Ideal for the Super Fast Robot (T-motor)

T-motor company was kind enough to send me two robot actuators with MIT mini Cheetah controllers. And It was a pleasure to test them. Thanks to the fast controller you can do the collision detection and bilateral telepresence.
Here the link to this actuator:
Sales Engineer: Yoyo Liu
E-mail: [e-mail]
Skype: Yoyo28rctiger
WhatsApp: [phone]
Product Link: store-en.tmoto...
Special thanks to my special Patrons: Wesley Corp, RobotDigg Shanghai, Pierre Freyssinet, M. Aali and Shounak Bhattacharya!
Please subscribe. This will help me to develop other projects like this, to bring the bright future closer!
One time donation:
www.paypal.me/...
If you want to help this channel, please support me on Patreon:
/ skyentific
Instagram: / skyentificinsta
Facebook: / skyentificface
Twitter: / skyentifictweet
#Actuator #Brushless #Robotics

[@steveanimatrix3887]

Pretty exciting. T-Motor has a very good reputation in the drone industry. Both my drones have T-Motors installed.

[@sanches2]

Друг, i love the way you present. Every time i watch a video of yours i have good laughs guaranteed and perfectly presented interesting actuators. Directly stolen from ...'s thesis made me roll on the floor laughing:) Best wishes from Bulgaria!

[@mattanimation]

another great video, yes those actuators did look pretty sexy coming out of the box.

[@dunichtich100]

As always a verry nice video and presentation of the motors! 😊👍👍👍

[@Skyentific]

Thank you a lot! :)

[@Mushaz]

Love watching all your videos! This one was very interesting, thank you for sharing and keep making these videos.

[@Skyentific]

Thank you a lot.

[@antongricunov9856]

Your videos are very cool! Thank you for that! I'm from Ukraine and I don't understand English well, but with your accent it's easier for me to understand! Please make more robotics and hardware videos! I like and subscribe!

[@zahidullah3413]

As always a verry nice video and presentation of the motors !!!

[@immortalsofar7977]

That telepresence demo was freaken cool!

[@nabajyotidey5613]

You are an awesome inventor... Love you from India.

[@4ikapikadesi]

Очень классный канал. Третий день под впечатлением. Спасибо!

[@Skyentific]

Спасибо большое что смотрите!

[@mosesturner4018]

Lovin that Eee PC!

[@Skyentific]

And it needs less than 10 minutes to boot!

[@JPA55MOR3]

Just bought one. Will update soon

[@BoltzVideo]

Hi, did you manage to get it running with Arduino (or similar) controller?

[@akimrain]

@@BoltzVideo HI what about you? How did you run it?

[@Guanaalex]

Thank you so much, for this very helpful educational video. You are an excellent teacher. Super!

[@Skyentific]

Thank you!

[@TomTom-tp3qc]

Perfect motor for a DIY scara robot arm!! Imagine the 3D printer you could make with that.

[@Sigmatechnica]

I like this style of actuator but they are all so expensive :( still geared dc motors and steppers for me!

[@excitedbox5705]

Look at gimbal motors on aliexpress. Same style but much more affordable.

[@Alex-kr7zr]

Still cheaper and more compact than a typical strainwave geared AC drive actuator used in robotics, and they get significantly cheaper with higher volume.

[@Sigmatechnica]

@@Alex-kr7zr Yeah progress is being made here for sure. It's just a bit frustrating as a hobbyest that the barrier for entry is still quite high.

[@natec1]

Those look very fun to play around with and try things

[@MultiUroX]

mayze forze bez with you :D

[@derarty4290]

9:46

[@Goodwill345]

Safety first, you are in the habit of taking your face too close to the moving arms, we don’t want you to get hurt. super good video, Thank you

[@Alex-kr7zr]

Nice, finally we can do remote arm wrestling.

[@Vancha112]

"super simple" 😂 this is some amazing stuff, but there's not a lot of sub fields of robotics than can be considered simple in my opinion. This requires a lot of knowledge of a lot of topics, so don't play yourself down ^^. Thank you very much for making it understandable!

