ROBOTEQ, INC. PRODUCT VIBRATION AND SHOCK TESTING of the Motor Controllers and Magnetic Sensor Report No A Proposal No.

Transcription

1 ROBOTEQ, INC. PRODUCT VIBRATION AND SHOCK TESTING of the Motor Controllers and Magnetic Sensor Report No A Proposal No , Revision C Customer Information Roboteq, Inc. Blake Wilson 7898 E. Acoma Drive, Suite 110 Scottsdale, AZ Laboratory Information Test engineer: Justin Patterson; Westpak Test dates: October 21, 2016 through October 25, 2016 Westpak laboratory: San Diego, California WESTPAK, Inc. is accredited to ISO General Competence for Testing and Calibration Laboratories. WESTPAK, Inc. is also registered to ISO 9001 Quality Management and ISO Environmental Management Systems (# and # ). For accredited test methodologies, please visit for the Scope of Accreditation of Westpak, Inc.

2 Purpose of Testing The purpose of this test was to determine what effect vibration and shock testing would have on the operational and mechanical performance of the Equipment Under Test (EUT): Motor Controllers and Magnetic Sensor. Seven (7) units were subjected to the following test inputs: Test Input Standard Referenced Inspections Sine Vibration EN (Table 27), IEC External Only Shock IEC , (Table 17) and IEC External Only Random Vibration MIL-STD-810G, Method 514.6, Annex C External Only Acceptance criteria for the EUT are determined by Roboteq, Inc. Report No A Page 2 of 24

3 Product Information Product: Motor Controllers and Magnetic Sensor Quantity: 7 Unit Description Unit External Dimensions Weight Quantity in (l x w x h) cm (l x w x h) lb kg HDC2460 Controller x 9.0 x x 23 x RGBL1860 Controller x 5.5 x x 14 x FBL2360 Controller x 5.5 x x 14 x MBL1660 Controller x 4.5 x x 11 x SBL1360 Controller x 2.8 x x 7 x MGS1600GY Magnetic Guide Sensor x 1.2 x x 3 x FNB2000 Controller x 5.5 x x 14 x HDC2460 Controller HDC2460 Controller RGBL1860 Controller FBL2360 Controller Notes: Refer to Appendix II for additional photographs. Test Equipment and Instrumentation Testing performed in the laboratory was conducted at ambient conditions. Please refer to Appendix I for equipment and instrumentation information and calibration dates. Report No A Page 3 of 24

4 Test Descriptions Sine Vibration Number of samples: 7 EUT status: Non-Operational Frequency range: Hz Vibration intensity: 1.0 G (peak to peak) (10 m/s 2 ) Sweep rate: 1 octave per minute Vibration Spectrum Profile Break Points Frequency (Hz) Displacement (0-peak) mm mm Frequency (Hz) G (m/s 2 ) Orientation Cycles X-axis 10 Y-axis 10 Z-axis 10 Notes: Each cycle consists of a sweep from low to high frequency and back to low. Shock Number of samples: 7 EUT status: Non-Operational Pulse shape: Half-sine Test level: 15 G (147 m/s 2 ) Pulse duration: 11 msec Inputs per orientation: 3 (18 total) Orientations: ±x, ±y and ±z axes Z-Axis Report No A Page 4 of 24

5 Test Descriptions (continued) Random Vibration Number of samples: 7 EUT status: Non-Operational Frequency range: Hz Vibration intensity: 2.24 G rms (21.97 m/s 2 rms) Total duration: 60 minutes Vibration Spectrum Profile Break Points Frequency (Hz) PSD (G 2 /Hz) ASD (m 2 /s 3 ) Orientation Duration (minutes) Vertical (Z-Axis) 60 Report No A Page 5 of 24

6 Test Descriptions (continued) Random Vibration (continued) Number of samples: 7 EUT status: Non-Operational Frequency range: Hz Vibration intensity: 1.48 G rms (14.52 m/s 2 rms) Total duration: 60 minutes Vibration Spectrum Profile Break Points Frequency (Hz) PSD (G 2 /Hz) ASD (m 2 /s 3 ) Orientation Duration (minutes) Transverse (X-Axis) 60 Report No A Page 6 of 24

7 Test Descriptions (continued) Random Vibration (continued) Number of samples: 7 EUT status: Non-Operational Frequency range: Hz Vibration intensity: 1.90 G rms (18.64 m/s 2 rms) Total duration: 60 minutes Vibration Spectrum Profile Break Points Frequency (Hz) PSD (G 2 /Hz) ASD (m 2 /s 3 ) Orientation Duration (minutes) Longitudinal (Y-Axis) 60 Report No A Page 7 of 24

8 Results and Observations Test Input Observations Appendix Sine Vibration Nothing unusual was observed to the exterior of the units following this test input. II Shock Nothing unusual was observed to the exterior of the units following this test input. III Random Vibration Nothing unusual was observed to the exterior of the units following this test input. IV Report No A Page 8 of 24

