Well, I'd say if the controller is running an 8031, it's already been
lobotomized! :)
More seriously, unless there's a serious desire to work with the low
efficiency bipolar drive transistors and spend a bunch of time reverse
engineering the internal hardware, you'll be much better off just
scrapping the controller and hooking the 50-pin robot cable to something
much newer.
The Mesa 7i54 would be pretty much ideal and could connect directly to
the robot. Lots of other options are available depending on what you
want to use for motor drivers and where you want to close the servo loop.
On 5/3/2020 1:18 PM, Tom M wrote:
Hi Guys,
Members of our hackerspace Workshop 88 <http://www.workshop88.com/> have
acquired 3 Scorbot Er-3 with controllers. We've tested them out and the
bot's who we've named Huey, Dewey and Louie all seem to be working well.
We'd like to use Ros on those bots, but the issue is how to get there.
I was reading Alex Rössler post about machinekit and Ros at
https://machinekoder.com/machinekit-ros-open-source-robots/ and it seems
like this might be an approach worth trying.
Seb Kuzminsky used linuxcnc on a scorbot Er-3 with the existing control
https://github.com/LinuxCNC/linuxcnc/blob/master/src/hal/user_comps/scorbot-er-3.py
https://github.com/LinuxCNC/linuxcnc/tree/master/configs/by_machine/scorbot-er-3
I've been corresponding with him on this and he said that this approach
resulted in jerky motion since linuxcnc was communicating of a 9600 baud
serial line.
He wound up replacing the control and creating a new controller with Mesa
7i43 (EPP Hostmot2 card), a Mesa 7i54 (Six channel 3A 40V Servo interface),
We've been toying with a couple approaches:
One approach would be to replace the controller and build a servo
interphase using arduino nano's and a L298 motor drivers:
https://www.youtube.com/watch?v=vHufLMh4xEI
and either use a pc or bbb to handle the motion planning.
We've been studying the Scorbot controller and it is well made and fully
socketed. We were thinking that we could lobotimizing the control by
yanking the 8031 control. 15 pins basically access everything on the
board.
It would be sort of cool, if we could create a cape and socket adapter and
just plug in a bbb to the control and get it to run.
We're still in the process of figuring out the motor drivers and the
encoders. Have people done this sort of thing is a dumb idea? Is
machinekit via a BBB able to handle this type of multiplexing out of the
box or with minor modification or would this be a major modification and a
cludge not worth doing? If there is a project that's done this already,
could someone point me to a project that I could template from?
Any thoughts on this would be appreciated,
Thanks,
Tom
--
Charles Steinkuehler
[email protected]
--
website: http://www.machinekit.io blog: http://blog.machinekit.io github:
https://github.com/machinekit
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