I've been working on an ethernet controlled servo drive for some time now. This drive uses RTNET and Xenomai-3.0.3 for the real-time communication. The current control loop is on the drive, but the position control loop is on the PC.
Currently only tree motor types are supported, being Mitsubishi MF-S13 Mitsubishi HC-PQ-[24]3 and the Osai DS-56. The Osai motor uses a Hiperface encoder, so supporting another motor with Hiperface should be a simple change of the encoder offset and number of poles. Since the drives have to be synchronised to the PC it is important to reduce the jitter to the drives. To do this I have made two modifications to the uspace_xenomai interface. The first is that a posix timer is used to generate the control frequency. The second is that the real-time synchronisation function needs access to this timer. (Eventually this has to be replaced by PTP) Another change has to do with permissions, I'm not sure what the proper fix is so there's a hack in there to do everything as root. The sources for the drive are at: https://github.com/mark-v-d/motor_control.git The patched linuxcnc version is at: https://github.com/mark-v-d/linuxcnc.git Please keep in mind this is all work in progress. The hardware needs a few patches (notes in the schematic) and the software is nowhere near complete. As soon as I've got everything working I'm going to make another drive which works at 600V, and support at least the AEAT-6010/6012 and AEAT-9000-1GSH1 encoders. regards, Mark. ------------------------------------------------------------------------------ Check out the vibrant tech community on one of the world's most engaging tech sites, SlashDot.org! http://sdm.link/slashdot _______________________________________________ Emc-developers mailing list Emc-developers@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-developers
