GND), and blue and white (A and B channels).  The encoder seems to work fine powered by +3.3 V and no pull-up resistors on A and B.
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@@ Line 334: / Line 334: @@
 * torque constant:  approximately 0.02 Nm/A
-This motor's 100-line encoder is implemented using a Hall effect sensor.  A ferrous wheel with 100 teeth is attached to the motor's shaft.  As teeth go past the magnet (the square block attached to the PCB by white glue), the magnetic field, as picked up by a Hall sensor (not visible, on the other side of the PCB), changes.  This is converted to a digital pulse train.
+This motor's 100-line encoder is implemented using a Hall effect sensor.  A ferrous wheel with 100 teeth is attached to the motor's shaft.  As teeth go past the magnet (the square block attached to the PCB by white glue), the magnetic field, as picked up by a Hall sensor (not visible, on the other side of the PCB), changes.  This is converted to digital A/B pulse trains.
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@@ Line 218: / Line 218: @@
 * Speed: 5000 RPM
 * Voltage: 24 V
-* Continuous Torque: unknown
+* Continuous Torque: 0.067 Nm
-* Stall Current: unknown
+* Stall Torque:  0.436 Nm
+* Resistance:  2.49 ohms
+* Stall Current: 9.64A
 * Encoder: 500 CPR 2 channel encoder, 2000 CPR in 4X mode at output shaft
 * Gearhead: N/A
 * Mass: 410 grams
 * Length: 4.75 inches
-* Motor Constant: unknown
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@@ Line 211: / Line 211: @@
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-===Pittman 700935 motor with 500 line encoder===
+===Pittman 9236 motor with 500 line encoder===
 [[image:Pittmann700935.jpg|right|400px]]
@@ Line 227: / Line 227: @@
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 ===Pittman GM9413J820 motor with 500 line encoder===

@@ Line 205: / Line 205: @@
 channels A and B.
-[[Image:pittman-internals.jpg|thumb|400px|Inside a Pittman motor.  There are two permanent magnets glued to and wrapping around the inside of the motor housing; part of one magnet can be seen.  Two graphite brushes move smoothly over the seven segments of the commutator.  The motor windings are clearly visible.  A pinion attached to the motor shaft goes through 3 stages of spur gear reduction of with a factor of 2-3 each, giving a total gear ratio of 19.5:1.|left]]
+[[Image:pittman-internals.jpg|thumb|400px|Inside a Pittman motor.  There are two permanent magnets glued to and wrapping around the inside of the motor housing; part of one magnet can be seen.  Two graphite brushes move smoothly over the seven segments of the commutator.  The motor windings are clearly visible.  A pinion attached to the motor shaft goes through 3 stages of spur gear reduction of with a factor of approximately 2-3 each, giving a total gear ratio of 19.5:1.|left]]
 [[Image:pittman-magnets.jpg|thumb|400px|A better view of the permanent magnets attached to the inside of the motor housing.|right]]