Differences

This shows you the differences between two versions of the page.

Link to this comparison view

Next revision
Previous revision
madoverlord:robots-magmotorrepair [2016/05/13 21:42]
127.0.0.1 external edit
madoverlord:robots-magmotorrepair [2016/10/04 14:42] (current)
Line 1: Line 1:
 ==== MagMotor Magnet Repair (Robots) ==== ==== MagMotor Magnet Repair (Robots) ====
- 
-// One of the best parts of Combat Robotics is running into unusual problems and coming up with interesting solutions to them. Totally Offensive is a gre // 
- 
- 
- 
-=== Regluing the magnets on a S28-150 MagMotor === 
- 
- 
  
 One of the best parts of Combat Robotics is running into unusual problems and One of the best parts of Combat Robotics is running into unusual problems and
Line 17: Line 9:
 Totally Offensive Totally Offensive
 is a great robot, but it was literally hitting the other robots so hard that the magnets inside the is a great robot, but it was literally hitting the other robots so hard that the magnets inside the
-S28-150 ​<A HREF="http://​www.magmotor.com/​">MagMotor</​A> ​were coming unglued and sliding around the inside+S28-150 ​[[http://​www.magmotor.com/​|MagMotor]] were coming unglued and sliding around the inside
 of the motor. ​ I have several theories as to why this is happening, such as sheer impact forces or differential of the motor. ​ I have several theories as to why this is happening, such as sheer impact forces or differential
 thermal expansion between the magnets and the can causing the existing adhesive to fail, but the bottom thermal expansion between the magnets and the can causing the existing adhesive to fail, but the bottom
Line 33: Line 25:
  
 After much consultation on the After much consultation on the
-<A HREF="http://​forums.delphiforums.com/​BattleBot_Tech/​messages?​msg=19188.1" TARGET="​_blank">​BattleBots Forum</A>,+[[http://​forums.delphiforums.com/​BattleBot_Tech/​messages?​msg=19188.1|BattleBots Forum]],
 I decided that a decent approach would be to use some Scotch 2216 slow-curing epoxy to glue the I decided that a decent approach would be to use some Scotch 2216 slow-curing epoxy to glue the
 magnets back on.  2216 is strong, heat-resistant,​ bonds just about anything to just about magnets back on.  2216 is strong, heat-resistant,​ bonds just about anything to just about
Line 41: Line 33:
  
  
-The<TABLE BORDER=0 CELLPADDING=6 CELLSPACING=0 ALIGN=RIGHT><TR><TD VALIGN=TOP><TABLE BORDER=0 CELLPADDING=0 CELLSPACING=0 ALIGN=RIGHT><TR><TD VALIGN=TOP><​html><​a href="​http://​media.madoverlord.com/​Lg/​DSC030/​DSC03009.jpg" ​target="_blank"><​img src="​http:/​wiki.animeigo.com/​MO/​Sm/​DSC030/​DSC03009.jpg"></​a><​a href="​http://​media.madoverlord.com/​Lg/​DSC030/​DSC03010.jpg" ​target="_blank"><​img src="​http:/​wiki.animeigo.com/​MO/​Sm/​DSC030/​DSC03010.jpg"></​a><​a href="​http://​media.madoverlord.com/​Lg/​DSC030/​DSC03011.jpg" ​target="_blank"><​img src="​http:/​wiki.animeigo.com/​MO/​Sm/​DSC030/​DSC03011.jpg"></​a></​html>​+<html><​a href="​http://​media.madoverlord.com/​Lg/​DSC030/​DSC03009.JPG"><​img src="​http://​wiki.animeigo.com/​MO/​Sm/​DSC030/​DSC03009.jpg"></​a><​a href="​http://​media.madoverlord.com/​Lg/​DSC030/​DSC03010.JPG"><​img src="​http://​wiki.animeigo.com/​MO/​Sm/​DSC030/​DSC03010.jpg"​></a><a href="​http://​media.madoverlord.com/​Lg/​DSC030/​DSC03011.JPG"​><img src="​http://​wiki.animeigo.com/​MO/​Sm/​DSC030/​DSC03011.jpg"></​a></​html>​ 
 +<​html><​a href="​http://​media.madoverlord.com/​Lg/​DSC030/​DSC03012.JPG"><​img src="​http://​wiki.animeigo.com/​MO/​Sm/​DSC030/​DSC03012.jpg"></​a><​a href="​http://​media.madoverlord.com/​Lg/​DSC030/​DSC03013.JPG"​><img src="​http://​wiki.animeigo.com/​MO/​Sm/​DSC030/​DSC03013.jpg"​></a><a href="​http://​media.madoverlord.com/​Lg/​DSC030/​DSC03014.JPG"​><img src="​http://​wiki.animeigo.com/​MO/​Sm/​DSC030/​DSC03014.jpg"></​a></​html>​ 
 +<​html><​a href="​http://​media.madoverlord.com/​Lg/​DSC030/​DSC03015.JPG"><​img src="​http://​wiki.animeigo.com/​MO/​Sm/​DSC030/​DSC03015.jpg"></​a><​a href="http://​media.madoverlord.com/​Lg/​DSC030/​DSC03016.JPG"><​img src="​http:​//​wiki.animeigo.com/​MO/​Sm/​DSC030/​DSC03016.jpg"></​a><​a href="​http://​media.madoverlord.com/​Lg/​DSC030/​DSC03017.JPG"><​img src="​http://​wiki.animeigo.com/​MO/​Sm/​DSC030/​DSC03017.jpg"></​a></​html>​ 
 +<​html><​a href="http://​media.madoverlord.com/​Lg/​DSC030/​DSC03018.JPG"><​img src="​http:​//​wiki.animeigo.com/​MO/​Sm/​DSC030/​DSC03018.jpg"></​a><​a href="​http://​media.madoverlord.com/​Lg/​DSC030/​DSC03019.JPG"><​img src="​http://​wiki.animeigo.com/​MO/​Sm/​DSC030/​DSC03019.jpg"></​a><​a href="http://​media.madoverlord.com/​Lg/​DSC030/​DSC03020.JPG"><​img src="​http:​//​wiki.animeigo.com/​MO/​Sm/​DSC030/​DSC03020.jpg"></​a></​html>​ 
 +<​html><​a href="​http://​media.madoverlord.com/​Lg/​DSC030/​DSC03021.JPG"><​img src="​http://​wiki.animeigo.com/​MO/​Sm/​DSC030/​DSC03021.jpg"></​a><​a href="​http://​media.madoverlord.com/​Lg/​DSC030/​DSC03077.JPG"><​img src="​http://​wiki.animeigo.com/​MO/​Sm/​DSC030/​DSC03077.jpg"></​a></​html>​
  
