Mark, yep, i will email you what i've got, just have to organize it a bit :) afaik, HC-PQ, HC-MF and HC-MFS are the same motors with different encoders. OBA17 encoders (HC-MFS) can do both: simplex or duplex.
/dmitry On Mon, Feb 6, 2017 at 12:56 AM, <mark.vandoesb...@hetnet.nl> wrote: > 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. > >> > >> > ------------------------------------------------------------------------------ > >> 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 > > > ------------------------------------------------------------------------------ > 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 ------------------------------------------------------------------------------ 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
