On Thu, 24 Oct 2013, Daniel wrote: > Date: Thu, 24 Oct 2013 17:14:10 -0400 > From: Daniel <[email protected]> > Reply-To: "Enhanced Machine Controller (EMC)" > <[email protected]> > To: "Enhanced Machine Controller (EMC)" <[email protected]> > Subject: Re: [Emc-users] Fanuc 420F 6-axis robot > > Thanks Peter > > Does this mean my best bet for now would be exchange the drivers? > > e.g. 8i20? It looks to me the Motor needs more like 3KW - Label says AMP > 20A (STALL) VOLT 141V
Thats will need a drive with 60A or more peak current, not anything that we have at the moment (and why using the original drive may be the best solution) > > would I still have the problem with the encoder input? This is a standard incremental encoder so is not an issue (nor are the Fanuc serial encoders thanks to Andy Pughs work) (I suspect it has the 4 bit Fanuc absolute encoder signals somewhere for comutation) > > > Could this Pico Systems stuff help for now? > > http://pico-systems.com/osc2.5/catalog/product_info.php?products_id=8 > http://pico-systems.com/osc2.5/catalog/product_info.php?products_id=34 > > http://pico-systems.com/acservo.html > > > What would be the cheapest/easiest way to get this robot moving? > > Thanks, Dusko > > > > > > On 13-10-24 04:51 PM, Peter C. Wallace wrote: >> On Thu, 24 Oct 2013, Daniel wrote: >> >>> Date: Thu, 24 Oct 2013 15:53:37 -0400 >>> From: Daniel <[email protected]> >>> Reply-To: "Enhanced Machine Controller (EMC)" >>> <[email protected]> >>> To: [email protected] >>> Subject: [Emc-users] Fanuc 420F 6-axis robot >>> >>> Hi guys >>> >>> complete new at linuxcnc, robotics and mailing lists. I am a software >>> engineer, at least I can start up a pc from a cd. So please be nice and >>> patient with me ;) >>> >>> Want to get our robot going with with Linuxcnc. So far I found following >>> information: >>> >>> Motors: >>> Fancu Model 10, Type A06B-0501-B751 AC Servo Motor. >>> Fancu Model 20F, Type A06B-0352-B731 AC Servo Motor. >>> >>> (Have a red cap in the back - does that mean 'read cap' I can see >>> sometimes?) >>> >>> >>> Drivers: >>> 2 x Fanuc A06B-6058-H006 >>> 1 x Fanuc A06B-6058-H006/J016 >>> 2 x Fanuc A06B-6058-H005 >>> >>> >>> Connections driver (all model same): >>> >>> 01 PWMA (ALM1)> 01 PWMA (ALM1) >>> 02 COMA >>> 03 PWMB (ALM2) >>> 04 COMB >>> 05 PWMC (ALM4) >>> 06 COMC >>> 07 DRDY >>> 08 IR >>> 09 GDR >>> 10 IS >>> 11 GDS >>> 12 MCON >>> 13 GND >>> 14 PWMD (ALM8) >>> 15 COMD >>> 16 PWME >>> 17 COME >>> >>> >>> (ALMn) means this is bidirectional and can be read as alarm when on the >>> board is an alarm >>> >>> Pulsencoder from the motor: >>> >>> 01 0V >>> 02 0V >>> 03 0V >>> 04 5V >>> 05 5V >>> 06 5V >>> 07 empty >>> 08 empty >>> 09 empty >>> 10 empty >>> 11 empty >>> 12 empty >>> 13 empty >>> 14 PCZ >>> 15 PCZ* >>> 16 PCA >>> 17 PCA* >>> 18 PCB >>> 19 PCB* >>> 20 empty >>> >>> Question: >>> >>> a) Can I use the mesa 6i25 + 7i77 card to run this? >>> b) Can anyone help me with the wiring? >>> c) Does somebody already did this and would share the hal-files with me? >>> >>> Thanks so much - any help is much appreciated! >>> Dusko >>> >>> >> The Fanuc digital drives are relatively simple power stages that need a 3 >> phase current controller that implements field oriented control. We are >> working on a device (sserial to velocity mode fanuc digital drive interface) >> to do this but have no idea when it will be ready. The drive signals are 3 or >> 6 sinusoidal PWMs, DRDY (drive ready from drive) MCON (controller ready from >> controller) IR and IS (analog +-4.4V FS motor current from 2 phases). The >> rest >> are grounds (this is a type A interface, the type B has only 3 PWM signals >> but >> include the absolute pulse coder signals) >> >> >> So the short story is that a 7I77 will not help much here (since the drives >> need a DSP with fast analog input) at some point a 5I25/7I85 plus a sserial >> Fanuc interface (tentatively 7I89) may make this a lot easier. >> >> >> >>> >>> ------------------------------------------------------------------------------ >>> October Webinars: Code for Performance >>> Free Intel webinars can help you accelerate application performance. >>> Explore tips for MPI, OpenMP, advanced profiling, and more. Get the most >>> from >>> the latest Intel processors and coprocessors. See abstracts and register > >>> http://pubads.g.doubleclick.net/gampad/clk?id=60135991&iu=/4140/ostg.clktrk >>> _______________________________________________ >>> Emc-users mailing list >>> [email protected] >>> https://lists.sourceforge.net/lists/listinfo/emc-users >>> >> Peter Wallace >> Mesa Electronics >> >> (\__/) >> (='.'=) This is Bunny. Copy and paste bunny into your >> (")_(") signature to help him gain world domination. >> >> >> ------------------------------------------------------------------------------ >> October Webinars: Code for Performance >> Free Intel webinars can help you accelerate application performance. >> Explore tips for MPI, OpenMP, advanced profiling, and more. Get the most from >> the latest Intel processors and coprocessors. See abstracts and register > >> http://pubads.g.doubleclick.net/gampad/clk?id=60135991&iu=/4140/ostg.clktrk >> _______________________________________________ >> Emc-users mailing list >> [email protected] >> https://lists.sourceforge.net/lists/listinfo/emc-users > > > ------------------------------------------------------------------------------ > October Webinars: Code for Performance > Free Intel webinars can help you accelerate application performance. > Explore tips for MPI, OpenMP, advanced profiling, and more. Get the most from > the latest Intel processors and coprocessors. See abstracts and register > > http://pubads.g.doubleclick.net/gampad/clk?id=60135991&iu=/4140/ostg.clktrk > _______________________________________________ > Emc-users mailing list > [email protected] > https://lists.sourceforge.net/lists/listinfo/emc-users > Peter Wallace Mesa Electronics (\__/) (='.'=) This is Bunny. Copy and paste bunny into your (")_(") signature to help him gain world domination. ------------------------------------------------------------------------------ October Webinars: Code for Performance Free Intel webinars can help you accelerate application performance. Explore tips for MPI, OpenMP, advanced profiling, and more. Get the most from the latest Intel processors and coprocessors. See abstracts and register > http://pubads.g.doubleclick.net/gampad/clk?id=60135991&iu=/4140/ostg.clktrk _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