-<​html><​a href="​http://​media.madoverlord.com/​Lg/​DSC030/​DSC03012.jpg"​ target="​_blank"><​img src="​http:/​wiki.animeigo.com/​MO/​Sm/​DSC030/​DSC03012.jpg"></​a><​a href="​http://​media.madoverlord.com/​Lg/​DSC030/​DSC03013.jpg"​ target="​_blank"><​img src="​http:/​wiki.animeigo.com/​MO/​Sm/​DSC030/​DSC03013.jpg"></​a><​a href="​http://​media.madoverlord.com/​Lg/​DSC030/​DSC03014.jpg"​ target="​_blank"><​img src="​http:/​wiki.animeigo.com/​MO/​Sm/​DSC030/​DSC03014.jpg"></​a></​html>​ +The big problem was clearly going to
- +
-<​html><​a href="​http://​media.madoverlord.com/​Lg/​DSC030/​DSC03015.jpg"​ target="​_blank"><​img src="​http:/​wiki.animeigo.com/​MO/​Sm/​DSC030/​DSC03015.jpg"></​a><​a href="​http://​media.madoverlord.com/​Lg/​DSC030/​DSC03016.jpg"​ target="​_blank"><​img src="​http:/​wiki.animeigo.com/​MO/​Sm/​DSC030/​DSC03016.jpg"></​a><​a href="​http://​media.madoverlord.com/​Lg/​DSC030/​DSC03017.jpg"​ target="​_blank"><​img src="​http:/​wiki.animeigo.com/​MO/​Sm/​DSC030/​DSC03017.jpg"></​a></​html>​ +
- +
-<​html><​a href="​http://​media.madoverlord.com/​Lg/​DSC030/​DSC03018.jpg"​ target="​_blank"><​img src="​http:/​wiki.animeigo.com/​MO/​Sm/​DSC030/​DSC03018.jpg"></​a><​a href="​http://​media.madoverlord.com/​Lg/​DSC030/​DSC03019.jpg"​ target="​_blank"><​img src="​http:/​wiki.animeigo.com/​MO/​Sm/​DSC030/​DSC03019.jpg"></​a><​a href="​http://​media.madoverlord.com/​Lg/​DSC030/​DSC03020.jpg"​ target="​_blank"><​img src="​http:/​wiki.animeigo.com/​MO/​Sm/​DSC030/​DSC03020.jpg"></​a></​html>​ +
- +
-<​html><​a href="​http://​media.madoverlord.com/​Lg/​DSC030/​DSC03021.jpg"​ target="​_blank"><​img src="​http:/​wiki.animeigo.com/​MO/​Sm/​DSC030/​DSC03021.jpg"></​a><​a href="​http://​media.madoverlord.com/​Lg/​DSC030/​DSC03077.jpg"​ target="​_blank"><​img src="​http:/​wiki.animeigo.com/​MO/​Sm/​DSC030/​DSC03077.jpg"></​a></​html></​TD></​TR></​TABLE></​TD></​TR></​TABLE> ​big problem was clearly going to+
 be getting the magnets into the right positions. ​ S28-150 MagMotors use Neodymium be getting the magnets into the right positions. ​ S28-150 MagMotors use Neodymium
 rare-earth magnets that are hellaciously strong; they clamp onto the motor can and rare-earth magnets that are hellaciously strong; they clamp onto the motor can and
Line 60: Line 50:
 My initial thought was to mill a jig out of UHMW, but then I had a brainstorm. My initial thought was to mill a jig out of UHMW, but then I had a brainstorm.
 Quick as a flash, I yanked out my trusty bag of Quick as a flash, I yanked out my trusty bag of
-<A HREF="http://​www.shapelock.com/​" TARGET="​_blank">​ShapeLock</​A> ​thermoplastic.+[[http://​www.shapelock.com/​|ShapeLock]] thermoplastic.
 This stuff looks and feels just like UHMW or Delrin, with a twist - pop it in hot This stuff looks and feels just like UHMW or Delrin, with a twist - pop it in hot
 (150-degree) water and it turns soft, translucent and moldable - like plastic (150-degree) water and it turns soft, translucent and moldable - like plastic
Line 127: Line 117:
  
