Hi all - just a quick update...
I managed to get a square wave o/p from the original encoders using a
high-speed comparator as Jon suggested. It works ok but every now and then
stops working or seems very erratic. I know the original Pumas 'folded up' on
themselves occasionally due to encoder
Jonathan Hancock wrote:
Hi all - just a quick update...
I managed to get a square wave o/p from the original encoders using a
high-speed comparator as Jon suggested. It works ok but every now and
then stops working or seems very erratic. I know the original Pumas
'folded up' on themselves
found by
a University student working on a Puma. It doesn't work!
Thanks
Jonathan
- Original Message
From: Jon Elson [EMAIL PROTECTED]
To: Enhanced Machine Controller (EMC) emc-users@lists.sourceforge.net
Sent: Thursday, 4 September, 2008 2:31:12 AM
Subject: Re: [Emc-users] Puma560
Jonathan Hancock wrote:
Thanks Jon. You're right - the waveform is from the raw photosensor outputs.
Would it be posible for you to provide a circuit diagram using the LM193
please? I have tried an op-amp (Max942) as I have a few kicking around.
I connected A+ to one i/p and A- to the
Hi all - just a quick update on my Puma project.
As a thought, the output from the original encoders is a sin/cos waveform (to
see goto http://www.flickr.com/photos/[EMAIL PROTECTED]/ ). I will try to
convert this low level signal into a ttl level square wave using an op-amp. The
encoder has
: [Emc-users] Puma560
Hi all - just a quick update on my Puma project.
As a thought, the output from the original encoders is a sin/cos waveform (to
see goto http://www.flickr.com/photos/[EMAIL PROTECTED]/ ). I will try to
convert
this low level signal into a ttl level square wave using an op
Well that sucks :) my plan is to make some inexpensive h-bridges and
using one of the mesa cards we have to run it. 40v and a few amps
should be easy. I am very surprised that it is sin/cos. Darn. I will
keep tabs on this thread for sure .
Thanks again.
sam
Jonathan Hancock wrote:
possibility of replacing the encoders with one with index?
would there be enough room on the us digital discs to drill a couple holes
closer to the center for the purpose of limits?
On Wed, Sep 3, 2008 at 3:44 PM, sam sokolik [EMAIL PROTECTED] wrote:
Well that sucks :) my plan is to make
-users] Puma560
possibility of replacing the encoders with one with index?
would there be enough room on the us digital discs to drill a couple holes
closer to the center for the purpose of limits?
On Wed, Sep 3, 2008 at 3:44 PM, sam sokolik [EMAIL PROTECTED] wrote:
Well that sucks :) my
]
To: Enhanced Machine Controller (EMC) emc-users@lists.sourceforge.net
Sent: Wednesday, 3 September, 2008 10:05:29 PM
Subject: Re: [Emc-users] Puma560
possibility of replacing the encoders with one with index?
would there be enough room on the us digital discs to drill a couple
holes closer
- Original Message
From: sam sokolik [EMAIL PROTECTED]
To: Enhanced Machine Controller (EMC) emc-users@lists.sourceforge.net
Sent: Wednesday, 3 September, 2008 10:26:33 PM
Subject: Re: [Emc-users] Puma560
the manual says there is a 116 to 1 gear reduction in each servo that
run the potentiometer
I will look. I have some schematics of the control also.
sam
- Original Message -
From: Jonathan Hancock
To: Enhanced Machine Controller (EMC)
Sent: Wednesday, September 03, 2008 5:04 PM
Subject: Re: [Emc-users] Puma560
Here are some more photos of the motor I am
Jonathan Hancock wrote:
Hi all - just a quick update on my Puma project.
As a thought, the output from the original encoders is a sin/cos
waveform (to see goto http://www.flickr.com/photos/[EMAIL PROTECTED]/ ). I
will try to convert this low level signal into a ttl level square wave
Jeff Epler wrote:
On Mon, Aug 25, 2008 at 09:01:27PM -0500, Jon Elson wrote:
This is the parallel port (EPP) version.
With at least a few systems, the problem goes deeper than this: the FPGA
firmware is programmed each time over the parallel-port in SPP mode.
One machine we had at CNC
Sebastian Kuzminsky wrote:
Jeff Epler wrote:
On Mon, Aug 25, 2008 at 09:01:27PM -0500, Jon Elson wrote:
This is the parallel port (EPP) version.
With at least a few systems, the problem goes deeper than this: the FPGA
firmware is programmed each time over the parallel-port in SPP mode.
