-------- Forwarded Message --------
Subject: Re: [Emc-users] AC servo driver, Recommendations/advice
requested
Date: Mon, 27 Mar 2017 13:30:03 -0500
From: hubert <[email protected]>
To: andy pugh <[email protected]>
On 3/27/17 4:55 AM, andy pugh wrote:
> On 25 March 2017 at 19:11, hubert <[email protected]> wrote:
>> I see what you mean. Section 2-2-3 implies that the driver is receiving
>> from the actuator 2-phase pulse trains plus a phase-Z pulse signal. In
>> addition the absolute encoder sends absolute signals. We can only sit
>> here and speculate until we can see what is actually on the encoder
>> cable. The unit is scheduled to be delivered Monday. Until then all I
>> can do is try to dream up a method to rotate the servo while reading the
>> encoder output. Are you familiar with any techniques of serially
>> encoding 2-phase pulse trains?
> I had an interesting Sunday, I met up with Rene Hopf from the STMBL
> project at the London Hackspace.
> I brought a Baldor servo and my FHA25B. Rene brought some STMBL
> drives. At the hackspace was a Thermo Electron robot arm powered by
> FHA17-sized harmonic drives.
>
> Rene was able to get both my servos running very well with the STMBL.
> STMBL interfaces extremely easy with LinuxCNC. It presents as a
> smart-serial device, so you just plug it in to a Mesa card with an
> ethernet cable and it creates HAL pins for position command, and feeds
> back other data. It also seems to be extremely good at auto-tuning to
> the servo motor. All in all a very compelling "product":
> https://github.com/rene-dev/stmbl
>
> We did not attempt to move the robot, however Rene took one of the
> encoders from the robot home with him to experiment. They appear to be
> Tamagawa, and to communicate with Manchester-encoded RS485. (the pin
> names in the Tamagawa documentation match those in the Harmonic drive
> spec for your actuator). Rene seemed fairly confident that he would be
> able to add Tamagawa to the STMBL software. However this might not be
> of any immediate use to you, as the STMBL is currently only really a
> DIY project.
I have located a couple of drives that are compatible with C version of
the drives. Once they arrive I believe I will be able to capture the
signals. I think this document
http://www.copleycontrols.com/Motion/pdf/encoder-guide.pdf provides more
insight (page 29). It looks like it may be the Panasonic Incremental A
Format. Anything I can do assist the STMBL project is of interest. At
this time assembly of a PCB is not of interest (been there, done that).
I do fabricate small interface boards when necessary but prefer to buy.
> (However, I came away with a beta sample and will be using that in my
> machine, though I have committed to adding extra Hall Sensor support
> to the software in exchange)
>
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