9 Conclusions Seven (7) Motor Controllers and Magnetic Sensor units were subjected to vibration and shock testing as specified by Roboteq, Inc. No unusual external physical damage was observed to the units throughout the test inputs. Upon test completion, the units were returned to Roboteq, Inc. for further evaluation; Roboteq, Inc. reported that all units passed functional testing. There were no anomalies throughout the conduct of this test that would detract from the ability of Roboteq, Inc. from making reasonable judgments concerning the testing as described herein. WESTPAK is pleased to present this report to Roboteq, Inc. covering the product vibration and shock testing of the Motor Controllers and Magnetic Sensor. The equipment used to conduct this testing has been recently calibrated and is known to be in good operating condition. In addition the test operator uses good laboratory practice at all times. Therefore, the data is considered accurate and reliable. However, there is no warranty expressed or implied with the submission of this report, and Roboteq, Inc. assumes all liability for use of the data contained herein. Respectfully submitted, WESTPAK, INCORPORATED Reviewed By Justin Patterson Jeffrey Reid Test Engineer II Mechanical Engineer III October 31, 2016 November 1, 2016 Report No A Page 9 of 24

10 APPENDIX I EQUIPMENT AND INSTRUMENTATION Instrumentation & Equipment Westpak Last Calibration Model No. No. Date Unholtz Dickie 2" E.D. Shaker 687 SA15-SA52 Not Required PCB Accelerometer 1687 J352C33 11/16/2015 UD Horizontal Shaker System 1704 T509 Not Required Vibration Research Controller 1682 VR /4/2016 PCB Accelerometer 609 J352C33 9/21/2016 Notes: All calibration conducted annually on instrumentation only. Report No A Page 10 of 24

11 APPENDIX II ADDITIONAL PHOTOGRAPHS Report No A Page 11 of 24

12 FBL2360 and MBL1660 Controllers Identification MGS1600GY Magnetic Guide Sensor FBL2360 and MBL1660 Controllers SBL1360 Controller Identification Magnetic Guide Identification SBL1360 Controller Report No A Page 12 of 24

13 APPENDIX III SINE VIBRATION CONTROL DATA Report No A Page 13 of 24

14 Acceleration (G peak) Roboteq; Controllers; A, Engineer: J. Patterson Sine Vibration, Hz; 1 oct/min, X-axis, 10 sweeps End of Sweep Test 3.00 Acceleration Profile Control Dem and Frequency (Hz) Breakpoint table Start Freq. Amplitude End Freq. Amplitude 10 Hz in Hz in Hz 1 G 150 Hz 1 G Test level schedule: Duration Level 1) 20 sweeps 100 % ** Test started Oct 21, :36:25, running for 1:18:19 ** Current level: 1, running at 100 %, 20 of 20 sweeps complete Current Measurements: Demand: in at 10 Hz Control: G Control Vel.: in/s Control Disp.: in Ch1: G Ch2: G Ch3: 1.807e-005 G Ch4: 2.276e-005 G Report No A Page 14 of 24

15 Acceleration (G peak) Roboteq; Controllers; A, Engineer: J. Patterson Sine Vibration, Hz; 1 oct/min, Y-axis, 10 sweeps End of Sweep Test 3.00 Acceleration Profile Control Dem and Frequency (Hz) Breakpoint table Start Freq. Amplitude End Freq. Amplitude 10 Hz in Hz in Hz 1 G 150 Hz 1 G Test level schedule: Duration Level 1) 20 sweeps 100 % ** Test started Oct 21, :57:32, running for 1:18:19 ** Current level: 1, running at 100 %, 20 of 20 sweeps complete Current Measurements: Demand: in at 10 Hz Control: G Control Vel.: in/s Control Disp.: in Ch1: G Ch2: G Ch3: 5.06e-005 G Ch4: 6.362e-005 G Report No A Page 15 of 24

16 Acceleration (G peak) Roboteq; Controllers; A, Engineer: J. Patterson Sine Vibration, Hz; 1 oct/min, Z-axis, 10 sweeps End of Sweep Test 3.00 Acceleration Profile Control Dem and Frequency (Hz) Breakpoint table Start Freq. Amplitude End Freq. Amplitude 10 Hz in Hz in Hz 1 G 150 Hz 1 G Test level schedule: Duration Level 1) 20 sweeps 100 % ** Test started Oct 21, :57:22, running for 1:18:20 ** Current level: 1, running at 100 %, 20 of 20 sweeps complete Current Measurements: Demand: in at 10 Hz Control: G Control Vel.: in/s Control Disp.: in Ch1: G Ch2: G Ch3: 2.344e-005 G Ch4: 7.28e-005 G Report No A Page 16 of 24

17 APPENDIX IV SHOCK TEST DATA Report No A Page 17 of 24

18 Control Dem and Acceleration (G) Control Dem and Acceleration (G) Roboteq, A; Engineer: J. Patterson IEC ; Half Sine Shock; 15G, 11ms; 3 shocks per axis; +/-X End of Test 20 Acceleration 10 Acceleration Time (ms) Pulse specification: 11 ms Half Sine Pulse with amplitude 15 G Pulse Orientation: Positive 11 ms Half Sine Pulse with amplitude 15 G Pulse Orientation: Negative Test level schedule: Pulses Level 1) % 2) 3 * 100 % (MD) ** Test started Oct 21, :39:16 ** Current level: 1, running at 100 % for 3 of 3 pulses Measurements: Control amplitude: G Output voltage: Volts peak Time (ms) Report No A Page 18 of 24