[@ПафнуцийКолотушкин]

С русским акцентом мне даже легче понимать английский язык :). И с юмором, что тоже приветствуется!

[@Skyentific]

Спасибо. Отдельное спасибо что не стали Мутко вспоминать :).

[@SABTEC]

А я то думал почему мне все так понятно на слух. Не знал, что автор русский ;). Интересно слушать и смотреть, спасибо!

[@ПафнуцийКолотушкин]

@@SABTEC Здравствуйте! А я бывший типограф, :) , в совдепии работал на ещё плоскопечатных машинах высокой печати.

[@ukyakin]

Да-да, полностью поддерживаю)!

[@nibunimu]

Русский акцент сразу ударил по ушам. Что бы убедиться в своей правоте открыл описание под роликом, но увидев там какого-то Yoyo Liu был крайне удивлен. Пока не понял что это просто контакт продавца.

[@herobone9385]

You could try using the STM32 you used for your DIY Mini Cheetah Controller as the brain. Most of the STM32 boards are programmable in the Arduino language and some even support CAN built in or have support for normal Arduino shields. And of course they are much faster than an Arduino.

[@Build_the_Future]

I wish it was stronger but I love the controller I think it's better than the Odrive except for the lack of power.

[@Skyentific]

Eric lamb ODrive have a lot of possibilities. This one has less control, but it is super easy and extremely fast.

[@tomcypher3864]

Interestion if stiffness and damper are P and D coefficients of PID controller respectively

[@wei1224hf]

There are at least 3 companies in China producing and selling MIT motors : HaiTai Motor, they are the first company producing the MIT motor, as soon as the MIT opensource the motor. ZhiQing Dog, they are producing the entire Mini Cheetah dog , and selling it at the price of 1.8W RMB, means 6000$. They have 3 diffrerent types of MIT motor to sell. T-Motor , they just start producing the MIT motor this year , Skyentific is introducing this company here.

[@nosferatuohnezahn6630]

Like everytime, Nice video!

[@Skyentific]

Thank you!

[@MarinusMakesStuff]

Supercool, if I had three of these I would make such an awesome 3D-printer with it. But I assume these are way out of my price range. Also lovely to see how you can link them together and 'feel' the force that you apply on one end to translate into the second one.

[@Mr30friends]

I don't think that motor speed is a concern in 3d printing. It would be kind of an overkill.

[@TheNamelessOne12357]

3D Printer actuator must have no backlash.

[@evanemanuel1774]

If you really wanted to make an awesome 3D printer, you might pick low/minuscule backlash, mid-range speed, high stiffness, and a controller that focuses on precision and not torque or speed. AKA steppers. BUT the very fact that you saw this video and considered what cool things you could make with it, that’s what the world needs. stay inspired my friend

[@MarinusMakesStuff]

@@Mr30friends Maybe I love overkill :)

[@MarinusMakesStuff]

@@TheNamelessOne12357 This will be fine. Trust me. At the scale I'm thinking backlash will not be a problem anyway.

[@dreggory82]

Awesome!

[@sigmamalerules1106]

First Comment I love your videos .from Bangladesh !

[@Skyentific]

I confirm: first comment. Thank you!

[@normcaissie5598]

Awesome videos. Thanks

[@Skyentific]

Thank you!

[@TheNamelessOne12357]

Does these actuators require endstops and homing cycle when used in robot arm, or the position is always absolute and precise?

[@Skyentific]

P Kav it is absolute in the range of one motor rotation (1/6 output shaft rotation). And you don’t need endstops, and you don’t need to do the homing.

[@TheNamelessOne12357]

@@Skyentific Absolute encoder? So homing and endstops are still required. Axis 1, for example, can turn much more than 60 degrees.

[@HerrPOZA]

Ausgezeichnet!

[@Skyentific]

Vielen Dank!

[@CyberDunk2077]

Could use them to have adjustable dampening and ride height on an ebike. Price is eyewatering though, Maybe this technology will be more affordable in the future. Good video.

