Daniel Duesentrieb wrote: > Like I wrote in my very first post I have absolutely no clue what I am > talking about. So please explain to me like to a child ;) > > I understand that system doesn't know in witch positions the servos are > because the encoders loose the values on a power off. I understand that > I have to jog every single axis to a specific position and adjust with > linuxcnc as my own homing process. This is maybe a pain in the a.. but > can be handled. > > LinuxCNC can home the joints. They probably have a coarse position sensor, if not, one could be added. The encoders definitely have an index pulse, that is accurate to one encoder count. LinuxCNC has a mechanism to home axes in sequence, and then move to a particular position offset from the index pulse location. So, this should allow the machine to be homed safely from most positions. But, there probably are some positions from which a homing move might cause interference. Possibly, you would have to jog the robot to some initial position so the homing could be done without causing a crash. I might guess homing the outermost joint first, and working back toward the base rotation joint as the last one, with the home offsets such that the arm ends up folded close to the torso would be best.
> But first I need to be able to get the servos moving. Here is my question: > > Witch controller board do I need to use my original drivers? Or is it > not possible to use them and I need new ones? > Your original Fanuc drives need 3 separate PWM signals per joint, with 5 joints that is 15 PWM drive signals. As I think Peter said, even he may not have a working solution at this time. > What Hardware do I need to get this Robot moving asap? > For ASAP, I think I do have a solution. It would take : 2 Universal PWM Controllers $250 500 5 brushless PWM servo amps 150 750 5 Fanuc encoder converters 150 750 Total 2000 I know that is a lot of money to spend on a speculative project. These PWM servo amps are six-step (trapezoidal) drive, and so not as smooth as sinusoidal drive. But, they are simple, and don't need powerful DSP processors to generate the PWM commands. I have some very similar motors here that I use to test my drives and encoder converters. Jon ------------------------------------------------------------------------------ October Webinars: Code for Performance Free Intel webinars can help you accelerate application performance. Explore tips for MPI, OpenMP, advanced profiling, and more. Get the most from the latest Intel processors and coprocessors. See abstracts and register > http://pubads.g.doubleclick.net/gampad/clk?id=60135991&iu=/4140/ostg.clktrk _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
