The NeveRest Orbital 20 is a gearmotor with an attached encoder. The output shaft geometry and the gearbox housing diameter is similar to what FIRST Tech Challenge teams are familiar with, and it shares a mounting interface with the NeveRest Orbital 3.7. (This is a different mounting pattern than the NeveRest Classic 20, 40, and 60.) The shaft is 6mm diameter and the gearbox housing is 36 mm in diameter. The power cable which feeds into the black encoder housing has two Powerpole connectors already crimped to the end of the cable.
FRC/FTC Legality:
According to the FIRST Tech Challenge Game Manual Part 1, Rule RE09, this is legal for the 2018 FTC Game.According to the FIRST Robotics Challenge Game Manual, Rule R33, this is legal for the 2018 FRC Game as it uses the NeveRest am-3104 motor.
Encoder Cable Options:
The NeveRest Orbital 20 does not currently come with our am-2992 cable which has the white 4-pin connector for the encoder and also the black 4-pin connector for the HiTechnic and Modern Robotics motor controller. am-2993 is an optional encoder cable which has the white 4-pin connector on one end and 4 separate black connectors on the other end.
Encoder:
There is an encoder mounted to the back side of this motor. It is a 7 pulse per revolution (ppr) hall effect encoder. Since the motor's gearbox has a 19.2:1 reduction, the NeverRest Orbital 20 output shaft provides 134.4 ppr, or 537.6 counts per revolution within the software environment.
Working with the Encoders:
https://ftc-tricks.com/dc-motors/ https://www.reddit.com/r/FTC/comments/474wks/help_the_different_motor_modes_run_using_encoders/ https://www.youtube.com/watch?v=d0liBxZCtrA Theoretical Performance Specifications:
Gearbox Reduction: 19.2:1Voltage: 12 Volt DCNo Load Free Speed, at gearbox output shaft: 340 RPMForce Needed to Back-Drive: 6.4 oz-inGearbox Output Power: 14 WStall Torque: 175 oz-inStall Current: 11.5 AOutput counts per revolution of Output Shaft (cpr): 537.6Output pulse per revolution of encoder shaft (ppr): 134.4
Documents
CAD File(s)
Layout Print(s)
Don't see what you need?
English
Türkçe