[@riyadhzulkifli49]

Hi sir, at 3:30 i think the Kp, Kd and Ti is the coefficient of the PID controller of a closed loop control of the system

[@Skyentific]

Yes, I think you are right. But when you say coefficient of PID, it is less obvious how to use them. :)

[@drbra1n]

Эс олвейс, итс эн амэйзинг видео - грит джоб, френд! Сач э вандефул интрадакшен ин роботикс фо новайс юзерс, лайк ай эм. Рили апришиэйт йор ворк. Гритингз фром Юкрейн!

[@Skyentific]

Spasibo bol’shoe. :)

[@MikeNugget]

Amazing review!

[@astasna]

That what I want to use to design barrier free openings ! Existing ones suck like hell

[@DAG_42]

When that Eee PC from 15 years ago was new... it cost about half as much as one of those motors =O

[@kruhus]

На башенных кранах КБ674А устанавливались сельсинов, один на двигателе грузовой тележки, второй в кабине машиниста, эта пара показывала вылет тележки.

[@ashishsiddharthIIT]

Hi... Can we move it at different rpm...(velocity control mode) I want to move my motor at 1 rpm, 2 rpm... 10 rpm and 100 rpm... with endless rotation.

[@wizardOfRobots]

bilateral telepresence reminds me of the movie Real Steel.

[@jesusdemiguelfernandez8647]

Hi @Skyentific! Really nice video! Could you share the values for the proportional and derivartive gains? At the beginning the values were Kp = 100 and Kd = 0.1?

[@planktonfun1]

pretty cool, now do send it to another side of the room and try to control

[@PurpleBaroon]

"Some power for me" lmao

[@prokradima]

It will be great if you put links on previous videos

[@Skyentific]

Дмитрий Кравцов yes! You are right!

[@zahidullah3413]

@Skyentific, please also share the code of this demonstration.

[@omarcruz6326]

Nice

[@Skyentific]

Thank you!

[@Dave-nz5jf]

where did he get that cool holder?

[@anujregmi4582]

good work

[@scienceofgame6270]

First of all, thanks for this informative video. Would you compare them with MIT Mini Cheetah, INNFOS, RMD x8, RMD x8 PRO actuators which were in your previous videos? Even though it is a hard comparison, it may guide us.

[@ilovetechnology8436]

Please include ODrive also

[@gerssiwakorn4713]

I try to control AK60-60 in Ubuntu 20.0.4 with TMotorCANControl Api in python lib but check motor connection method return (RTNETLINK answers: Operation not supported). I have to install some driver? to make TMotorCANControl Api find Can0? (I use R-Link can protocol)

[@gauravphalke5311]

Can your DIY robotic arm write on pape.. if yes please make a video on that.. keep the good work..

[@zombieexpress99]

Hi, how to callibrate the motor? I could not find the software. Maybe we can callibrate it without the software?

[@zombieexpress99]

I try to follow the steps by connecting it to terra term through the ftdi board. But no data comes out

[@akimrain]

how did you make it control?

[@rca168]

I put the like

[@Skyentific]

Raphaël Casimir thank you!

[@aann4546]

this might be out of scope... but is that a safety goggles or your working glasses? or both??? because it looks cool man......

[@moldedjelly80]

When chaining the motors together, is there a trick to the CAN Id and Master Id settings on the motors? I can talk to a single motor fine but when I add another motor in (including the termination 120ohm) I can't talk to any of the motors?

[@Skyentific]

You need to change id. By default they all have id=1. Master id is usually equal to zero.

[@Skyentific]

I am actual working on this right now. :))) chaining 3 T-motor actuator.

[@moldedjelly80]

@@Skyentific Thanks very much for your comments and your videos! They've been very helpful. We're working on a camera gimbal system.

[@moldedjelly80]

@@Skyentific I think I'm having problems with our 2 chained motors because the CAN port broke on one after some unexpected operations in testing :(

[@Skyentific]

Chaining 3 motors works fine as long as I don’t use id higher than 3. For some reason the id 4 and higher (i tried 4, 5, 6 and 7) does not work for me.

