Quote:
Originally Posted by DampRobot
For a team with 6 drive motors (for example, let's say a 775 and two CIMs), how fast would the robot be traction limited at? I would assume if a 2 CIM drive is traction limited at 6fps, then with a 775, the traction limited single speed gearing allow for a top speed around 8fps. Could you, theoretically, just throw power onto the drive until you were traction limited at, say 13fps?
On a related thread, how many motors can you give a drivetrain while still drawing less current than the main breaker will pop at? An unsophisticated analysis says that even 4 CIMs drawing 40 amps (ie, accelerating from a stop) will pop the 120 amp main breaker. Is the limit on the number of motors which can reasonably be put in the drive dictated by the main breaker?
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Actually, those circuit breakers won't ever trip at the rated current. Take a look at the attached datasheet to get a feel for the trip times. According to the data sheet, at 200% rated current, they should take at least 10 seconds to trip. It looks like about 20 seconds at 150%. That's assuming no heavy bumps, of course.
So based off that, on a 4CIM drivetrain, you'd likely fault out jaguars or trip your 40A breakers before you tripped the main 120A breaker.