Daniel Rudy wrote:
Rotation was observed facing the motor. That last one I'm not sure
about...maybe I don't have enough power. But this gives me a few ideas
on power control. I'm thinking of placing a DPDT relay in series
between the armature and field windings for direction reversal, then use
a the standard PWM control from a microprocessor to control speed.
Plus, this will also protect the motor too in case any winding fails it
will open circuit.

I did some studying on controlling wound field DC motors with the
armature and the field windings in parallel and then driving the two
from a PWM source results in sort of an odd torque/speed curve that is
lacking in low speed torque. Running the field windings on a constant
voltage and controlling the armature voltage gives a flatter
torque/speed curve. Also, the adds that I remember seeing suggest that
the motor can be run on 36-48VDC.

I needed a place to attach encoders for closing the control loop and
found that the output shafts are fairly soft steel and drill and tap
very nicely. The unused side of the output shaft is exposed and flat,
making it an easy place to attach the encoders.

Good Luck,
BobH