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Al;
We are just building the circuit today. We plan to put it on all 4 drive motors, and also on an arm motor to allow us to determine when it has reached the end of its stop.
Regarding your question on what the robot does when it senses an over-current condition - in autonomous mode we are probably going to back up a bit then go forward, one time. If the condition repeats, then we'll just shut everything down and wait until manual control starts. This will save us from being E-stopped.
In manual mode, we will back off power, and maybe flash a warning lamp for the operator.
Due to the high starting current of the drive motors, we may have the robot controller ignore the overcurrent condition for 1/2 second when the operator has requested a rapid acceleration or change in direction. This should prevent us from tripping out uneccesarily. The 40 amp breakers will take momentary high current spikes.
Note:
The original version of the schematic had the +5V and GND leads of the LM399 reversed. The current version (Ver. 2) is correct.
Jerry
Last edited by jskene : 10-02-2003 at 13:31.
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