ROBOTEQ, INC. PRODUCT VIBRATION AND SHOCK TESTING of the Motor Controllers and Magnetic Sensor Report No. 228-16-2557A Proposal No. 44763, Revision C Customer Information Roboteq, Inc. Blake Wilson 7898 E. Acoma Drive, Suite 110 Scottsdale, AZ 85260 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 17025 General Competence for Testing and Calibration Laboratories. WESTPAK, Inc. is also registered to ISO 9001 Quality Management and ISO 14001 Environmental Management Systems (#10001175 and #10004260). For accredited test methodologies, please visit www.westpak.com for the Scope of Accreditation of Westpak, Inc.
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 61800-5-1 (Table 27), IEC 60068-2-6 External Only Shock IEC 61131-2, 6.3.2 (Table 17) and IEC 60068-2-27 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. 228-16-2557A Page 2 of 24
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 1 5.5 x 9.0 x 1.6 14 x 23 x 4 3.3 1.5 RGBL1860 Controller 1 7.9 x 5.5 x 2.0 20 x 14 x 5 6.4 2.9 FBL2360 Controller 1 5.5 x 5.5 x 1.0 14 x 14 x 3 1.0 0.5 MBL1660 Controller 1 5.5 x 4.5 x 1.0 14 x 11 x 3 0.8 0.4 SBL1360 Controller 1 2.8 x 2.8 x 0.7 7 x 7 x 2 0.2 0.1 MGS1600GY Magnetic Guide Sensor 1 6.5 x 1.2 x 1.0 17 x 3 x 3 0.5 0.2 FNB2000 Controller 1 5.5 x 5.5 x 1.0 14 x 14 x 3 0.9 0.4 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. 228-16-2557A Page 3 of 24
Test Descriptions Sine Vibration Number of samples: 7 EUT status: Non-Operational Frequency range: 10-150 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) 10 0.075 mm 57.6 0.075 mm Frequency (Hz) G (m/s 2 ) 57.6 1.0 10 150 1.0 10 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. 228-16-2557A Page 4 of 24
Test Descriptions (continued) Random Vibration Number of samples: 7 EUT status: Non-Operational Frequency range: 5-500 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 ) 5 0.1759 16.8864 8 0.512 49.152 11 0.066 6.336 12 0.0585 5.616 13 0.0348 3.3408 15 0.1441 13.8336 16 0.1237 11.8752 20 0.0241 2.3136 23 0.0536 5.1456 26 0.0124 1.1904 27 0.0118 1.1328 30 0.0331 3.1776 34 0.0086 0.8256 39 0.0347 3.3312 43 0.0073 0.7008 45 0.0141 1.3536 49 0.0084 0.8064 52 0.0089 0.8544 57 0.0045 0.432 67 0.016 1.536 80 0.0037 0.3552 90 0.0077 0.7392 93 0.0053 0.5088 98 0.0065 0.624 99 0.0063 0.6048 111 0.0046 0.4416 123 0.0069 0.6624 128 0.0055 0.528 164 0.0031 0.2976 172 0.0035 0.336 215 0.0133 1.2768 264 0.0056 0.5376 276 0.0096 0.9216 292 0.0032 0.3072 348 0.0044 0.4224 417 0.0031 0.2976 500 0.0008 0.0768 Orientation Duration (minutes) Vertical (Z-Axis) 60 Report No. 228-16-2557A Page 5 of 24
Test Descriptions (continued) Random Vibration (continued) Number of samples: 7 EUT status: Non-Operational Frequency range: 5-500 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 ) 5 0.0998 9.5808 7 0.0799 7.6704 9 0.1115 10.704 10 0.0577 5.5392 14 0.0294 2.8224 15 0.0651 6.2496 16 0.0646 6.2016 17 0.0436 4.1856 18 0.0393 3.7728 19 0.0622 5.9712 24 0.01 0.96 37 0.0045 0.432 38 0.0065 0.624 44 0.0033 0.3168 55 0.0024 0.2304 57 0.0042 0.4032 59 0.0019 0.1824 76 0.0012 0.1152 79 0.0021 0.2016 83 0.001 0.096 114 0.0006 0.0576 135 0.0017 0.1632 142 0.001 0.096 158 0.0018 0.1728 185 0.001 0.096 191 0.0007 0.0672 206 0.0008 0.0768 273 0.0035 0.336 300 0.0016 0.1536 364 0.0074 0.7104 374 0.0022 0.2112 395 0.0051 0.4896 500 0.0012 0.1152 Orientation Duration (minutes) Transverse (X-Axis) 60 Report No. 228-16-2557A Page 6 of 24
