Revision 61:33f2dc2b589f, committed 2020-11-04

Comitter:

saloutos

Date:

Wed Nov 04 19:19:48 2020 +0000

Parent:

60:0c8caaa91182

Child:

62:bbdf5afada79

Commit message:

Updated motor config files

Changed in this revision

--- a/Config/motor_config_U10.h	Mon Nov 02 20:08:14 2020 +0000
+++ b/Config/motor_config_U10.h	Wed Nov 04 19:19:48 2020 +0000
@@ -1,23 +1,24 @@
 #ifndef MOTOR_CONFIG_H
 #define MOTOR_CONFIG_H
 
-// WHOLE FILE NEEDS UPDATING FOR U10 MOTORS
+// CONFIGURATION PARAMETERS OF U10 MOTORS
 
-#define R_PHASE 0.4f            //approx with multimeter //0.13f //Ohms
-#define L_D 0.00008f //needs update            //Henries
-#define L_Q 0.00008f //needs update           //Henries
-#define KT 0.0398f // correct?              //.075f //N-m per peak phase amp, = WB*NPP*3/2
-#define NPP 21                  //11 //Number of pole pairs      
-#define GR 6.0f                 //2.0f //Gear ratio
-#define KT_OUT 0.239f           //0.036f //KT*GR
-#define WB 0.0013 // from KT                //0.00287f //Flux linkage, Webers.  
+#define R_PHASE 0.158f            //Ohms
+#define L_D 0.0002f               //Henries
+#define L_Q 0.000256f             //Henries
+#define NPP 21                    //Number of pole pairs   
+
+#define KT 0.191f                 //N-m per peak phase amp, = WB*NPP*3/2   
+#define GR 6.0f                   //Gear ratio
+#define KT_OUT 1.146f             //KT*GR
+#define WB 0.00606f // 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
+#define T_AMBIENT 25.0f           // ambient temperature during temp calibration
 
-// new motor has KV40 ...use to calculate Kt
-
-// new actuator has 36 stator slots, 42 pole magnets
+// U10 motor is KV50...use to calculate Kt
+// actuator has 36 stator slots, 42 pole magnets
 // so, 21 elec revs per mech rev
 // 36*21 steps per elec rev if using traditional commutation
 

--- a/Config/motor_config_U12.h	Mon Nov 02 20:08:14 2020 +0000
+++ b/Config/motor_config_U12.h	Wed Nov 04 19:19:48 2020 +0000
@@ -1,23 +1,24 @@
 #ifndef MOTOR_CONFIG_H
 #define MOTOR_CONFIG_H
 
-// WHOLE FILE NEEDS UPDATING FOR U12 MOTORS
+// CONFIGURATION PARAMETERS FOR U12 MOTORS
 
-#define R_PHASE 0.4f            //approx with multimeter //0.13f //Ohms
-#define L_D 0.00008f //needs update            //Henries
-#define L_Q 0.00008f //needs update           //Henries
-#define KT 0.0398f // correct?              //.075f //N-m per peak phase amp, = WB*NPP*3/2
-#define NPP 21                  //11 //Number of pole pairs      
-#define GR 6.0f                 //2.0f //Gear ratio
-#define KT_OUT 0.239f           //0.036f //KT*GR
-#define WB 0.0013 // from KT                //0.00287f //Flux linkage, Webers.  
+#define R_PHASE 0.433f            //Ohms
+#define L_D 0.000084f             //Henries
+#define L_Q 0.000104f             //Henries
+#define NPP 21                    //Number of pole pairs  
+
+#define KT 0.239f                 //N-m per peak phase amp, = WB*NPP*3/2
+#define GR 6.0f                   //Gear ratio
+#define KT_OUT 1.434f             //KT*GR
+#define WB 0.0076f // 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
+#define T_AMBIENT 25.0f           // ambient temperature during temp calibration
 
-// new motor has KV40 ...use to calculate Kt
-
-// new actuator has 36 stator slots, 42 pole magnets
+// U12 motor is KV40...use to calculate Kt
+// actuator has 36 stator slots, 42 pole magnets
 // so, 21 elec revs per mech rev
 // 36*21 steps per elec rev if using traditional commutation