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[DPRG] How to protect TETRIX motors

Subject: [DPRG] How to protect TETRIX motors
From: Dick Swan dickswan at sbcglobal.net
Date: Tue Feb 19 18:57:02 CST 2013

Several suggestions.

Run the motors at 25 to 50% of max power if that is still sufficient to move
your arm. Or at least use this level for testing until you've got your code

Probably not legal but run the motor power outlets through a limit switch
that mechanically disconnects the motor power when reached.

Create a separate task that is monitoring the encoders and power level. If
motor encoder does not change for NN millisecond and high power is being
applied then motor is stalled. Have the task stop the motor!

There may be an alternative source for the motors? The original motors were
same manufacturer part number as a motor that I think Lynxmotion (now part
of Robot Shop) used to sell at a lower price. In any case, the encoders
should be re-usable on a different motor.

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