Test Descriptions (continued) Random Vibration (continued) Number of samples: 7 EUT status: Non-Operational Frequency range: 5-500 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 ) 5 0.0441 4.2336 7 0.039 3.744 8 0.0576 5.5296 9 0.043 4.128 10 0.0293 2.8128 13 0.0221 2.1216 15 0.0558 5.3568 16 0.0585 5.616 18 0.016 1.536 20 0.0099 0.9504 23 0.0452 4.3392 25 0.011 1.056 35 0.0036 0.3456 37 0.0098 0.9408 40 0.004 0.384 41 0.0044 0.4224 45 0.0023 0.2208 47 0.0047 0.4512 50 0.0016 0.1536 54 0.0017 0.1632 64 0.001 0.096 69 0.003 0.288 77 0.0007 0.0672 85 0.0015 0.144 90 0.0012 0.1152 97 0.0015 0.144 104 0.0036 0.3456 114 0.004 0.384 122 0.0015 0.144 132 0.0013 0.1248 206 0.0033 0.3168 247 0.0226 2.1696 257 0.0041 0.3936 264 0.0054 0.5184 276 0.004 0.384 303 0.0073 0.7008 332 0.0092 0.8832 353 0.0172 1.6512 382 0.0071 0.6816 428 0.0157 1.5072 500 0.0016 0.1536 Orientation Duration (minutes) Longitudinal (Y-Axis) 60 Report No. 228-16-2557A Page 7 of 24
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. 228-16-2557A Page 8 of 24
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. 228-16-2557A Page 9 of 24
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 VR9500 10/4/2016 PCB Accelerometer 609 J352C33 9/21/2016 Notes: All calibration conducted annually on instrumentation only. Report No. 228-16-2557A Page 10 of 24
APPENDIX II ADDITIONAL PHOTOGRAPHS Report No. 228-16-2557A Page 11 of 24
FBL2360 and MBL1660 Controllers Identification MGS1600GY Magnetic Guide Sensor FBL2360 and MBL1660 Controllers SBL1360 Controller Identification Magnetic Guide Identification SBL1360 Controller Report No. 228-16-2557A Page 12 of 24
APPENDIX III SINE VIBRATION CONTROL DATA Report No. 228-16-2557A Page 13 of 24
Acceleration (G peak) Roboteq; Controllers; 228-16-2557A, Engineer: J. Patterson Sine Vibration, 10-150 Hz; 1 oct/min, X-axis, 10 sweeps End of Sweep Test 3.00 Acceleration Profile 1.00 0.10 Control Dem and 0.01 10 100 Frequency (Hz) Breakpoint table Start Freq. Amplitude End Freq. Amplitude 10 Hz 0.00590551 in 57.5506 Hz 0.00590551 in 57.5506 Hz 1 G 150 Hz 1 G Test level schedule: Duration Level 1) 20 sweeps 100 % ** Test started Oct 21, 2016 09:36:25, running for 1:18:19 ** Current level: 1, running at 100 %, 20 of 20 sweeps complete Current Measurements: Demand: 0.005906 in at 10 Hz Control: 0.03035 G Control Vel.: 0.1865 in/s Control Disp.: 0.005936 in Ch1: 0.0001819 G Ch2: 0.03035 G Ch3: 1.807e-005 G Ch4: 2.276e-005 G Report No. 228-16-2557A Page 14 of 24
Acceleration (G peak) Roboteq; Controllers; 228-16-2557A, Engineer: J. Patterson Sine Vibration, 10-150 Hz; 1 oct/min, Y-axis, 10 sweeps End of Sweep Test 3.00 Acceleration Profile 1.00 0.10 Control Dem and 0.01 10 100 Frequency (Hz) Breakpoint table Start Freq. Amplitude End Freq. Amplitude 10 Hz 0.00590551 in 57.5506 Hz 0.00590551 in 57.5506 Hz 1 G 150 Hz 1 G Test level schedule: Duration Level 1) 20 sweeps 100 % ** Test started Oct 21, 2016 11:57:32, running for 1:18:19 ** Current level: 1, running at 100 %, 20 of 20 sweeps complete Current Measurements: Demand: 0.005906 in at 10 Hz Control: 0.03018 G Control Vel.: 0.1855 in/s Control Disp.: 0.005904 in Ch1: 0.0001166 G Ch2: 0.0302 G Ch3: 5.06e-005 G Ch4: 6.362e-005 G Report No. 228-16-2557A Page 15 of 24
