R501 *Allowable motors. The only motors and actuators permitted include the following (in any quantity):
Table 8‑1 Motor allowances
|
Motor Name |
Part Numbers Available |
|
|
AndyMark 9015 |
am-0912 |
AndyMark 9015 |
|
AndyMark NeveRest |
am-3104 |
|
|
AndyMark PG |
am-2161 (alt. PN am-2765) |
am-2194 (alt. PN am-2766) |
|
AndyMark RedLine Motor |
am-3775 |
am-3775a |
|
AndyMark Snow Blower Motor |
am-2235 |
am-2235a |
|
Banebots |
am-3830 M7-RS775-18 RS775WC-8514 |
M5 – RS550-12 RS550VC-7527 RS550 |
|
CIM |
FR801-001 M4-R0062-12 AM802-001A 217-2000 PM25R-44F-1005 |
PM25R-45F-1004 PM25R-45F-1003 PMR25R-45F-1003 PMR25R-44F-1005 am-0255 |
|
CTR Electronics Minion |
24-777378 |
WCP-1691 |
|
CTR Electronics/VEX Robotics Falcon 500 |
217-6515 am-6515 |
19-708850 am-6515_Short |
|
Current/former KOP automotive motors |
Denso AE235100-0160 Denso 5-163800-RC1 Denso 262100-3030 |
Denso 262100-3040 Bosch 6 004 RA3 194-06 Johnson Electric JE-PLG-149 Johnson Electric JE-PLG-410 |
|
Playing with Fusion Venom |
BDC-10001 |
|
|
REV Robotics HD Hex |
REV-41-1291 |
|
|
REV Robotics NEO Brushless |
REV-21-1650 (v1.0 or v1.1) |
am-4258 am-4258a |
|
REV Robotics NEO 550 |
REV-21-1651 |
am-4259 |
|
REV Robotics NEO Vortex |
REV-21-1652 |
am-5275 |
|
Thrifty Bot Pulsar 775 |
TTB-0350 |
|
|
VEX BAG |
217-3351 |
|
|
VEX Mini-CIM |
217-3371 |
|
|
West Coast Products Kraken x44 |
WCP-0941 |
|
|
West Coast Products Kraken x60 |
WCP-0940 |
am-5274 |
|
West Coast Products RS775 Pro |
217-4347 |
|
|
Fans, no greater than 120mm (nominal) size and rated electrical input power no greater than 10 watts (W) continuous duty at 12 volts (VDC) |
||
|
Hard drive motors part of a legal COTS computing device |
||
|
Factory installed vibration and autofocus motors resident in COTS computing devices (e.g. rumble motor in a smartphone). |
||
|
PWM COTS rotational servos with stall current ≤ 4A and mechanical output power ≤ 8W at 6V. PWM COTS linear servos with max stall current ≤ 1A at 6V. |
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|
Motors integral to a COTS sensor (e.g. LIDAR, scanning sonar, etc.), provided the device is not modified except to facilitate mounting |
||
|
1 compressor compliant with R806 and used to compress air for the ROBOT’S pneumatic system |
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|
COTS brushed motors, linear actuators, electrical solenoid actuators, or electromagnets rated for 12V and wired to an approved power regulating device downstream of a breaker 20A or less. Electrical solenoid actuators or electromagnets used at 24V must be rated for 24V. |
||
For servos, note that the roboRIO is limited to a max current output of 2.2A on the 6V rail (12.4W of electrical input power). Teams should make sure that their total servo power usage remains below this limit at all times.
Servo mechanical output power is approximated by the following formula (using 6V data reported by manufacturer): Mechanical Output Power (in W) = 0.25 x (Stall Torque in N-m) x (No Load Speed in rad/s). This calculator from the FIRST Tech Challenge documentation can be used to help calculate output power from inputs of various units.
Given the extensive amount of motors allowed on the ROBOT, teams are encouraged to consider the total power available from the ROBOT battery during the design and build of the ROBOT. Drawing large amounts of current from many motors at the same time could lead to drops in ROBOT battery voltage that may result in tripping the main breaker or trigger the brownout protection of the roboRIO. For more information about the roboRIO brownout protection and measuring current draw using the PDP/PDH, see roboRIO Brownout and Understanding Current Draw.
AndyMark PG Gearmotors are sold with labeling based on the entire assembly. Assemblies labeled am-3651 through am-3656 contain legal motors specified in Table 8‑1. These motors may be used with or without the provided gearbox.