Dear all,
Guenter Heinendirk wrote:
>
> I want to control a 6-axis robot (PUMA 200) with a PC and RTLinux.
> I need min. 6 A/D-, 6 D/A- and 24 digital I/O-channels. Which card(s)
> for the PCI-slot are recommendable? Tips? Experiences? Driver?
>
I'm re-writing an already existing and working robot control
SW for RTLinux. The SW works under MS-DOS, the robot is Puma
560 produced in 1983.
>
>(PUMA 200)
>
Do you mean puma 260?
>
> need min. 6 A/D-, 6 D/A- and 24 digital I/O-channels
>
I use just one ISA custom designed 16-bit parallel port.
>
> Which cards for the PCI-slot are recommendable?
>
It depends on what you want to do (more exactly).
>
> Tips?
>
Yes,
- have a look at the archive of this newsgroup on the
RTL web server. I think there was a robot related
discussion earlier (early April?)
- drivers: you probably don't need a classic driver(s)
because your PUMA connected boards will be accessed
only from RT-tasks i.e. from kernel memory space.
Anyway, have a look at "Kernel Hacker Guide"
in Linux Documentation Project (how to write a driver).
- have a look at
http://www.ee.ualberta.ca/~jasmith/puma/pumasites.html
to learn a bit more about Pumas.
>
> Experiences?
>
Pretty much with LSI-11/xx controlled Puma 560 and 760.
Regards,
Pavel Andris
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