[@kevinsantanamedina6376]

Nice video, how do they motor know it hit something? like your hand in the minute 6.30 , is it a current sensor or something else? and how is controlling the stiffness? thanks in advance and thanks for the good content

[@T4nm4y]

Can you show the movement at max speed? That would be interesting!

[@karryvenkatesh5116]

Hi sir, all your videos are Excellent. I want to make a 4 DOF robotic arm of 100 cm reach and 1 kg payload. Are these T motors good enough for my Arm?

[@Skyentific]

Thank you. No, you would need more powerful actuators. These actuators would overheat quickly with such load. You would need to use actuators with at least 15Nm rated torque. store-en.tmotor.com/goods.php?id=1030 this one should work for you. But you will have the precision of around 3-5mm, due to backlash.

[@Skyentific]

Or you can use these actuators with additional reduction stage to increase the torque.

[@karryvenkatesh5116]

@@Skyentific Thanks a lot sir for replying. Can i use servo mentioned by you store-en.tmotor.com/goods.php?id=1030 directly at joint without using harmonic gear system and which controlling board you prefer to buy for easy controlling of 4 such servos for my robotic arm. Thank you in advace

[@Skyentific]

karry venkatesh yes, in my opinion this actuator should work, but your entire arm should be light of course!!! To control you can use arduino with can bus shield or teensy with can bus shield or stm32 or many others. Arduino would be the most simple. Teensy could be a good compromise, relatively simple and quite powerful.

[@RomaxSinergy]

*2x518 USD* .. Damn nice gift !!!

[@Stigmaru]

What did you use for the P, V, T, KP, and KD max/min limits? T Motors website seems to list the same (most likely wrong) cookie cutter spec sheet for all their motors and also doesn't provide the KD/KP values at all.

[@Nathan0A]

What's the max RPM? Can it run as a servo motor, if so what is the CPR of encoder?> I want to DIY force-feedback game controllers for sim racing and flight sims

[@shiveshkumar1045]

Hi, we started to experiment with these motors after watching your video. However, we find the operation to be noisy. Especially when you push it after setting some Kp, Kd values. Did you notice it as well?

[@kaifbhojani7979]

Hello @Shivesh Kumar can you please tell us how are you controlling the motor and which controller are you using.

[@akimrain]

Hi Shivesh, same question here

[@Not-C-418]

Stupied question : Can i use them as a stepper motors for a CNC

[@Skyentific]

Yes. But steppers are good for CNC. They are cheap, no backlash. And on CNC, you don’t need to have light motors. The feature of this motor: they are light and powerful.

[@saminsiddiquee2059]

Is T-Motor better or GYEMS better? please ignore price consideration. thanks

[@Skyentific]

My opinion: Gyems has better mechanics (looks more solid, less backlash), but T-motor has better electronics (easier to control, more possibilities). I even think about taking Gyems actuator, and putting the better electronics (controller inside).

[@saminsiddiquee2059]

@@Skyentific thank you, you are a genius

[@BoltzVideo]

Nice video! Do you have a link to the arduino CAN code that you wrote?

[@akimrain]

Hi, do you have similar motor? how did you control it?

[@Andre_Beth]

Sorry if I missed something here, but is this using an FOC library?

[@Skyentific]

Yes it is.

[@jiachen3920]

Hello, good, I wanted to ask if the motor is only capable of controlling the torque or the speed and position can also be controlled.

[@Skyentific]

Yes. You can put torque = 0, this will be position control. If you also set stiffness to zero, this will be speed control. But for speed control there is a drawback: it has a limit at how many turns it can make. It cannot rotate indefinitely like with ESC.

[@jiachen3920]

@@Skyentific Thank you for your response.

[@jiachen3920]

@@Skyentific Sorry I have tried to reproduce your arduino code but I have missed several errors when compiling, if it is not so much trouble if I could upload your code I would appreciate it.

[@yoyoliu7109]

Hi Jia, this actuator support "position control, speed control, and torque control".

