Hey Guys,
This is my first year on my team which is a second year team. We have an entirely new team due to the fact that the first year team moved on. I was wondering, How do you control CIM Motor speeds, and are there any modifications that you can do to them? We have our shooting prototype, but we need to wait for materials to arrive and we are wanting to test our mechanism more. I have read about control panels and such, but thus far our team has been connecting the motor directly to the battery.
Thanks Guys!
if it’s only for prototyping, it would be faster to use a power source (AC to DC converter), which allows to control voltage sent to your motors. If you still want to use full power, use gears or a timing belt to reduce your output ratio
Edit : by the way, they’re called CIM motors, not SIM
CIM motors are controlled using motor controllers, which are hooked up to your breadboard, and the motor controllers are controlled using PWM cables. You can either hook up the entire control system, or if you’re just prototyping you can use something like this, which allows you to manually adjust the the speed of the motors.This website also has some additional information about wiring the system as a whole and what each component is.
Thank you guys!!
Are you referring to other than the roboRIO and motor controllers?
Sometimes I generate a PWM signal with an Arduino to test with. I hook up a PWM-compatible motor controller.
yes just a raw way to make the motor spin at different speeds
You could also connect one of these to one of the speed controllers in the Kit of Parts, then connect the speed controller to the motor and battery in the appropriate manner.
As for your question about modifying motors, I will refer you to R30 in the 2016 manual…
R30 The integral mechanical and electrical system of any motor must not be modified. Motors, servos,
and electric solenoids used on the ROBOT shall not be modified in any way, except as follows:
A. The mounting brackets and/or output shaft/interface may be modified to facilitate the physical
connection of the motor to the ROBOT and actuated part.
B. The electrical input leads may be trimmed to length as necessary and connectors or splices
to additional wiring may be added.
C. The locking pins on the window motors (P/N: 262100-3030 and 262100-3040) may be
removed.
D. The connector housings on window, door, windshield wiper or seat motors and Bosch motors
(P/N: 6004 RA3 353-01) may be modified to facilitate lead connections.
E. Servos may be modified as specified by the manufacturer (e.g. re-programming or
modification for continuous rotation).
The intent of this rule is to allow teams to modify mounting tabs and
the like, not to gain a weight reduction by potentially compromising the
structural integrity of any motor. The integral mechanical and electrical
system of the motor is not to be modified.
Note that for the previous KOP Window motors and the Bosch motor,
the gearbox is considered integral to the motor, thus the motor may not
be used without the gearbox.