19 Control Dem and Acceleration (G) Control Dem and Acceleration (G) Roboteq, A; Engineer: J. Patterson IEC ; Half Sine Shock; 15G, 11ms; 3 shocks per axis; +/-Y End of Test 20 Acceleration 10 Acceleration Time (ms) Pulse specification: 11 ms Half Sine Pulse with amplitude 15 G Pulse Orientation: Positive 11 ms Half Sine Pulse with amplitude 15 G Pulse Orientation: Negative Test level schedule: Pulses Level 1) % 2) 3 * 100 % (MD) ** Test started Oct 21, :39:16 ** Current level: 1, running at 100 % for 3 of 3 pulses Measurements: Control amplitude: G Output voltage: Volts peak Time (ms) Report No A Page 19 of 24

20 Control Dem and Acceleration (G) Control Dem and Acceleration (G) Roboteq, A; Engineer: J. Patterson IEC ; Half Sine Shock; 15G, 11ms; 3 shocks per axis; +/-Z End of Test 20 Acceleration 10 Acceleration Time (ms) Pulse specification: 11 ms Half Sine Pulse with amplitude 15 G Pulse Orientation: Positive 11 ms Half Sine Pulse with amplitude 15 G Pulse Orientation: Negative Test level schedule: Pulses Level 1) % 2) 3 * 100 % (MD) ** Test started Oct 21, :39:16 ** Current level: 1, running at 100 % for 3 of 3 pulses Measurements: Control amplitude: G Output voltage: Volts peak Time (ms) Report No A Page 20 of 24

21 APPENDIX V RANDOM VIBRATION CONTROL DATA Report No A Page 21 of 24

22 Acceleration Spectral Density (G²/Hz) Roboteq; A, Engineer: J. Patterson - MIL-STD-810G Method 514.6, Figure 514.6C-3; 5-500Hz, 2.24 Grms; Vertical Axis (Z-Axis) for 1 hour End of Test Acceleration Spectral Density 0 1x10-1 1x10 1x10-2 1x10-3 Control Dem and 1x Frequency (Hz) Breakpoint table Frequency G²/Hz db/octave 5 Hz Hz Hz Hz Hz Hz Hz Hz Hz Hz Hz Hz Hz Hz Hz Hz Hz Hz Hz Hz Hz Hz Hz Report No A Page 22 of 24 Frequency G²/Hz db/octave 98 Hz Hz Hz Hz Hz Hz Hz Hz Hz Hz Hz Hz Hz Hz Test level schedule: Duration Level 1) 1:00: % ** Test started Oct 24, :57:49, running for 1:03:02 ** Current level: 1, running at 100 % for 1:00:00 of 1:00:00 Measurements: Demand: G RMS in pk-pk Control: G RMS in pk-pk

23 Acceleration Spectral Density (G²/Hz) Roboteq; A, Engineer: Justin Patterson MIL-STD-810G, Method 516.6, Figure 514.6C-3 Composite wheeled vehicle vibration, Transverse (X-axis) End of Test 1x10 0 Acceleration Spectral Density -1 1x10 1x10-2 1x10-3 Control Dem and 1x Frequency (Hz) Breakpoint table Frequency G²/Hz db/octave 5 Hz Hz Hz Hz Hz Hz Hz Hz Hz Hz Hz Hz Hz Hz Hz Hz Hz Hz Hz Hz Hz Hz Hz Hz Frequency G²/Hz db/octave 185 Hz Hz Hz Hz Hz Hz Hz Hz Hz Test level schedule: Duration Level 1) 1:00: % 2) View Report ** Test started Oct 24, :08:54, running for 1:01:14 ** Current level: 1, running at 100 % for 1:00:00 of 1:00:00 Measurements: Demand: G RMS Control: G RMS in pk-pk in pk-pk Report No A Page 23 of 24

24 Acceleration Spectral Density (G²/Hz) Roboteq; A, Engineer: Justin Patterson MIL-STD-810G, Method 514.6, Figure 514.6C-3, Y-Axis (Longitudinal), 60 min. End of Test Acceleration Spectral Density 1x10-1 1x10-2 1x10-3 Control Dem and 1x Frequency (Hz) Breakpoint table Frequency G²/Hz db/octave 5 Hz Hz Hz Hz Hz Hz Hz Hz Hz Hz Hz Hz Hz Hz Hz Hz Hz Hz Hz Hz Hz Hz Hz Hz Hz Report No A Page 24 of 24 Frequency G²/Hz db/octave 97 Hz Hz Hz Hz Hz Hz Hz Hz Hz Hz Hz Hz Hz Hz Hz Hz Test level schedule: Duration Level 1) 1:00: % 2) View Report ** Test started Oct 24, :12:57, running for 1:00:26 ** Current level: 1, running at 100 % for 1:00:00 of 1:00:00 Measurements: Demand: G RMS Control: 1.91 G RMS in pk-pk in pk-pk