[@akimrain]

@@jiachen3920 Hi Jia, did you make it work?

[@larstronruddahl4199]

Great videos! How do you rate this motor compared to the Gyems RMD X-8 you reviewed earlier. Any differences in build quality, backlash etc? Are they controlled the same way?

[@sachinthakur6646]

Does it support multi torque in position control?

[@needsmoorecowbell]

Hi Skyentific, on Hackaday website there are threads talking about the Steadywin V2 model of Ben Katz motors being a poor quality with the built-in controller being very unreliable and inconsistent (1amp in one direction and sometimes 15 amps in the other). Have you noticed any of these types of issues with the tmotor or gems motors? Do they seem to function reliably and consistently forward and back, etc?

[@rahulnarasimhan1669]

What battery can I use for AK80-9 motor?

[@syedfawad8245]

Can you suggest any motor which has a linear ball scew actuator

[@rus.physics5523]

Лондон из зэ кэпитал оф Грейтбритан!

[@Arek_R.]

May ze force be viz you 🤣

[@eng.mosabkhlefat3278]

What is the price of this actuator

[@serdaraytemiz9978]

Skyentific: Easy!! Me: ????

[@wovada]

Это подхолящий мотор для каких роботов?

[@numbperson]

Hello! Is it possible for you to share your code for the torque threshold and the bilateral teleoperation? I couldn’t get mine working properly and I can’t find good resources online besides yours! Enjoying your videos!

[@akimrain]

Hi, do you have also similar motor? how do you operate them?

[@net676789]

Can I know how you control the the two actuators to perform like that?

[@Morkvonork]

When you dont power those actuators from batteries what kind of power supply do you use for high amperage?

[@MrGatlin98]

What is the name of that shield that's being used with the Arduino?

[@Scott_C]

He said "can bus shield" didn't hear a specific brand. However, I don't think there are many CB shields, and any of them would probably run the motor since it's an international com standard.

[@MrGatlin98]

@@Scott_C Thanks. I noticed that later in the video (I commented too soon lol). I found one online from Sparkfun that looks identical.

[@KiranTeja]

what motors and controllers do you recommend for animatronics?

[@bradlypring6646]

Question: Did this motor come with any cables? or do i have to create my own CAN and power harnesses?

[@Skyentific]

I don’t know. I got 1 set of cables (CAN, power, serial) for 2 actuators. So it looks like half a set per actuator. ?!

[@1119hayabusa]

One UART, CAN, and Power cables are included per motor package.

[@akimrain]

@@1119hayabusa hi, how do you control this motor? I have similar ones

[@TheRealFrankWizza]

How are you doing with computer vision?

[@b5a5m5]

8:02 Make windshield wipers!

[@michaelrosenblum2583]

Hello, fist of all very helpful video, secondly, do you know of a way to program and control the motor using Python rather than Arduino?

[@akimrain]

hi Michael, did you figure it out? do you have similar motors?

[@hysoon6167]

Hi, great video! But 1 question: how did you do the bilateral telepresence? Couldn’t hear what you said in the video :(

[@Skyentific]

Everything is explained in the master thesis of Ben Katz. And he took it from this paper: ieeexplore.ieee.org/document/1618740 . But basically it is: Torque1 = Kp*(pos2-pos1)+Kd*(v2-v1)-K*v1 Torque2 = Kp*(pos1-pos2)+Kd*(v1-v2)-K*v2

[@hysoon6167]

@@Skyentific Thank you so much! This is just great!

[@martijn4740]

awesome motors dont even want to ask how mutch they cost lol yep i looked damm lol

[@1119hayabusa]

Thank you for uploading awesome video ! In this video, text is output on TeraTerm right after connecting power supply, but it doesn't happen in my environment. Can you think of any reason for this?

[@Skyentific]

Hayabusa Js For me it was always immediately after I connect the power. Are you sure that you connected everything properly? Receiver, Transmitter and ground?

