MY own 2 dof diy

I purchased the 60:1 gearbox separately from Motion Dynamics, after first trying the 25:1s, so not a cheap option: https://www.motiondynamics.com.au/worm-drive-gearbox-to-suit-industrial-motors.html

Though Motion Dynmaics does have other 200W or 320w motors available with a variety of wormdrive ratios: https://www.motiondynamics.com.au/industrial/

The 200w 25:1s will work on compact designs for moderate weight users, you do need to maximise the inherent design leverage, and they can be easily be back driven when unpowered plus do run warm under load.

What is the geometry of your rig and approximate mass fully loaded?

The CTC should be OK for designs with plenty of inherent leverage, like shoulder and foot mounts, but is likely too large for a compact rig with high mass load.

Our rigs do generate significant power spikes in fast reversals, hence personally I run one modified 600w server PSU per motor, though led PSUs are another cheap option.

The green line should be centered at rest, it looks like your pot is out of alignment and needs to be loosened, rotated to center, then re-tighten.

You also have not set the Max and Clip values.

These are the basic steps for setting up SMC3:

Initial Setup

I strongly recommend you follow the steps below if this is the first time you are using SMC3 with your simulator to reduce the risk of damaging anything.

1. Disconnect the motor power supply
2. Make sure Simtools is not running – we’re not ready for that yet!
3. Wire up the Arduino (with SMC3 installed) to your H-Bridges and connect to your computer via USB
4. Run the Windows SMC3 Utility software and make sure it communicates with the Arduino (There is no need to set baud rates, they are not configurable)
5. Set the Kp, Ki, Kd, PWMmin, PWMmax, PWMrev to 0 for ALL motors (This will make sure the motors don’t move)
6. Set Clip to 255 (you need to do this first) and Limit to 255 (This will give you plenty of margin if something goes wrong while setting up)
7. Turn on the power to your motors – nothing should move at this stage!
8. Set Kp to about 400
9. Now slowly, increase PWMmax… at some point the motor should start to move. When it does check the “Green” feedback line is moving toward the “Blue” target position.
   • If it is then that motor and feedback is wired correctly - proceed to test other motors.
   • If it is moving away turn off motor power immediately (or quickly reduce PWMmax again). In this case you need to either reverse the wires to the motor being tested –OR– reverse the +5V and GND wires to your feedback pot for the motor being tested (do not do both). Restart the test from the beginning.
10. Do the above for each motor

Max sets the range, clip the limit: https://www.xsimulator.net/communit...driver-and-windows-utilities.4957/#post-48121

A lot of members use SMC3, so the likelihood is you have a problem with your setup, hardware or both.

But you will need to supply far more information for members to be able to make suggestions, including posting pictures of all current settings and I would suggest a video of the step by step configuration of SMC3.

Much appreciate. Can you also please detail what hardware is being used and what related Mode, 1 or 2, you are using.