Hi, Interesting Project! Im also working on a servo amp which supports hiperface, mitsubishi abs encoders, and many other protocols, and also resolvers. https://github.com/rene-dev/stmbl this is the mistubishi encoder code: https://github.com/rene-dev/stmbl/blob/newstuff-v4/src/comps/encm.comp currently we use smartserial as command via a mesa card, but we a also working on a ethernet version. the idea is some udp based protocol like the mesa cards use, but that is still in development. at the moment we are working to get version 4 of our hardware working, a lot of code needs to be done. https://www.dropbox.com/s/axa2u1sy6j62hp7/2016-12-13%2001.57.41.jpg?dl=0 https://www.dropbox.com/s/h2sby9pc4mfvdv8/2016-12-13%2001.57.27.jpg?dl=0 https://www.dropbox.com/s/citvmronmz9ryrt/2016-12-10%2021.12.50.jpg?dl=0 some projects powered by stmbl: https://www.youtube.com/watch?v=wXLcAZwjlzE https://www.youtube.com/watch?v=gwgnAeGjZrA https://www.youtube.com/watch?v=uMytcf41GPU https://www.youtube.com/watch?v=pMZQ4q7iM20
Rene > On 05 Feb 2017, at 15:37, mark.vandoesb...@hetnet.nl wrote: > > 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 ------------------------------------------------------------------------------ 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