Acceleration (G peak) Roboteq; Controllers; 228-16-2557A, Engineer: J. Patterson Sine Vibration, 10-150 Hz; 1 oct/min, Z-axis, 10 sweeps End of Sweep Test 3.00 Acceleration Profile 1.00 0.10 Control Dem and 0.01 10 100 Frequency (Hz) Breakpoint table Start Freq. Amplitude End Freq. Amplitude 10 Hz 0.00590551 in 57.5506 Hz 0.00590551 in 57.5506 Hz 1 G 150 Hz 1 G Test level schedule: Duration Level 1) 20 sweeps 100 % ** Test started Oct 21, 2016 13:57:22, running for 1:18:20 ** Current level: 1, running at 100 %, 20 of 20 sweeps complete Current Measurements: Demand: 0.005906 in at 10 Hz Control: 0.03013 G Control Vel.: 0.1851 in/s Control Disp.: 0.005893 in Ch1: 0.03013 G Ch2: 0.0004019 G Ch3: 2.344e-005 G Ch4: 7.28e-005 G Report No. 228-16-2557A Page 16 of 24
APPENDIX IV SHOCK TEST DATA Report No. 228-16-2557A Page 17 of 24
Control Dem and Acceleration (G) Control Dem and Acceleration (G) Roboteq, 228-16-2557A; Engineer: J. Patterson IEC60068-2-27; Half Sine Shock; 15G, 11ms; 3 shocks per axis; +/-X End of Test 20 Acceleration 10 Acceleration 15 5 10 0 5-5 0-10 -5-15 -10-20 -15-10 -5 0 5 10 15 20 25 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) 3 100 % 2) 3 * 100 % (MD) ** Test started Oct 21, 2016 11:39:16 ** Current level: 1, running at 100 % for 3 of 3 pulses Measurements: Control amplitude: 15.04 G Output voltage: 3.796 Volts peak -20-20 -15-10 -5 0 5 10 15 20 25 Time (ms) Report No. 228-16-2557A Page 18 of 24
Control Dem and Acceleration (G) Control Dem and Acceleration (G) Roboteq, 228-16-2557A; Engineer: J. Patterson IEC60068-2-27; Half Sine Shock; 15G, 11ms; 3 shocks per axis; +/-Y End of Test 20 Acceleration 10 Acceleration 15 5 10 0 5-5 0-10 -5-15 -10-20 -15-10 -5 0 5 10 15 20 25 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) 3 100 % 2) 3 * 100 % (MD) ** Test started Oct 21, 2016 11:39:16 ** Current level: 1, running at 100 % for 3 of 3 pulses Measurements: Control amplitude: 15.07 G Output voltage: 2.696 Volts peak -20-20 -15-10 -5 0 5 10 15 20 25 Time (ms) Report No. 228-16-2557A Page 19 of 24
Control Dem and Acceleration (G) Control Dem and Acceleration (G) Roboteq, 228-16-2557A; Engineer: J. Patterson IEC60068-2-27; Half Sine Shock; 15G, 11ms; 3 shocks per axis; +/-Z End of Test 20 Acceleration 10 Acceleration 15 5 10 0 5-5 0-10 -5-15 -10-20 -15-10 -5 0 5 10 15 20 25 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) 3 100 % 2) 3 * 100 % (MD) ** Test started Oct 21, 2016 11:39:16 ** Current level: 1, running at 100 % for 3 of 3 pulses Measurements: Control amplitude: 14.87 G Output voltage: 2.876 Volts peak -20-20 -15-10 -5 0 5 10 15 20 25 Time (ms) Report No. 228-16-2557A Page 20 of 24
APPENDIX V RANDOM VIBRATION CONTROL DATA Report No. 228-16-2557A Page 21 of 24
