In order to check if a relay is functioning properly all you need is a voltmeter and a way to activate the relay. Change the setting on the voltmeter to resistance. Check the resistance between the COM and NC pins as well as between the COM and NO pins. Do this when the relay is turned off and turned on. The relay is working properly if when it is off the resistance between COM and NC is very small and the resistance between COM and NO is very large (nearly infinite; the voltmeter should read 0L). Similarly, when it is activated, the resistance between COM and NO should be small and the resistance between COM and NC should be large. If this is not the case, then your relay is not working properly.
Wednesday, March 22, 2017
Fixed The Motors
I have identified that the problem with the motors originated from a bad relay. The V- relay was not working properly and so I had switched the wires to a functioning relay and adjusted the pins in the motor control code. Now the motors are working as intended again.
Wednesday, March 15, 2017
Troubleshooting The Motors
After removing the top motor from VIPER,I tried to troubleshoot why the motor no longer functioned. The problem does not appear to be with the motor itself. There was no water inside of it and all the wiring seems to be intact. The brakes are also operational because we can hear the click that signifies that they are disengaged and we are able to move the motor by hand.
The problem also does not appear to be with the power supply as we measured the output with a voltmeter and the measurement checked out.
The angle encoder appears to be fine as well. I had originally thought that there may have been something wrong with the wire that connects the angle encoder to the relays was malfunctioning because when you shook the wire while the angle encoder was not attached, the counts would increase. However, while the encoder was attached this problem did not persist.
To ensure that there were no problems with the code or that I accidentally changed some parameters, I redownloaded the original code that I had used when we successfully moved the motors the first time.
This leads me to believe that the problem lies with the relays because it is the only aspect left unchecked and I measured the voltage at the leads where the motors connect to the relays and there was no output.
The problem also does not appear to be with the power supply as we measured the output with a voltmeter and the measurement checked out.
The angle encoder appears to be fine as well. I had originally thought that there may have been something wrong with the wire that connects the angle encoder to the relays was malfunctioning because when you shook the wire while the angle encoder was not attached, the counts would increase. However, while the encoder was attached this problem did not persist.
To ensure that there were no problems with the code or that I accidentally changed some parameters, I redownloaded the original code that I had used when we successfully moved the motors the first time.
This leads me to believe that the problem lies with the relays because it is the only aspect left unchecked and I measured the voltage at the leads where the motors connect to the relays and there was no output.
Moving VIPER
Using the instructions included with Jon's simulink code, I was able to operate a small motor. The motor was unable to handle the power of the power supply used and it fried very quickly after using it.
Afterwards I used the same instructions on the VIPER motors with some mixed results. Overall the motors functioned but not to full expectations. The top motor often stopped moving partway through its intended distance. The motors also oscillated around the desired angle until fully coming to a stop. A few days later I tried to operate the motors again with no success. The motors failed to move at all.
Afterwards I used the same instructions on the VIPER motors with some mixed results. Overall the motors functioned but not to full expectations. The top motor often stopped moving partway through its intended distance. The motors also oscillated around the desired angle until fully coming to a stop. A few days later I tried to operate the motors again with no success. The motors failed to move at all.
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