Diff: Config/motor_config_R60.h

Revision:

64:2c4c2b9d8248

Child:

66:3947255b18c5

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Config/motor_config_R60.h	Wed Nov 25 16:41:27 2020 +0000
@@ -0,0 +1,27 @@
+#ifndef MOTOR_CONFIG_U12_H
+#define MOTOR_CONFIG_U12_H
+
+// CONFIGURATION PARAMETERS FOR R60 MOTORS
+
+//TODO: fill in all of these parameters
+
+#define R_PHASE 0.5f              //Ohms
+#define L_D 0.000084f //needs update             //Henries
+#define L_Q 0.000104f //needs update             //Henries
+#define NPP 14                    //Number of pole pairs  
+
+#define KT 0.083f                 //N-m per peak phase amp, = WB*NPP*3/2
+#define GR 2.0f                   //Gear ratio
+#define KT_OUT 0.166f             //KT*GR
+#define WB 0.0040f // from KT     //Flux linkage, Webers.  
+
+#define R_TH 1.25f  //needs update            //Kelvin per watt
+#define INV_M_TH 0.02825f //needs update      //Kelvin per joule
+#define T_AMBIENT 25.0f           // ambient temperature during temp calibration
+
+// R60 motor is KV115...use to calculate Kt
+// actuator has 24 stator slots, 28 pole magnets
+// so, 14 elec revs per mech rev
+// 24*14 steps per elec rev if using traditional commutation
+
+#endif