[@1119hayabusa]

@@Skyentific Thank you for your reply, sir. I am using FT234X USB-serial converter module and re-checked the connection and baudrate and so on, but it still doesn't work...

[@Skyentific]

Simple question, but just to be sure: do you connect. Your connection should be like this: Ground - Ground Tx - RX Rx - Tx. Transmitter to Receiver, Receiver to Transmitter. Please check this. According to 2:12

[@1119hayabusa]

@@Skyentific Yes. I did a lot of checks.

[@Skyentific]

In this case maybe try another usb-serial converter. I don’t know. It should work. I had a problem when I was connecting it first time. Because I was using wrong cable (ground was in the place of receiver. And receiver was on the ground place), But on video it is shown correctly.

[@SoumyaMaitra2008]

How did you measure the backlash?

[@Skyentific]

I attached long arm to the output shaft and checked the play at the end of the arm. It is not the real measurements, but rather estimation.

[@SoumyaMaitra2008]

Skyentific makes sense brother. Very good idea :)

[@excitedbox5705]

I know these are quality actuators but the price is way out of the range of most hobby projects. Unless you are building some high priced professional product you will be looking at a much more affordable option such as the brushless gimbal motors on Aliexpress.

[@wei1224hf]

Can you share your arduino code ? I have bought a arduino can shield v1.2 and arduino uno, and a MIT motor , but I don't know how to use them bu arduino

[@Skyentific]

