Hi guys, some news here:
In first, for the first time I tried to use X-SIM (3 axis) using test palet with very good results!
I tried to use test slider 21 to move left and right legs cloned and inverted (when I push up the slider so left leg go up and the right leg go down) plus stern leg moved using slider 22.
All very good and with a good speed (perhaps closer to flight simulators that racing sims).
The real first problem is that my JRK can't obtain the maximum available motor power!
With my tests using max duty cycle and max acceleration I obtain that the single motor can lift more or less 70/75kg slowing down slightly. If I try to lift over so my motor get slowing much and my JRK get overheats (I get maximum currect exceeded from JRK config utility many times).
So I wanted to take my doubt off (it's the motor or the jrk limitation?) and I try to use the motor directly connected to the battery to try to lift up 100 kg and I obtain that the motor lift up 100kg easly without slowing!. Then the problem is from the Jrk.
Just the Jrk can not give enough current to the motor for lift up weight over 70kg. (jrk limitations are 12amps continuosly with 30amps peaks)
I want to says to you that in the final configuration sure my platform no plans to put 70kg directly in the vertical of my motor leg as these tests eh!
But I would more!
It's not the end of the world.
I have again 210/225 kg (the 3 legs summed) available to be lifted with my platform (I figured my final configuration with an human onboard + all racing or flight devices will be more or less 130/140 kg) but maybe I find a way to obtain the 100% motor power using the Jrk.
Sure, I can raise the max amps from 12amps to an higher value from the jrk config utility but sure I risk to burn my Jrk.. so today I will to try to using some relay to obtain my motor get the amps from these relay instead from the Jrk!.. The jrk will provide just a very little amps value to the relay, just to excite these. So later, will be the relay to provide the amps to the motor.. theoretically I can get 100% of my motor power.
My english is not enough good to describe correctly this process but today I will try this solution and later I will can says to you if I had a good result.