Welcome to Wheeled Chassis Kit repository
1. Motor introduction and usage
Introduction and usage of common motors
This article is used to explain the motor parameters, recommended supply voltage, and the recommended wiring method for connecting this motor to a four-way motor driver board.
Introduction and usage of common motors1. 310 motor2. Encoder speed measurement TT motor3. L-type 520 motor
1. 310 motor
| Parameter | Value/Description |
|---|---|
| Motor model | MD310Z20_7.4V |
| Stall current | ≤1.4A |
| Motor rated voltage | 7.4V |
| Rated current | ≤0.65A |
| Motor type | Permanent magnet brush |
| Gear set reduction ratio | 1:20 |
| Output shaft | 3mm diameter D-type eccentric shaft |
| Encoder type | AB phase incremental Hall encoder |
| Stall torque | ≥1.0kg·cm |
| Encoder supply voltage | 3.3-5V |
| Rated torque | 0.4kg·cm |
| Number of magnetic ring lines | 13 lines |
| Speed before deceleration | 9000rpm |
| Interface type | PH2.0 6Pin |
| Function | With pull-up shaping, the microcontroller can directly read the signal pulse |
| Speed after deceleration | 450±10rpm |
| Rated power | 4.8W |
| Weight of single motor | About 70g |
Recommended power supply: 7.4V. It can be connected to a voltage between 4.2~8.4V, and 7.4V voltage is recommended.
The two parameters reduction ratio and number of magnetic ring lines in the main parameter table are required. These two parameters may be modified when using a four-way motor driver board.
The 310 motor in the chassis package has a PH2.0-6PIN double-head cable. The black end can be connected to the 310 motor, and the white end can be connected to the PH2.0-6PIN encoder motor interface on the four-way motor driver board. At this time, the motor type configuration also selects $mtype:2#, the model of the 310 motor.
2. Encoder speed measurement TT motor
| Parameter | Value/description |
|---|---|
| Model | 13-wire metal single-axis TT motor |
| Motor model | 130 motor |
| Motor type/brush material | Brushed copper brush |
| Reduction ratio | 1:45 |
| Rated voltage | 6V |
| No-load current | 0.08A |
| Rated current | 0.3A |
| Stalled current | 1.1A |
| Torque | 1.2N.m |
| Speed before deceleration | 16000±5%rpm |
| Speed after deceleration | 355±5%rpm |
| Encoder type | Hall AB phase encoder |
| Encoder power supply | 3.3-5V |
| Encoder line number | 13 lines |
| Maximum count for one wheel rotation | 2340 |
| Special functions | Built-in pull-up shaping, MCU can read directly |
Recommended power supply: 7.4V. Can be connected to 5~13V, recommended to use 7.4V voltage power supply.
The two parameters reduction ratio and encoder line number in the main parameter table are required. These two parameters may be modified when using the four-way motor driver board.
Recommended wiring: Use the PH2.0-6PIN to DuPont line cable and connect it to the IO socket of the four-way motor driver board.
Wiring instructions for encoder speed measurement TT motor:
When the A phase of the encoder TT motor is connected to the A phase of the four-way motor driver board, and the B phase is connected to the B phase, then when configuring the motor type, you should select $mtype:3#, the model of the TT motor with encoder.
3. L-type 520 motor
| Parameter | Value/Description |
|---|---|
| Model | L-type 520 motor |
| Starting voltage | 6V |
| Rated voltage | 12V |
| Reduction ratio | 1:40 |
| Number of magnetic ring lines | 11 lines |
| No-load current | ≥450mA |
| No-load speed | 300r/min±5% |
| Rated torque | 4.4KG.CM |
| Rated speed | 150r/min |
| Stall torque | 10KG.CM |
| Stall current | 4A |
Recommended power supply: 12V.
The two parameters reduction ratio and encoder line number in the main parameter table are required. These two parameters may be modified when using the four-way motor driver board.
Recommended wiring: The chassis package of the purchased L-type 520 motor uses a black PH2.0-6PIN double-head cable, one end is connected to the motor, and the other end is directly connected to the PH2.0-6PIN encoder motor interface on the four-way motor driver board. This wiring is the most convenient, but it can be found that the A on the motor corresponds to the B phase of the four-way motor driver board. Therefore, when configuring the motor type on the four-way motor driver board, you should select $mtype:1#, the model of the 520 motor.
