OK, you have an AC servo motor. What are the electronics that sit between the motor and the computer? What motor driver are you using? Software actually never "sees" the motor only the driver electronics.
Then the next question: Is encoder data run to the computer? I assume it is and you wish to close the loop in software. However there are servo drivers that close the control loop themselves and then the servo motor looks like a stepper motor to your software. I assume you are not doing this and encoder data goes to the computer. Is it quadrature with index or something different? So what does the electronic interface look like. Software in LinuxCNC sees only this interface There are many ways to interface a servo. In the worst case you might be sending PWM to a mosfet h-bridge switch that directly controls current to the motor or what most people do is connect a commercial servo amplifier. Some drivers accept "step and direction" from the computer. No one can answer software questions without knowing how the electronics works. On Sun, Oct 1, 2017 at 1:49 AM, thangle <[email protected]> wrote: > > the arm robot i want to controll is like scara but it has one more dof > (5dof) however it just control 4 axis xyzC (already solved kinematics and > dynamics equation). in order to control it, i will use AC servo (or DC > servo). I think it's possible to use Gcode for planning trajectory.About > ROS, i 'm having plan to use it in future with another robot but for now, i > still want to try control arm robot by linuxcnc > -- Chris Albertson Redondo Beach, California -- website: http://www.machinekit.io blog: http://blog.machinekit.io github: https://github.com/machinekit --- You received this message because you are subscribed to the Google Groups "Machinekit" group. To unsubscribe from this group and stop receiving emails from it, send an email to [email protected]. Visit this group at https://groups.google.com/group/machinekit. For more options, visit https://groups.google.com/d/optout.
