Hod Carrier
Warship 09
The drive and control in it's final form, with all the distracting bodywork and supporting structures stripped away. Surprisingly it all fits inside the loco bodywork.
Because the motors are intended to be used as robotics servo motors, they are not particularly well geared for this use. In order to make the model run at a decent speed each motor has had to be geared up by a ratio of approximately 1:3. The increase in gearing has made it possible to adjust the software controlling the loco to try and get around the deficiencies of the motors. Now, instead of accelerating up to 100% power it is set to accelerate only up to 70% and the "caution" speed has been similarly reduced from 50% to 25%. On the positive side, these motors are at least very precise and controllable which, by tuning the software parameters, makes it possible to start potentially very heavy trains with little or no wheelspin and to stop at a very precise position.
Warship 09
The drive and control in it's final form, with all the distracting bodywork and supporting structures stripped away. Surprisingly it all fits inside the loco bodywork.
Because the motors are intended to be used as robotics servo motors, they are not particularly well geared for this use. In order to make the model run at a decent speed each motor has had to be geared up by a ratio of approximately 1:3. The increase in gearing has made it possible to adjust the software controlling the loco to try and get around the deficiencies of the motors. Now, instead of accelerating up to 100% power it is set to accelerate only up to 70% and the "caution" speed has been similarly reduced from 50% to 25%. On the positive side, these motors are at least very precise and controllable which, by tuning the software parameters, makes it possible to start potentially very heavy trains with little or no wheelspin and to stop at a very precise position.