Actuator brush+ ibt2 diy 4dof psu fire

I have to go back and look I must have an error in test mode chassis is straight as soon as I enter the game suddenly everything is shifted. I sort everything out and then suddenly everything would be out of sync, I don't really understand. I managed with the PID to change a little and lower the noise of the motor but I still have noises.. I continue and adjust as I go

@noorbeast here I am again after a break, it's better! much better,
thank you for the links for the noise of the engines...

my parameters for the tim smc3 utils:
Fpid: 7
Kp: 150
Ki: 15
Kd: 0
Ks: 30
Fpwm: 20kHz
Pwmmin: 0
pwmmax: 150
pwmrev: 140
maxlimit: 215
clip in: 255
deadzone: 0

I can still improve, but already there are no more unpleasant hums from the engines...

Hello little, update, addition of springs which allows you to reach the endstop but not to engage them, if there should be a problem, the feet can continue to retract and the chassis will be placed on the springs. I place the electronics in a box too and I could carry out the load tests between 150 and 200 kg..

@noorbeast hi

by chance I found the noise of the motors, I connected the endstops to the potentiometer signal, so big interference. Now the problem is that I don't know how to wire the endstops, cutting the 220 V, it's useless because it takes between four and five seconds to stop, so plenty of time to tear the motor out. Is cutting off the I BT power supply sufficient and fast enough to shut down the Motor? Or do you have an idea of how to place and connect the limit switches?

hmmm I don’t know, the limit switch and emergency stop switch are identical?

since as I said cutting the power is of absolutely no use since it takes at least four to five seconds for the power supplies to turn off and during this time the motor continues to move. And of course it's way too late. The emergency stop, I have already wired it to the 220 V, it is really the limit switches on each cylinder.

Hi,

Well I did the tests and cut a wire on the IBT2 for the limit switches, it's absolutely no use, it doesn't work.

I have to either cut off the 220 V power supply as soon as it reaches the switch setpoint, or with a relay cut off the 24v motor power supply.

I think that for the tests I will use the second solution with 24 V 40 A relays in parallel for the windings and also in series on the switches. This way, as soon as a switch is activated, everything is turned off.

Yes relay and test in 150kg is ok.

hi,
@noorbeast
well I wanted to do a test with 100 kg load and it's not good. After a while the cylinders, it's as if they were no longer powered, but only on one side. Namely that I have just done a calculation with myself on it, it must be able to hold the 190 kg so I am missing 90 kg for it to work…. then….

Hhhaaaarrrggggg why


my params smc3 utils:

and the motors didn't work anymore ?

not only one stops, in fact after a few seconds, it no longer works and goes down. I had not encountered this problem with my tests at 50 kg. I will do a test again at 50 kg tomorrow to see if it does the same if there was not a problem with the wiring but it still seems strange to me.

Do you think it was too much load or just defective motor ?

I'm in process of building platform almost like yours and sometimes i doubt that my motors (german Dunkermotoren GR80x40, 135x80 mm) can handle my rig with me (~120 kg together)

I don't know, I have to do some tests to find out where the problem is coming from or if it's really that, even if it surprises me, these are 24 V 750 W motors, they're supposed to lift. I just looked at your engine. It’s actually weak. I'm doing 750 W, you're at a maximum of 200 W, there's a big difference but it's possible that it raises but I'm not sure.

It's just numbers. I already made some crapy tests with motor+ballscrew and scales, one motor push more than 60 kg ))

Power of brush motor with ferrite magnets roughly depends on it's size, nothing more

I hope you will investigate your problem with success

Did you think about gasolifts ?

Gaz? What?

no, these are not just numbers, because here you are talking to me about 60 kg, but you are not taking into account the inertia of sudden changes of direction with a weight on top, which completely changes the result. On my 2dof, I have 120 W motors, but the gear ratio has nothing to do with the endless screws and my system. I am testing with a 24v 1000w power supply and lifting more than 100kg on a single actuator.

I admit that I don't really know because honestly. If it's like me with the same auger system. The weight will bring the DIY cylinders back down, so you have to take care of the end positions because if it reaches the stop and the motor continues to run it will burn the power supply or the card. or if it goes too far, the potentiometer will be at the end of its travel and it will break. I wish it was as simple as putting four engines in and that's it, there are a lot of things to take into account especially when there is more than 100 kg to manage

Yes, you're right and because of that i'm a little nervous))) We'll see
And - i don't need a lot of stroke

Look at this - such small motors, but powerful enough to move platform with gear ratio ~1:2 (this things that transforms horizontal movement of ballscreww to vertical). This amount of movement is enough for me