On my 1986 Enshu 3 axis VMC that had a Fanuc 10/11 control. I removed the control and installed Pico-Systems PPMC boards. I used the Fanuc AC servo and AC spindle drives and the Fanuc AC servo and AC spindle motors. You need to determine what control signal the servo drives require. This will tell you what boards to install and how you need to configure it. Does the encoder feedback go directly to the servo drive or does it go to the control and the control provide a generated feedback to the servo drive? If the encoder feedback goes to the servo drive does the servo drive have a signal pass through so you can also get the position feedback into EMC2?
I even purchased and installed Honda plugs so I did not need to rewire the servo drive section at all. It was unplug the Fanuc stuff and plug in the EMC2 stuff (not quite that simple but very close). The only rewiring I had to do was remove the Fanuc I/O concentrator/fiber optic system (this was the reason the machine would not run). Do you have a wiring diagram? Genserkins will do the kinematics to translate the robots joints into Cartesian Coordinate space. I have been studying the Denavit Hartenburg transformations and have come to the conclusion they do not allow the accuracy/geometric correction I desire. I will write my own kinematics for my robot and my faro arm. I have a 5 axis kinematics to correct the geometric errors on my 5 axis Cinci. I will start with that for the robot/faro kinematics. You are welcome to use it for anything you want but I will warn you my programming style is seen as a little unconventional. It may take as long (maybe longer) to figure out what I have done as it would to do it on your own from scratch. Some previous comments about my programming style range up to "What the hell is that?". :) with the information I have at the moment I would say you can remove the control, install EMC2 and the appropriate boards and have your robot running gcode pretty easily and VERY cost effective (ie cheap). On Fri, Apr 22, 2011 at 10:00 AM, Joshua D. Johnson < [email protected]> wrote: > To clarify, I do have the RJ2 controller, the pendants, books etc. and have > verified that the robots work. I just have no way of interfacing with any > kind of G-code that I know of. From the sounds of some of your posts like > it > should be fairly simple. Are you saying that I can tie into the AC servo > drivers and/or the controller directly with EMC2?? what would the process > be? Sorry I am a mechanical guy and REALLY appreciate the feedback. > > JOSH > > ------------------------------------------------------------------------------ > Fulfilling the Lean Software Promise > Lean software platforms are now widely adopted and the benefits have been > demonstrated beyond question. Learn why your peers are replacing JEE > containers with lightweight application servers - and what you can gain > from the move. http://p.sf.net/sfu/vmware-sfemails > _______________________________________________ > Emc-users mailing list > [email protected] > https://lists.sourceforge.net/lists/listinfo/emc-users > -- dos centavos ------------------------------------------------------------------------------ Fulfilling the Lean Software Promise Lean software platforms are now widely adopted and the benefits have been demonstrated beyond question. Learn why your peers are replacing JEE containers with lightweight application servers - and what you can gain from the move. http://p.sf.net/sfu/vmware-sfemails _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
