i want to use pulse/dir signal to control position, analog voltage -+10V (or another stage ) to control Torque, take position and velocity feedback from encoder i have plan to use driver EPS-B1-0D20AA and the servo motor is 60DNMA1-0D20D. It has the close control loop themselves.With them, do i need to make a PD control to warrant position or take position and velocity feedback from encoder to make 1 more close control loop?
Like you said, the output i want is still pulse/dir signal for control possition and velocity, analog voltage to control Torque (servo driver accept "pulse/dir"), encoder data input go to computer is pulse signal I still have many things to learn, hope you spend some time to help me. Vào 01:05:44 UTC+7 Thứ Hai, ngày 02 tháng 10 năm 2017, Chris Albertson đã viết: > > > > 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] <javascript:> > > 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.