Acceleration Spectral Density (G²/Hz) Roboteq; 228-16-2557A, 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 1x10-4 5 10 100 500 Frequency (Hz) Breakpoint table Frequency G²/Hz db/octave 5 Hz 0.1759 6.843 8 Hz 0.512-19.37 11 Hz 0.066-4.173 12 Hz 0.0585-19.53 13 Hz 0.0348 29.89 15 Hz 0.1441-7.12 16 Hz 0.1237-22.07 20 Hz 0.0241 17.22 23 Hz 0.0536-35.94 26 Hz 0.0124-3.956 27 Hz 0.0118 29.47 30 Hz 0.0331-32.42 34 Hz 0.0086 30.61 39 Hz 0.0347-48.06 43 Hz 0.0073 43.59 45 Hz 0.0141-18.31 49 Hz 0.0084 2.929 52 Hz 0.0089-22.36 57 Hz 0.0045 23.62 67 Hz 0.016-24.86 80 Hz 0.0037 18.73 90 Hz 0.0077-34.29 93 Hz 0.0053 11.73 Report No. 228-16-2557A Page 22 of 24 Frequency G²/Hz db/octave 98 Hz 0.0065-9.267 99 Hz 0.0063-8.275 111 Hz 0.0046 11.89 123 Hz 0.0069-17.13 128 Hz 0.0055-6.964 164 Hz 0.0031 7.671 172 Hz 0.0035 18.01 215 Hz 0.0133-12.68 264 Hz 0.0056 36.5 276 Hz 0.0096-58.69 292 Hz 0.0032 5.464 348 Hz 0.0044-5.828 417 Hz 0.0031-22.46 500 Hz 0.0008 Test level schedule: Duration Level 1) 1:00:00 100 % ** Test started Oct 24, 2016 08:57:49, running for 1:03:02 ** Current level: 1, running at 100 % for 1:00:00 of 1:00:00 Measurements: Demand: 2.254 G RMS 1.567 in pk-pk Control: 2.255 G RMS 1.536 in pk-pk
Acceleration Spectral Density (G²/Hz) Roboteq; 228-16-2557A, 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 1x10-4 5 10 100 500 Frequency (Hz) Breakpoint table Frequency G²/Hz db/octave 5 Hz 0.0998-1.99 7 Hz 0.0799 3.992 9 Hz 0.1115-18.82 10 Hz 0.0577-6.032 14 Hz 0.0294 34.68 15 Hz 0.0651-0.3596 16 Hz 0.0646-19.52 17 Hz 0.0436-5.468 18 Hz 0.0393 25.56 19 Hz 0.0622-23.55 24 Hz 0.01-5.553 37 Hz 0.0045 41.51 38 Hz 0.0065-13.92 44 Hz 0.0033-4.296 55 Hz 0.0024 47.16 57 Hz 0.0042-69.24 59 Hz 0.0019-5.463 76 Hz 0.0012 43.51 79 Hz 0.0021-45.22 83 Hz 0.001-4.845 114 Hz 0.0006 18.54 135 Hz 0.0017-31.6 142 Hz 0.001 16.57 158 Hz 0.0018-11.22 Frequency G²/Hz db/octave 185 Hz 0.001-33.64 191 Hz 0.0007 5.317 206 Hz 0.0008 15.78 273 Hz 0.0035-24.98 300 Hz 0.0016 23.84 364 Hz 0.0074-134.7 374 Hz 0.0022 46.33 395 Hz 0.0051-18.48 500 Hz 0.0012 Test level schedule: Duration Level 1) 1:00:00 100 % 2) View Report ** Test started Oct 24, 2016 11:08:54, running for 1:01:14 ** Current level: 1, running at 100 % for 1:00:00 of 1:00:00 Measurements: Demand: 1.477 G RMS Control: 1.475 G RMS 0.9228 in pk-pk 1.018 in pk-pk Report No. 228-16-2557A Page 23 of 24
Acceleration Spectral Density (G²/Hz) Roboteq; 228-16-2557A, 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 1x10-4 5 10 100 500 Frequency (Hz) Breakpoint table Frequency G²/Hz db/octave 5 Hz 0.0441-1.1 7 Hz 0.039 8.791 8 Hz 0.0576-7.471 9 Hz 0.043-10.96 10 Hz 0.0293-3.236 13 Hz 0.0221 19.48 15 Hz 0.0558 2.204 16 Hz 0.0585-33.13 18 Hz 0.016-13.72 20 Hz 0.0099 32.71 23 Hz 0.0452-51.02 25 Hz 0.011-9.993 35 Hz 0.0036 54.25 37 Hz 0.0098-34.6 40 Hz 0.004 11.62 41 Hz 0.0044-20.98 45 Hz 0.0023 49.47 47 Hz 0.0047-52.42 50 Hz 0.0016 2.371 54 Hz 0.0017-9.402 64 Hz 0.001 43.96 69 Hz 0.003-39.94 77 Hz 0.0007 23.21 85 Hz 0.0015-11.75 90 Hz 0.0012 8.968 Report No. 228-16-2557A Page 24 of 24 Frequency G²/Hz db/octave 97 Hz 0.0015 37.82 104 Hz 0.0036 3.455 114 Hz 0.004-43.53 122 Hz 0.0015-5.468 132 Hz 0.0013 6.301 206 Hz 0.0033 31.91 247 Hz 0.0226-129.5 257 Hz 0.0041 30.85 264 Hz 0.0054-20.32 276 Hz 0.004 19.4 303 Hz 0.0073 7.619 332 Hz 0.0092 30.71 353 Hz 0.0172-33.74 382 Hz 0.0071 21.01 428 Hz 0.0157-44.21 500 Hz 0.0016 Test level schedule: Duration Level 1) 1:00:00 100 % 2) View Report ** Test started Oct 24, 2016 14:12:57, running for 1:00:26 ** Current level: 1, running at 100 % for 1:00:00 of 1:00:00 Measurements: Demand: 1.904 G RMS Control: 1.91 G RMS 0.6394 in pk-pk 0.6647 in pk-pk