Dual Motor Testbed consisting of two motors, two encoders and 3d printed parts
Dual Motor Testbed with Dual Motor Electronics Box
The testbed can be clamped to the table for experiments
- this is the simplest mechanical setup to get started with brushless motor torque control
- the testbench consists of two brushless motors and two high resolution encoders mounted directly onto the motor shaft
- the encoders are required for the precise commutation of the motors using field oriented control
- in contrast to "sensorless" control (which the Texas Instruments boards also support) the torque control also works at slow speeds and when the motor is stalled
- T-Motor Antigravity 4004 300kV
- 24 magnets / 12 pole pairs / 18 slots
- 3 phase WYE Configuration / Star Configuration
- Rotor diameter: 45mm
- Weight: 53g
- the Antigravity motors are sold in sets of two pieces
- T-Motor Webpage
- Broadcom Encoder Kit AEDM-5810-Z12 consisting of the AEDT-9810-Z00 encoder and the high resolution code wheel with index
- 5000 pulses per revolution per channel
- 5V two channel quadrature output with index pulse (ABZ)
- Code wheel diameter: 26mm
- Weight: 5g
- Instructions on how to extract the encoder and the code wheel from the kit can be found here: Instructions Encoder Kit Disassembly
- Broadcom Encoder AEDT-9810-Z00 Webpage
Custom motor shaft made from stainless steel
- for attaching the codewheel the original motor shaft has to be replaced by this custom motor shaft
- Instructions on how to replace the original motor shaft can be found here: Instructions Motor Preparation
Click on picture above to view the PDF drawing
The recommended printing direction for all the parts below is the positive z direction of the stl files.
- Dual Motor Testbed Base - STL file
- we print this part with the "sparse double dense" printer setting
- that saves material and print time
- the recommended printing direction is the positive z direction of the stl file
- Dual Motor Testbed Cover - STL file
- the recommended printing direction is the positive z direction of the stl file
- Encoder Code Wheel Mount - STL file
- the recommended printing direction is the positive z direction of the stl file
- Hand Wheel - STL file
- the recommended printing direction is the positive z direction of the stl file
| Part Name | Quantity | Ordering Information | Comments |
|---|---|---|---|
| Brushless Motor | 2 | T-Motor Antigravity 4004 300kV | Sold in set of two pieces |
| Optical Encoder with Codewheel | 2 | Broadcom Encoder Kit AEDM-5810-Z12 Digi-Key 516-3253-ND |
Encoder Kit Disassembly Instructions |
| Custom Motor Shaft | 2 | PDF Drawing | Machined part |
| Testbed Base | 1 | STL file | 3d printed part |
| Testbed Cover | 1 | STL file | 3d printed part |
| Code Wheel Mount | 2 | STL file | 3d printed part |
| Hand Wheel | 2 | STL file | 3d printed part |
| Rubber Feet | 6 | RS 236-509 | Optional |
| Fasteners Stator and Hand Wheel | 16 | Socket Head Cap Screw M3x6 | Stainless steel |
| Fasteners Testbed Cover | 8 | Socket Head Cap Screw M2,5x8 | Stainless steel |
| Fasteners Code Wheel Mount | 4 | Set Screw M3x4 | Stainless steel |
| Fasteners Encoder | 4 | Flat Head Phillips Screw M3x16 Conrad 839967 |
Nylon |
Dual Motor Electronics Box
Texas Instruments dual motor control electronics stack
Components dual motor control electronics stack
- 1 x Microcontroller: TI Launchpad F28069M -> Launchpad Product Page
- 2 x Motor Driver Card: TI Boosterpacks DRV8305 -> Booster Pack Product Page
- Linear potentiometer 10 kohm
- Alps Alpine RSA0K12B1019
- E-stop switch 32mm
- Pilz 84-5040.0040
- Power Supply 24V
- Meanwell GST90A24
- PEAK PCAN PCI Express Card
- dual channel - galvanically isolated
- 9 pole D-Sub connector
- Dual Motor Electronics Box Base - STL file
- the recommended printing direction is the positive z direction of the stl file
- Dual Motor Electronics Box Cover - STL file
- the recommended printing direction is the positive z direction of the stl file
| Part Name | Quantity | Ordering Information | Comments |
|---|---|---|---|
| Texas Instruments Microcontroller | 1 | TI Launchpad F28069M Digi-Key 296-38832-ND |
Launchpad Product Page |
| Texas Instruments Motor Driver Electronics | 2 | TI Boosterpack DRV8305EVM Digi-Key 296-43181-ND |
Booster Pack Product Page |
| Linear Potentiometer | 2 | Alps Alpine RSA0K12B1019 RS 234-6544 |
|
| Linear Potentiometer Knob | 2 | RS 281-7197 | |
| E-Stop Switch | 1 | Pilz 84-5040.0040 RS 690-6954 |
|
| Power Supply 24V | 1 | Meanwell GST90A24 RS 880-8427 |
|
| Electronics Box Base | 1 | STL file | 3d printed part |
| Electronics Box Cover | 1 | STL file | 3d printed part |
| Fasteners Linear Potentiometer | 4 | Flat Head Screw M3x10 | Stainless steel |
| Fasteners Electronics Box Cover | 4 | Socket Head Cap Screw M2,5x8 | Stainless steel |
| Rubber Feet | 6 | RS 236-509 | Optional |
| CAN PCI Express Card | 1 | PEAK IPEH-003027 | Dual channel |
| CAN Connector | 1 | 9 pole D-Sub connector RS 765-9555 |
Dual Motor Testbed - Click on the picture to view the cad model in your browser
The Solidworks CAD files are available here: Dual Motor Testbed v1 Solidworks CAD files
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Felix Grimminger
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