A good guide: https://wiki.purduesigbots.com/hardware/vex-drivetrains
VEX's guide: https://kb.vex.com/hc/en-us/articles/360035952771-Drivetrain-Drivetrains-for-VEX-V5
VEX's other guide: https://curriculum.vexrobotics.com/curriculum/drivetrain-design.html
Understanding V5 Smart Motor Performance: https://kb.vex.com/hc/en-us/articles/360044325872-Understanding-V5-Smart-Motor-Performance
How to Design a Chassis: https://kb.vex.com/hc/en-us/articles/360035953131-How-to-Design-a-Chassis
Drivetrain comparison information:
CAD videos are on the Fusion360 page
How to make V5 Smart Cables: https://youtu.be/GpDXPrXWQqQ
The V5 Smart Motor had to be perfect for V5 to be successful. Thousands of hours of engineering and analysis went into designing this motor. Everything has to work together: the motor, gears, encoder, modular gear cartridge, circuit board, thermal management, packaging and mounting. Users can control the motor’s direction, speed, acceleration, position, and torque limit.
This graph says it all. Maximum power is 11W continuous and maximum torque is 2.1 Nm. Free speed is software-limited by the motor’s processor to keep consistent performance motor-to-motor and to allow top speed under loads.
The V5 Smart Motor’s internal gear design has to withstand all the motor’s power, and the abuses of external forces coming into the motor from loaded arms and robot momentum. The gear train is our most robust yet. Metal gears are used in all high torque locations for strength. Plastic gears are used in the low load, high speed locations for smooth and efficient operation. An internal gear cartridge is user changeable for output gear ratios of 6:1, 18:1, and 36:1.
The motor’s internal circuit board has a full H-Bridge and its own Cortex M0 microcontroller to measure position, speed, direction, voltage, current and temperature. The microcontroller runs its own PID with velocity control, position control, torque control, feedforward gain, and motion planning similar to industrial robots. PID is internally calculated at a 10 millisecond rate. The motor’s PID values are pre-tuned by VEX for excellent performance across all operating conditions. Users can adjust these values to tune the motor’s performance for their specific application.
Advanced users can bypass the internal PID and take direct control with raw, unaltered PWM control. Raw control still has the same rpm limits, current limits, and voltage maximum that keep the motor’ s performance identical.
“Consistent motor performance is a game changer”
One of the V5 Smart Motor’s most unique capabilities is completely consistent performance. The motor runs internally at a slightly lower voltage than the battery’s minimum voltage, and the motor’s power is accurately controlled to +/-1%. This means the motor will perform the same for every match and every autonomous run, regardless of battery charge or motor temperature.
Stall current is limited to 2.5A to keep heat under control without affecting peak power output. Limiting stall current eliminates the need for automatic resetting fuses (PTC devices) in the motor, which can cause unintended motor outages. The 2.5A limit essentially removes the undesirable region of the motor’s performance curve, ensuring users do not unintentionally create stall situations. Finally, to make sure the motor lasts, the internal temperature is monitored. If a motor is approaching an unsafe temperature, the user gets a warning. If the motor reaches its temperature limit, performance is automatically reduced to ensure no damage occurs.
The motor calculates accurate output power, efficiency, and torque, giving the user a true understanding of the motors performance at any time. Position and angle are reported with an accuracy of .02 degrees. All of this data is reported and graphed on the motor’s dashboard.
This explains why your V5 motor may be overheating: https://www.vexforum.com/t/v5-motors-overheating/50147/11
For all the smart controls in the V5, it is still a brushed DC motor that is subject to the same physics as any other DC motor. This means that your maximum torque occurs at stall (0 RPM) as does your maximum current draw AND your lowest efficiency. In fact, at 0 RPM, all of the electrical energy you put into the motor goes into heat… you’re not doing any mechanical work (work being F*D, you might have lots of F, but if D is zero then work is zero) and your motor is essentially a heater rather than a motor. Thankfully, as you’ll see in the V5-Architecture document, the smart controller is pretty smart and keeps you from burning out your motor… but you can still overheat it by pushing it hard at low RPM.
You won’t actually get your peak power output until the motor is spinning at a little over 1/2 of its free speed (the speed it spins at when there is no load on it). For the V5 with the output gear pack used in the linked document, that is somewhere around 60RPM. If you’re asking for full throttle and getting less than 60RPM – pushing a heavy object for instance – then you’re putting a lot of electrical power into the motor, but not getting much mechanical power out… and the rest all goes into heat.
Planning to give up a bit of top-end speed by switching to a lower gear ratio (or a smaller diameter wheel) will not only improve the efficiency of your motor (more power going to mechanical work rather than heat) but may also improve your acceleration and maneuverability. This might actually get you where you’re going more quickly than gearing for top-end speed… and keep your motors from overheating in the process.
Full V5 Motor Oververview Document: https://kb.vex.com/hc/en-us/articles/360035591332-V5-Motor-Overview