To understand how to use it, you can watch my video about MIT mini Cheetah controller (How to Build MIT mini Cheetah controller). And this is the Arduino code: // demo: CAN-BUS Shield, send data // [e-mail] #include #include /*SAMD core*/ #ifdef ARDUINO_SAMD_VARIANT_COMPLIANCE #define SERIAL SerialUSB #else #define SERIAL Serial #endif // Define Joystick connection pins #define UP A1 #define DOWN A3 #define LEFT A2 #define RIGHT A5 #define CLICK A4 //Define LED pins #define LED2 8 #define LED3 7 // Value Limits #define P_MIN -12.5f #define P_MAX 12.5f #define V_MIN -65.0f #define V_MAX 65.0f #define KP_MIN 0.0f #define KP_MAX 500.0f #define KD_MIN 0.0f #define KD_MAX 5.0f #define T_MIN -18.0f #define T_MAX 18.0f // Set values float p_in = 0.0f; float v_in = 0.0f; float kp_in = 20.0f; float kd_in = 3.0f; float t_in = 0.0f; // measured values float p_out = 0.0f; float v_out = 0.0f; float t_out = 0.0f; // the cs pin of the version after v1.1 is default to D9 // v0.9b and v1.0 is default D10 const int SPI_CS_PIN = 10; MCP_CAN CAN(SPI_CS_PIN); // Set CS pin void setup() { SERIAL.begin(115200); delay(1000); while (CAN_OK != CAN.begin(CAN_1000KBPS)) // init can bus : baudrate = 500k { SERIAL.println("CAN BUS Shield init fail"); SERIAL.println(" Init CAN BUS Shield again"); delay(100); } SERIAL.println("CAN BUS Shield init ok!"); // Initialize pins as necessary pinMode(UP,INPUT); pinMode(DOWN,INPUT); pinMode(LEFT,INPUT); pinMode(RIGHT,INPUT); pinMode(CLICK,INPUT); pinMode(LED2, OUTPUT); pinMode(LED3, OUTPUT); // Pull analog pins high to enable reading of joystick movements digitalWrite(UP, HIGH); digitalWrite(DOWN, HIGH); digitalWrite(LEFT, HIGH); digitalWrite(RIGHT, HIGH); digitalWrite(CLICK, HIGH); // Write LED pins low to turn them off by default digitalWrite(LED2, LOW); digitalWrite(LED3, LOW); } long previousMillis = 0; void loop() { //do something float p_step = 0.001; if (digitalRead(UP)==LOW) { //move motor forward p_in = p_in + p_step; } if (digitalRead(DOWN)==LOW) { //move motor backward p_in = p_in - p_step; } p_in = constrain(p_in, P_MIN, P_MAX); if (digitalRead(RIGHT)==LOW) { // Enable EnterMotorMode(); digitalWrite(LED2, HIGH); } if (digitalRead(LEFT)==LOW) { // Disable ExitMotorMode(); digitalWrite(LED2, LOW); } // send CAN pack_cmd(); // receive CAN if(CAN_MSGAVAIL == CAN.checkReceive()) // check if data coming { unpack_reply(); } //print data SERIAL.print(millis()-previousMillis); previousMillis = millis(); SERIAL.print(" "); SERIAL.print(p_in); SERIAL.print(" "); SERIAL.print(p_out); SERIAL.print(" "); SERIAL.print(v_out); SERIAL.print(" "); SERIAL.println(t_out); } void EnterMotorMode(){ // Enter Motor Mode (enable) byte buf[8]; buf[0] = 0xFF; buf[1] = 0xFF; buf[2] = 0xFF; buf[3] = 0xFF; buf[4] = 0xFF; buf[5] = 0xFF; buf[6] = 0xFF; buf[7] = 0xFC; CAN.sendMsgBuf(0x01, 0, 8, buf); } void ExitMotorMode(){ // Enter Motor Mode (enable) byte buf[8]; buf[0] = 0xFF; buf[1] = 0xFF; buf[2] = 0xFF; buf[3] = 0xFF; buf[4] = 0xFF; buf[5] = 0xFF; buf[6] = 0xFF; buf[7] = 0xFD; CAN.sendMsgBuf(0x01, 0, 8, buf); } void Zero(){ // Enter Motor Mode (enable) byte buf[8]; buf[0] = 0xFF; buf[1] = 0xFF; buf[2] = 0xFF; buf[3] = 0xFF; buf[4] = 0xFF; buf[5] = 0xFF; buf[6] = 0xFF; buf[7] = 0xFE; CAN.sendMsgBuf(0x01, 0, 8, buf); } void pack_cmd(){ byte buf[8]; /// CAN Command Packet Structure /// /// 16 bit position command, between -4*pi and 4*pi /// 12 bit velocity command, between -30 and + 30 rad/s /// 12 bit kp, between 0 and 500 N-m/rad /// 12 bit kd, between 0 and 100 N-m*s/rad /// 12 bit feed forward torque, between -18 and 18 N-m /// CAN Packet is 8 8-bit words /// Formatted as follows. For each quantity, bit 0 is LSB /// 0: [position[15-8]] /// 1: [position[7-0]] /// 2: [velocity[11-4]] /// 3: [velocity[3-0], kp[11-8]] /// 4: [kp[7-0]] /// 5: [kd[11-4]] /// 6: [kd[3-0], torque[11-8]] /// 7: [torque[7-0]] /// limit data to be within bounds /// float p_des = constrain(p_in, P_MIN, P_MAX); //fminf(fmaxf(P_MIN, p_in), P_MAX); float v_des = constrain(v_in, V_MIN, V_MAX); //fminf(fmaxf(V_MIN, v_in), V_MAX); float kp = constrain(kp_in, KP_MIN, KP_MAX); //fminf(fmaxf(KP_MIN, kp_in), KP_MAX); float kd = constrain(kd_in, KD_MIN, KD_MAX); //fminf(fmaxf(KD_MIN, kd_in), KD_MAX); float t_ff = constrain(t_in, T_MIN, T_MAX); //fminf(fmaxf(T_MIN, t_in), T_MAX); /// convert floats to unsigned ints /// unsigned int p_int = float_to_uint(p_des, P_MIN, P_MAX, 16); unsigned int v_int = float_to_uint(v_des, V_MIN, V_MAX, 12); unsigned int kp_int = float_to_uint(kp, KP_MIN, KP_MAX, 12); unsigned int kd_int = float_to_uint(kd, KD_MIN, KD_MAX, 12); unsigned int t_int = float_to_uint(t_ff, T_MIN, T_MAX, 12); /// pack ints into the can buffer /// buf[0] = p_int >> 8; buf[1] = p_int & 0xFF; buf[2] = v_int >> 4; buf[3] = ((v_int & 0xF) > 8); buf[4] = kp_int & 0xFF; buf[5] = kd_int >> 4; buf[6] = ((kd_int & 0xF) > 8); buf[7] = t_int & 0xFF; CAN.sendMsgBuf(0x01, 0, 8, buf); } void unpack_reply(){ /// CAN Reply Packet Structure /// /// 16 bit position, between -4*pi and 4*pi /// 12 bit velocity, between -30 and + 30 rad/s /// 12 bit current, between -40 and 40; /// CAN Packet is 5 8-bit words /// Formatted as follows. For each quantity, bit 0 is LSB /// 0: [position[15-8]] /// 1: [position[7-0]] /// 2: [velocity[11-4]] /// 3: [velocity[3-0], current[11-8]] /// 4: [current[7-0]] byte len = 0; byte buf[8]; CAN.readMsgBuf(&len, buf); unsigned long canId = CAN.getCanId(); /// unpack ints from can buffer /// unsigned int id = buf[0]; unsigned int p_int = (buf[1] 4); unsigned int i_int = ((buf[4] & 0xF)

