Motor, Bracket and Wheel Kit (# )

Transcription

1 Web Site: Forums: forums.parallax.com Sales: Technical: Office: (916) Fax: (916) Sales: (888) Tech Support: (888) Motor, Bracket and Wheel Kit (# ) This Motor, Bracket and Wheel Kit provides power, durability, and simplicity all in one box. The lightweight yet sturdy aluminum brackets are specifically designed to make mounting the included 6 15 V DC gear motors a breeze. Each bracket is machined from 6063 aluminum extrusion and anodized black for improved scratch resistance aesthetic appeal. Spacer High-quality DC motors feature durable construction and 100% all-metal gears stand up boldly to rough terrain. The included machined aluminum hubs solidly engage the 4 7/8 inch (12.4 cm) diameter wheels. The tread is molded directly onto the wheel and offers excellent traction on most common surfaces. Giving your robot mobility has never been easier! Features Powerful 6 15 VDC brushed motors Motors use 100% all-metal gears Built-in quadrature encoders provide accurate motor speed and distance tracking Machined 6063 aluminum brackets anodized black for improved scratch & corrosion resistance Six convenient mounting holes for #8- size screws Durable 4 7/8 inch (12.4 cm) diameter wheels with high-traction tread Strong but lightweight construction Works well with the HB-25 motor controllers (#29144, sold separately) Specifications Motor ratings o 6 15 VDC (12 V Nominal) o No-load current: V o Stall current: V (>5 12 V) o Max motor torque: lbf-in (0.285 kgf-m) Dimensions o Wheels: 4 7/8 inch (12.4 cm) diameter x 0.8 inch (2.03 cm) wide o Mounting height: 3.86 inch (9.8 cm) from ground to mounting surface Minimum clearance: 1.9 inch (4.8 cm) from ground to lowest point on motor Weight: 1.12 lbs. (0.508 kg) per wheel assembly (kit contains 2) Wheel tread: Thermoplastic rubber with a durometer rating of 50 Shore A Product Change Notice Kits made between March and October 2014 included motors with encoders providing 64 counts per revolution. Kits made after that include motors with with encoders providing 48 counts per revolution. Copyright Parallax Inc. Motor, Bracket and Wheel Kit (# ) v1.2 1/21/2015 Page 1 of 7

2 Bill of Materials Part # Description Quantity Motor, 6V, 82 RPM, 6 mm, with encoder Screw, Zinc, Flat Head, Phillips, 8 mm Length Wheel, 4 7/8 in. Diameter, with tread Wheel Hub Assembly, 6 mm Shaft I.D., (Hub, Set Screws, Retaining Rings) Motor Bracket, Aluminum, Anodized Black Hex Key 1/16 in. 1 Additional Tools Required (not included) #1 Phillips Screw Driver Snap ring pliers Four 8-32 screws of the length for mounting to your platform Eye protection Copyright Parallax Inc. Motor, Bracket and Wheel Kit (# ) v1.2 1/21/2015 Page 2 of 7

3 Assembly Instructions Step 1: Using three flat-head screws connect each motor to a bracket as shown in drawing. Step 2: Place a hub onto each motor shaft, making sure the set screw holes line up with flat area on the shaft. Using the hex key provided, insert the set screws into the holes in each hub and tighten until snug against motor shaft. Copyright Parallax Inc. Motor, Bracket and Wheel Kit (# ) v1.2 1/21/2015 Page 3 of 7

4 Step 3: Safety Warning! During or after installation, the retaining ring could fly off at high velocity if not installed properly. These dangers are minimized by wearing eye protection during assembly and using the right tools for the job. Install a wheel onto each hub. While wearing safety glasses, use snap ring pliers to install a retaining ring around the groove in the outer part of each hub. Caster Wheel Kit Compatibility This kit was directly compatible with Parallax s original Caster Wheel Kit ((#28971, now discontinued). If using this kit with the Caster Wheel Kit Rev B (#28961), add a 1/8 spacer between the top of the hub and the bottom of your robot chassis. Otherwise, your caster wheel assembly will be higher than the drive wheels, which interferes with free rotation of the caster when making turns. Encoders The motors included in this kit have quadrature encoders which can provide position and speed feedback as well as direction. These encoders require VDC to operate and should be powered at the same voltage as your microcontroller. The encoder A and B outputs are 90 degrees out of phase with one another. The wheel is 4-7/8 in diameter, so it travels 15.3 per rotation. The encoders have a resolution of pulses counts per revolution of the motor shaft. With the motor s 30:1 gear ratio, this provides translates to counts per rotation of the output shaft. pulses per revolution of the output shaft. If you don t need directional information and want to simplify your encoder routines you can just use a single output (A or B). This will give you 32 pulses per revolution of the motor shaft, which translates to 960 pulses per revolution of the output shaft. Pin Color Signal Description 1 Red M1 Motor Connection 1 (6 15 VDC) 2 Black M2 Motor Connection 2 (6 15 VDC) 3 Green ENC_GND Signal Ground for Encoder. Connect to your microcontroller ground (VSS). 4 Blue ENC_VDD Encoder Power Supply (3.3 5V) Connect to logic supply (VDD). 5 Yellow ENC_A Encoder A Output. Connect to an input on your microcontroller. Copyright Parallax Inc. Motor, Bracket and Wheel Kit (# ) v1.2 1/21/2015 Page 4 of 7

5 6 White ENC_B Encoder B Output. Connect to an input on your microcontroller. Copyright Parallax Inc. Motor, Bracket and Wheel Kit (# ) v1.2 1/21/2015 Page 5 of 7

6 Motor Dimensional Drawings Units are in inches. Picture not to scale. Dimensions are given for reference only and are subject to change without notice. Copyright Parallax Inc. Motor, Bracket and Wheel Kit (# ) v1.2 1/21/2015 Page 6 of 7

7 Bracket Dimensional Drawings Units are in inches [millimeters]. Picture not to scale. Dimensions are given for reference only and are subject to change without notice. Revision History Version 1.0: original release. Version 1.1: Added Product Change Notice section, page 1. Updated Encoders section, page 4. Added Caster Wheel Kit Compatibility section, page 4. Copyright Parallax Inc. Motor, Bracket and Wheel Kit (# ) v1.2 1/21/2015 Page 7 of 7