Hi Dmitry,
Very nice, I suspected the motor type could be detected properly. You
just saved me a lot of time, because I was going to reverse engineer
the protocol... some day. Please mail me the info you have on these
encoders, so I can auto detect the motors properly. Right now if the
motor responds in half duplex I assume it's a MF-S13...
Mark.
Dmitry Yurtaev <yurt...@gmail.com> wrote:
hi!
very cool projects!
i played a bit with mitsubishi serial encoders, maybe i have some info
you may find useful.
i also collected info on some basic parameters of most mitsubishi
servo motors: like IDs, rated/max current and speed, number of poles
and few other constants in unknown units.
here's some of encoder requests/replies used by drives:
req=92 get encoder id
92 01 41 00 00 00 00 00 d2 - HC-KFS43 (41=OBA17)
92 01 41 83 00 00 00 00 51
92 01 44 d7 - HF-KP23 (44=OBA18)
req=1A type0/1 req
req=A2 type2/3 req
a2 11 b0 f4 07 79 ca 40 03 - HC-KFS43
a2 11 95 e4 05 e1 d5 40 b3 - HF-KP23
^^^^^^count^^^^^^
req=32 type4 req
req=7A motor type
7a 21 41 12 43 ff 00 a7 13 - HC-KFS43 (41, 12FF43)
7a 21 44 16 23 ff 00 a4 71 - HF-KP23 (44, 16FF23)
ping me if any of that seems interesting or you need testing with
different motor encoders (can check J4 HG-KR)
/dmitry
On Sun, Feb 5, 2017 at 11:33 PM, Rene Hopf <reneh...@mac.com> wrote:
> 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.
>>
>>
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>
>
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