  
-<​UL>​ +  * When rebolting the motor together, using a long, thin T-handle hex-key to probe and find one of the bolt holes makes it much easier to get the other bolt aligned and seated. ​ See one of the photos for an example.
-<LI>When rebolting the motor together, using a long, thin T-handle hex-key to probe and find +
-one of the bolt holes makes it much easier to get the other bolt aligned and seated. ​ See one +
-of the photos for an example. +
- +
- +
- +
- +
-<​LI>​Remember to scribe a line on the motor can and endbell as soon as you get your MagMotor +
-to mark the neutrally-timed alignment. +
- +
- +
- +
- +
-<​LI>​When reassembling the motor, I find it best to reassemble it as neutrally-timed,​ and to +
-alternate tightening the bolts 1/4 turn at a time to help "​seat"​ everything. ​ Then if you +
-want to retime the motor, loosen the bolts, rotate the can, and retighten them the same way. +
- +
  
  
-<​LI>​Screwing down the brush-holder caps too tight can jam the motor. ​ They should only be 
-tightened until they are flush with the brush-holder housings. ​ A bit of removable LockTite 
-is probably a good idea. 
  
  
 +  * Remember to scribe a line on the motor can and endbell as soon as you get your MagMotor to mark the neutrally-timed alignment.
  
  
-<​LI>​The two circular, bent spring-rings **both** go between the front armature bearing 
-and the frontplate. ​ If you add an encoder to the motor, only one is used. 
  
  
 +  * When reassembling the motor, I find it best to reassemble it as neutrally-timed,​ and to alternate tightening the bolts 1/4 turn at a time to help "​seat"​ everything. ​ Then if you want to retime the motor, loosen the bolts, rotate the can, and retighten them the same way.
  
  
-<​LI>​The original adhesive used for the magnets is 
-<A HREF="​http://​www.loctite.com/​int_henkel/​loctite_us/​loctite_content.cfm?​layout=6&​amp;​productline=325&​amp;​disp_language=en"​ TARGET="​_blank">​Loctite 
-SpeedBonder 325 Structural Adhesive</​A>​. 
  
  
 +  * Screwing down the brush-holder caps too tight can jam the motor. ​ They should only be tightened until they are flush with the brush-holder housings. ​ A bit of removable LockTite is probably a good idea.
  
  
-<​LI>​The bolts that connect the frontplate to the endbell and clamp the motor together are 
-3" 10-32 size.  I have taken to replacing the stock bolts with stronger cap screws from 
-<A HREF="​http://​www.mcmaster.com/"​ TARGET="​_blank">​McMaster-Carr</​A>​. ​ The McMaster part 
-number is 91251A360. 
  
  
 +  * The two circular, bent spring-rings **both** go between the front armature bearing and the frontplate. ​ If you add an encoder to the motor, only one is used.
  
  
-<LI>I got annoyed about the high cost of replacement brush caps for this motor, so I bought a bagful 
-and can <A HREF="​brushcaps.t.html">​offer them at a fraction of the original cost</​A>​. 
-</UL> 
-I'll update this page after the repair is battle-tested. 
  
  
 +  * The original adhesive used for the magnets is [[http://​www.loctite.com/​int_henkel/​loctite_us/​loctite_content.cfm?​layout=6&​amp;​productline=325&​amp;​disp_language=en|Loctite SpeedBonder 325 Structural Adhesive]].
  
  
  
  
 +  * The bolts that connect the frontplate to the endbell and clamp the motor together are 3" 10-32 size.  I have taken to replacing the stock bolts with stronger cap screws from [[http://​www.mcmaster.com/​|McMaster-Carr]]. ​ The McMaster part number is 91251A360.
  
  
  
  
 +  * I got annoyed about the high cost of replacement brush caps for this motor, so I bought a bagful and can [[madoverlord::​robots-brushcaps|offer them at a fraction of the original cost]].