| | 1 | This is how the max torque (MT) values are set for each Puck motor controller: |
| | 2 | {{{ |
| | 3 | /* Notes: |
| | 4 | * 1 Amp = 1024 puck torque units |
| | 5 | * Puck torques are saturated at 8191 by the communications layer |
| | 6 | * Cable limits were chosen to be approx 20% of the rated breaking strength |
| | 7 | * |
| | 8 | * Motor 1 2 3 4 5 6 7 |
| | 9 | * Stall (Nm) 1.490 1.490 1.490 1.490 0.356 0.356 0.091 |
| | 10 | * Peak (Nm) 6.31 6.31 6.31 6.31 1.826 1.826 0.613 |
| | 11 | * Cable limit (Nm) 1.8 1.8 1.8 1.6 0.6 0.6 N/A |
| | 12 | * Nm/A -published 0.457 0.457 0.457 0.457 0.236 0.236 0.067 |
| | 13 | * Nm/A -actual 0.379 0.379 0.379 0.379 0.157 0.157 0.058 |
| | 14 | * MT value 4860 4860 4860 4320 3900 3900 3200 |
| | 15 | * |
| | 16 | * Example: |
| | 17 | * What should the motor 3 Max Torque (MT) be set to in order to not |
| | 18 | * exceeed the designed cable limit? |
| | 19 | * (1.8 Nm) / (0.379 Nm/A) * (1024 Units/A) = 4863 |
| | 20 | */ |
| | 21 | }}} |
| | 22 | |
