Hi Jon. Thanks for your response. I hope this helps:
The Puma560 has 6 joints all having 40v dc brushed motors. The 3 lower joints
are rated at 160W and the final 3 at 80W.
The encoders are sin/cos types with differential outputs and an index output. I
can convert this to A/B square waves if necessary. Each motor also has a pot on
the back for the control system to find its home position at power-up. There
are no limit switches.
The tree lower joints have a break that needs to be energised by 24v to allow
movement of the motors.
I'm not sure what the control signal to the existing amplifiers needs to be as
I have very little documentation on my system. I am happy to replace them for a
more modern solution if it's easier. There is however a 'high power
discharge' board in the original to soak up the high voltages created by the
inertia of the arm. I guess I can use the original psu to provide +/- 40V.
It would be great to get this working properly as it's been a long term
ambition. I've found some university sites that have made changes to the
original controller but none that have started again. And then there's the
software....!
Thanks
Jonathan
----- Original Message ----
From: Jon Elson <[EMAIL PROTECTED]>
To: Enhanced Machine Controller (EMC) <[email protected]>
Sent: Sunday, 24 August, 2008 7:46:36 PM
Subject: Re: [Emc-users] Puma560
Jonathan Hancock wrote:
> Hi all. This is my first post on emc so sorry if I haven't done it the
> correct way...
>
> I have a Puma560 robot but the old control system for it has seen better
> days and doesn't work at all now. What I'd like to do is build a new one
> to connect to the existing arm.
>
> Having searched the web I came across you guys and thought you may be
> able to help! Has anyone out there done it? If so, can you help please?
> I could really do with being pointed in the right direction as to
> hardware requirements (servo amplifier, encoder i/p to the pc etc) and
> software to run the robot including the IK.
Well, what kind of motors does it have? DC brush? What kind of
encoders? Are the servo amps usable, or are then in need of
replacement, too?
Jon
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