Editing List of motors for SimuCUBE

Lists few of commonly used motors with [[SimuCUBE]]. The list has only few examples that may be used as reference when choosing a motor.

Please note, that these settings files are just templates that include the very basic motor settings. At least the following need to be adjusted according to the user's configuration to use these files successfully:
# FOV Over Voltage Fault Threshold has to be set to minimum of 102% of the supply voltage, i.e. for 48.0 V power supply, 49.5 V is recommended to have some margin.
# FOC Over Current Tolerance has to be increased to Very High or Maximum. The motors typically will not initialize with the latest IONI servo drive firmwares using these configuration files.
# Feedback device (encoder) settings have to be adjusted to match the feedback device in use.
# FEV Over Speed Fault Threshold has to be adjusted so that the motor does not generate a fault condition if user turns the wheel too fast. In Granity, a threshold value of minimum of 6 rotations per second as indicated next to FEV field can be used as a guideline.
''If you have suggestion of motor to this list and can share your experiences and/or configuration files, please let us know at [[Granite Devices support]].''
{{Warning|After loading settings file, motor may start producing torque immediately after settings are active. 
*Ensure that motor is free to spin forcefully without causing any danger
*Ensure that motor has been rigidly mounted in place
*Do not try to stop rotating motor by hand
*Ensure that there is no loose cables or other items attached to any rotating/moving parts}}

{| class="wikitable"
!Manufacturer
!Model
!Suppliers
!Peak torque
!Encoder resolution
!Recommended IONI
!SimuCUBE configuration file(s)
!IONI configuration files (s)
|-
|MiGE
|130ST-M10010
|See [[How to obtain MiGE servo motors|Obtaining MiGE servo motors]]
|20 Nm
|2500 PPR
|IONI Pro / IONI Pro HC
|
|[[Media:Simucube 130ST-M10010 2500PPR reduced current.drc|Mige 130ST-M10010, 2500 PPR, reduced torque]]. See notes 1 & 3.
|-
|MiGE
|130ST-M10010
|See [[How to obtain MiGE servo motors|Obtaining MiGE servo motors]]

|20 Nm
|5000 PPR
|IONI Pro / IONI Pro HC
|
|[[Media:SimuCUBE Mige 130ST-M10010 5Amp.drc|Mige 130ST-M10010, 5000 PPR, reduced torque]]. See notes 1 & 2.
|-
|MiGE
|130ST-M15015
|See [[How to obtain MiGE servo motors|Obtaining MiGE servo motors]]

|30 Nm
|2500 PPR
|IONI Pro HC
|
|[[Media:Simucube 130ST-M15015 2500PPR reduced current.drc|Mige 130ST-M15015, 2500 PPR, reduced torque]]. See notes 1 & 3.
|-
|MiGE
|130ST-M15015
|See [[How to obtain MiGE servo motors|Obtaining MiGE servo motors]]
|30 Nm
|5000 PPR
|IONI Pro HC
|
|[[Media:Simucube 130ST-M15015 5000PPR reduced current.drc|Mige 130ST-M15015, 5000 PPR, reduced torque]]. See notes 1 & 2.
|-
|Lenze
|MCS12H15L
|
|29 Nm
|4096 PPR
|IONI Pro HC
|
|
|}
Notes:
# This is a template settings file and requires final adjustments after testing. See [[Configuring IONI drive in SimuCUBE]] for guidance. Template file notes:
#* This configuration file has intentionally reduced current setting ({{Param|MCC}} and {{Param|MMC}}) to reduce motor's torque (safer when testing settings). Once tests succeed, you may increase these current limits to get more torque. 
#* {{Param|MPP}} is a default value, change this according to your DC power supply power rating.
#* Torque mode effects are disabled by default, see Granity Tuning tab and click ''Show advanced settings'' if you wish to use effects generated by IONI drive
# In MMos settings, setup according to [[Configuring MMos for SimuCUBE]] and optionally enable "Use Encoder Index".
# In MMos settings, setup according to [[Configuring MMos for SimuCUBE]] and set Encoder CPR to 10000, and optionally enable "Use Encoder Index".

== Motor considerations ==
Follow these instructions how to calculate the maximum theoretical torque that is available from a specific motor. Please note, that this is rough estimation for static operation, and does not work for dynamic motion. This calculation assumes 48 V PSU and 93 % power conversion efficiency for IONI (worst case).

Check the motor datasheet for the following:
* Winding resistance
* Torque constant/coefficient

Max_torque_output = torque_constant * (32.2 / winding_resistance) [Nm]. The 32.2 is the maximum phase-to-phase RMS voltage with a 48 V PSU.

PSU_requirement = (max_torque_output/torque_constant)^2 * winding_resistance * 1.5 / 0.93 [W]. Replace the max_torque_output with the motor peak torque, if the latter is smaller.

Here are results for the most common motors.
{|class="wikitable" style="text-align: center;"
|-
!  Motor !! Winding resistance !! Torque constant !! Peak torque !! Irms @peak torque !! Irms max !! Achievable torque !! PSU requirement
|-
| Mige 130ST-10010 || 2.7 Ohm || 2.2 || 20 Nm || 9.09 A || 11.93 A|| 20.0 Nm || 360 W
|-
| Mige 130ST-15015 || 1.1  Ohm|| 1.58 || 30 Nm || 18.99 A || 17.68 A || 27.9 Nm || 555 W
|-
| AKM 52G || 3.7 Ohm || 1.79 || 21.5 Nm || 12.01 A || 8.70 A || 15.6 Nm || 453 W
|-
| AKM 53G || 3.97 Ohm || 2.39 || 29.7 Nm || 12.43 A || 8.11 A|| 19.4 Nm || 422 W
|-
| Lenze MCS12H15L 230 V || 1.41 Ohm || 1.4 || 29 Nm || 20.71 A || 17.68 A || 24.8 Nm || 711 W
|-
|}

If the calculated maximum torque is less than the motor peak torque, then it is not possible to achieve the specifies motor peak torque.