Wiring 2 CIM motors to one Victor

[ericsundbergva]

I am a mentor for 2 teams. Two CIM motors per wheel with one Victor appears to be disallowed, see below. Can you use two Victors (one per motor) with a common PWM input to get around? The motors would have tied output shafts via the transmission. Is the Inspection Item 300 Rev E the final word?

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RULES: REV E, FEB 5, Inspector List ITEM 300

"Motors can only be driven by one Victor or Spike with only one motor per permitted per Victor/Spike"

This complies with rule R-62 I think,

but the old inspection Rev D, JaN 25, did ALLOW IT:

Motors can only be driven by one Victor (although a Victor can drive more than 1 motor).
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Thanks!

[ay2b]

Originally Posted by ericsundbergva

I am a mentor for 2 teams. Two CIM motors per wheel with one Victor appears to be disallowed, see below. Can you use two Victors (one per motor) with a common PWM input to get around? The motors would have tied output shafts via the transmission.

Each CIM must be connected to exactly one Victor, and that Victor may have no other load connected to it. You are permitted to use a PWM Y-cable to control multiple Victors from the same pwm output on the robot controller.

[mluckham]

We do this as well ... one motor per Victor. A "Y" PWM cable (the black-red-yellow one of which 2 are supplied in KOP) goes from ONE PWM output on the Robot Controller to both Victors.