90ZYT-155-12-MCP4-60:1 and JRK 12V12

Hallo!
Every time you place a new question honestly reflect on the fact that until today this community has given more than I have given me to it. I'm sorry about that. I’m animated by a great passion for mechanics but my very limited knowledge especially in the field of electronics to help prevent me as I would like as well as they are often helped by all of you. I have already made a 2dof simulator and this was possible only and only thanks to you.
I would add that the imperfect knowledge of the English lenguage greatly limits my ability to understand and not always google trasnlator able to help me, especially when it comes to technical terminologies.
but deep down I also think any constructive response to the questions raised by me or anyone else like me who provides more questions than answers, however they help the whole community.

Having said that I come to my question today:
After the experience of the simulator 2dof I’am about to embark on the construction of a 4dof simulator. Sooner I'll create a new thread dedicated to it.
The engines that I will use 'are ZYT90-155-12-MCP4 60: 1 bought here http://www.ebay.it/itm/12V-DC-Geare...947910?hash=item1a2458c846:g:B5oAAOSw3d1TzjsE (see dataheet attached)
and motor controls tabs JRK 12V12 at the time suggested by many members of this community as efficient and easy to configure. The ebay seller of the motors has specified me that these motors have the same characteristics as those indicated in the data sheet as ZYT90-154 then 12V- 180W - rpm 4200 + -10% - 23A - 0.4 N.m.

Do you think these engines can be managed using cards JRK 12V12?

I posed the question to Pololu that in the person of Derrill Hartley has kindly answered me thus:

"Thank you for your interest in our jrk 12v12. Since that motor can draw
23A or more the jrk 12v12 would not be appropriate.
Please note that the current listed in your link might be some kind of
nominal operating current, so it could potentially draw many times the
current listed at stall. You should either inquire with the manufacturer
(or seller) to see what the stall current is, or take steps to insure
you do not exceed the limits of the driver you use. We generally
recommend choosing a motor driver that can continuously deliver the
stall current of the motor you are using.
I did not see any indications the motor you linked to has feedback of
some kind; if it does, you might consider one of the RoboClaw
controllers with an appropriate current rating:
https://www.pololu.com/category/124/roboclaw-motor-controllers
If that motor does not have feedback, you might consider one of our high
power motor drivers like our G2 High-Power Motor Driver 18v25:
https://www.pololu.com/product/2994

I also read in this faq https://www.xsimulator.net/communit...at-mover-gs-4-simvibe.5596/page-12#post-75672


Now I’m a little confused (often it happens when I have to deal with 'electronic).

It 's really possible to manage with JRK 12V12 engines that have 23A and 4000rpm? If yes what precautions should I use in jrk configuration utility.

Thank you guys!

Your question may have answered here https://www.xsimulator.net/communit...60-1-ratio-gearbox-for-sale.9579/#post-124401
Anyway @Avenga76 could assist and advise you.

Looking at the spec sheet then the motors are only 180W which is only 15A which should be fine on the JRK.

The JRK can do 12A continuous and 30A peak. You will need some good heatsinks and fans on the JRK's though

As for settings, each motor is different and they react differently to the PID settings.

My advice is to start off slow and then slowly increase the PID until you get a good balance.

If you use the JRK tool and move the motors you should see a nice arc coming to a stop. This picture shows it


The first picture is what you want. If it is looking like the second picture then add more P, if it is looking like the last picture then add more D or lower the P.

@gigi I think it's hard to say if they will work without seeing your design as with mine the they do stall if I push them hard.

In datasheet I attached is specify that the motor is 23A. Do yuo think that this value is wrong?

It contradicts itself. It also says 180W

Amps = Watts divided by Volts. So 180W divided by 12V is 15A

If they are 180W motors then that is 15A.

I think the 23A would be it's stall current. So 15A would be the current if it is able to spin freely and then at stall that would increase to 23A. As long as you are not stalling them then you should be fine.

Thanks awenga....so here you found out how deep my ignorance in the electronic field . I did not know Amps = Watts / Volts
Now I send an email to ebay suplier to have confirm that 23A is really stall current. Then I'll post his answer here and in another thread (https://www.xsimulator.net/communit...60-1-ratio-gearbox-for-sale.9579/#post-124401) where whe are talking about this motors.
If 23A is really stall current the problem with jrk12V12 not exist.
thanks

It works the other way around also so Watts= Volts times Amps

So 12V times 15A equals 180W.

So if did draw 23A then you would do 12V times 23A then it would be a 276W motor. So you can see the contradiction, it can't be both a 180W motor and a 276W motor, unless one is free spinning current and the other is stall current.

I post now the datasheet from motiondynamcs.com.au of their 200W 12/24 DC Geared Worm Drive.
For the motors 12V is indicated "rated current" 23A . Rated current mean continuous current and not peak/stall current? correct? In this case this datasheet is wrong as "rated current" for motors 12v 200w should be 16,6A and probably 23A is not rated current but stall/peak current. Or maybe I'm still not understanding something

There is efficienty from motors to, they ask more power than they deliver

My ebay supplyer always very helpful and quick in responses writes me this:
"The datasheet is correct, The current is 23A if the load is applied continuously, so this is continuous Amps"

IMHO 23A is a lot for the jrks, probably too much? (just my opinion according for what I have seen here, never tested the jrks personally). Why not going the SaberTooth route?

I email the datasheet to Pololu and Derril (tech support) answer me.
Here his answer:
"With a continuous current that is nearly double the continuous current
rating of the jrk 12v12, those motors are definitely too large for the
jrk to handle. You might consider looking at the RoboClaw motor
controllers. I suggest looking at the RoboClaw 2X60 for the motors you
are considering:
https://www.pololu.com/category/124/roboclaw-motor-controllers
https://www.pololu.com/product/1499
If you find a motor closer to the jrk's ratings, like the 14A motor you
used before, you can use the methods in that xsimulator.net post to
overcome some current spikes, but the problems you will almost certainly
run into with that 23A motor will likely be much harder to overcome

SaberTooth route? yes...my problem is that I know how to configure jrk ...very easy thanks to the support find here, but i don't know how to configure SaberTooth

I have looked at the Roboclaw controllers before but in our last discussion they wouldn't work with SimTools

https://www.xsimulator.net/community/threads/pololu-roboclaw-2x60a-motor-controller-with-usb.5320

The SaberTooth is a different controller that runs off an Arduino.

Also I was reading through my build thread and I found this post

So it looks like your motor might be too big for the JRK's

You would probably have to go for a sabertooth or multiple Monster Moto controller

SaberTooths are very easy to handle. https://www.xsimulator.net/communit...ket-serial-pid-motor-driver-w-softstart.9277/

The Sabertooth looks pretty cool. I was going to replace my JRK with dual Monster Moto but the Sabertooth looks more attractive. How would you wire up another one for my third motor?

Thank you guys...I've just find another datasheet of my motors in wich is specify that current nominal is 23A an current peak is 40A. Too much for jrk12v12. I Think that the right way can only be n. 2 saberthoot 2x32 for my 4 motors.
In my bag there are 4jrk 12v12, 2 news and 2 just tested. I will sell them.

You can't still use one jrk for TL?

I will have 4dof. 2 motors for roll pitch and heave, 1 motor for surge and 1 motor for Tl. Do you think tha for surge and Tl can i use jrk 12v12 with this motors?