Update motor information in BOM

[jgvictores]

Update motor information in BOM (Bill Of Materials). Ref: roboticslab-uc3m/teo-configuration-files#23 (comment)

[rsantos88]

Maybe do you want to add an URL in Desciption/Comments linking to another table in a separated file with this information?

[PeterBowman]

I'm currently working on this via roboticslab-uc3m/yarp-devices#237.

BTW: note that current motor information in BOM is WRONG. We've had incorrect torque constant ("k") values in TEO's arms since quite a long ago.

[jgvictores]

Marking as blocked by roboticslab-uc3m/yarp-devices#237

[PeterBowman]

I'd be very grateful for the exact Maxon motor references in CAN ids: 6, 7, 13, 14, 15, 17, 19, 21, 23, 25, 27, 28. Everything else has been described at roboticslab-uc3m/teo-configuration-files@d7b87bb.

cc @smcdiaz @jmgarciah

[PeterBowman]

Had spoken with @smcdiaz. We use 70 W EC-flat Maxon motors everywhere except for both wrists and the two neck joints, which hold a 339282 30 W motor. The 70 W ones can be either 402686 or 411815, the only difference between those two is the wiring. Also, I noticed that some of the motors that can be visually inspected do not have any reference number on their casing. @smcdiaz suggested those are previous models of the same 402686/411815, although you can easily notice that external dimensions don't match.

That being said, I'd assume the following:

• maxon-402686: ARH6, ALH7, FT14
• maxon-411815: AT13, FRS15, ARS17, ARW19, FLS21, ALS23, ALW25

I'd still review the motor information downloaded into the iPOS drives and configurable via EasySetup.

[PeterBowman]

Following the suggestion of @smcdiaz, I checked several motors against their EasySetup configuration regarding detected motor+driver resistance and inductance values, thus inferring the 30/50/70 W motor power (yes, we have 50 W motors) by simply comparing with known data: motors.zip (includes both arms, head and joints 7, 8 and 13).

[PeterBowman]

Motor ref numbers updated in .ods file (d6e4b0e) and ported to .csv (c29041b).

[PeterBowman]

Done at 9f944f3.