[@wei1224hf]

@@Skyentific Thank you so much! I'm still testing my motor with LessStudio's CAN-BUS Shield V1.2 with a MIT motor. My step is holded on the CAN-BUS Shield , I think it might somthing wrong with the shield, it's creating CAN message by it's own, with CAN-ID 0x1FFFFFFF , when the motor is poweroff. so depressed ...... I'm buying a sparkfun's CAN-BUS Shield, just excacly like your shield , then I'll try again. Thank you for your share ^_^

[@BoltzVideo]

@@wei1224hf Hi Wax Feng, did you manage to get the actuator working? I have tried with Arduino and also STM32 but had no luck.

[@wei1224hf]

@@BoltzVideo Yes I can now. I'm using a usb-can module, it's really easy, I can control the actuator directly by linux terminal code item.taobao.com/item.htm?spm=a1z09.2.0.0.77452e8dQKKopi&id=592036191992&_u=c1v6uidt1ca7

[@BoltzVideo]

@@wei1224hf Thanks! I'll try USB-CAN.

[@YevhenChumak-t4w]

Вот интересно какую скорость номинальную оно имеет? Ньютон-метры это конечно интересно, а RPM то умолчал

[@Skyentific]

365rpm, I don’t know where you need to have such high rpm. I don’t pay attention at rpm of QDD actuators, because they usually have enough rpm for most of the tasks.

[@Eugensson]

Switzerland or Luxembourg? (Judging by the eeepc keyboard)

[@Skyentific]

Switzerland :)

[@gerokatseros]

570$ is an advantage in price? and you need many of them for a robotic arm! are you kidding me>?

[@Skyentific]

I said that the price is disadvantage!!!

[@gerokatseros]

@@Skyentific you are right ... I played video again and actually you say disadvantage!!! but it was not that clear ;) ... sry for the mistake .... nice video by the way ... i hope one day you can find an affordable solution with similar result

[@gerokatseros]

@statorworks 345any hints? do they work well as actuators?

[@gerokatseros]

@statorworks 345 any specific suggestions? how do u drive them? and what do u mean back drivable?

[@gerokatseros]

​@statorworks 345I see ... then i guess those motors are just geared DC motors according to your description. Not BLDC. I didn't know car window motors are that good. Usually i use servocity motors when i need dc motors .... thx for telling me

[@Cityj0hn]

Show us the maximum speeeeeeed please.

[@bluegizmo1983]

That's a pretty cool actuator, but at $569 USD?! 😬

[@Ipat639]

Ohh russian accent👍. You reminded me USSR scientists, who were living only for science itself

[@Skyentific]

Yes, comRade! I undeRstand you. I live foR Robotics. :)

[@SanyogLamsal]

grabcad.com/library/t-motor-u15-kv100-1 Here's the CAD file for T-Motor KV 100 that I made a few years back.