One
On Tue, Aug 26, 2008 at 12:08:10PM -0500, Jon Elson wrote:
I'd be willing to bet a meal at the next Workshop that this is
either a crosstalk or reflection problem on whatever signal is
used to clock the config data into the FPGA. [...]
I don't doubt *at all* that you're right about all these
Jeff Epler wrote:
On Tue, Aug 26, 2008 at 12:08:10PM -0500, Jon Elson wrote:
I'd be willing to bet a meal at the next Workshop that this is
either a crosstalk or reflection problem on whatever signal is
used to clock the config data into the FPGA. [...]
I don't doubt *at all* that you're
]
To: Enhanced Machine Controller (EMC) emc-users@lists.sourceforge.net
Sent: Sunday, August 24, 2008 11:50 PM
Subject: Re: [Emc-users] Puma560
Jonathan Hancock wrote:
Hi Jon. Thanks for your response. I hope this helps:
The Puma560 has 6 joints all having 40v dc brushed motors. The 3 lower
sam sokolik wrote:
I have the exact robot. I have been having problems finding the specs on
the servos - so thank you very much. - the small ones then are 2A and the
large ones are 4A. cool. I read references to the encoders being sin/cos
output. I figured I would believe it when I got
Message
From: Jon Elson [EMAIL PROTECTED]
To: Enhanced Machine Controller (EMC) emc-users@lists.sourceforge.net
Sent: Monday, 25 August, 2008 5:06:22 PM
Subject: Re: [Emc-users] Puma560
sam sokolik wrote:
I have the exact robot. I have been having problems finding the specs on
the servos
On Mon, Aug 25, 2008 at 08:06:50PM +, Jonathan Hancock wrote:
Also, has anyone heard of a Pluto-P card?
I have.
I wrote the FPGA firmware and emc2 drivers for this card. (The card is
designed, manufactured, and sold by knjn.com, with whom I am not
affiliated)
While its price is appealing,
Jonathan Hancock wrote:
Jon - do you think any of your boards would be suitable?
Well, assuming the servo amps are not something we can get info
on, then I have the Universal PWM controller and PWM servo amps
that should work. 40 V is fine, and they can go up to 20 A.
The controller is 4 axis,
Jeff Epler wrote:
On Mon, Aug 25, 2008 at 08:06:50PM +, Jonathan Hancock wrote:
Also, has anyone heard of a Pluto-P card?
I have.
I wrote the FPGA firmware and emc2 drivers for this card. (The card is
designed, manufactured, and sold by knjn.com, with whom I am not
affiliated)
On Mon, Aug 25, 2008 at 09:01:27PM -0500, Jon Elson wrote:
This is the parallel port (EPP) version.
With at least a few systems, the problem goes deeper than this: the FPGA
firmware is programmed each time over the parallel-port in SPP mode.
One machine we had at CNC Workshop wouldn't even
Jeff Epler wrote:
On Mon, Aug 25, 2008 at 09:01:27PM -0500, Jon Elson wrote:
This is the parallel port (EPP) version.
With at least a few systems, the problem goes deeper than this: the FPGA
firmware is programmed each time over the parallel-port in SPP mode.
One machine we had at CNC
Hi all. This is my first post on emc so sorry if I haven't done it the correct
way...
I have a Puma560 robot but the old control system for it has seen better days
and doesn't work at all now. What I'd like to do is build a new one to connect
to the existing arm.
Having searched the web I
--
Message: 3
Date: Sun, 24 Aug 2008 12:15:01 + (GMT)
From: Jonathan Hancock [EMAIL PROTECTED]
Subject: [Emc-users] Puma560
To: emc-users@lists.sourceforge.net
Message-ID: [EMAIL PROTECTED]
Content-Type: text/plain; charset=utf-8
Hi all. This is my first
Jonathan Hancock wrote:
Hi all. This is my first post on emc so sorry if I haven't done it the
correct way...
I have a Puma560 robot but the old control system for it has seen better
days and doesn't work at all now. What I'd like to do is build a new one
to connect to the existing arm.
On Sun, 2008-08-24 at 12:15 +, Jonathan Hancock wrote:
Hi all. This is my first post on emc so sorry if I haven't done it the
correct way...
I have a Puma560 robot but the old control system for it has seen
better days and doesn't work at all now. What I'd like to do is build
a new
- Original Message
From: Jon Elson [EMAIL PROTECTED]
To: Enhanced Machine Controller (EMC) emc-users@lists.sourceforge.net
Sent: Sunday, 24 August, 2008 7:46:36 PM
Subject: Re: [Emc-users] Puma560
Jonathan Hancock wrote:
Hi all. This is my first post on emc so sorry if I haven't done
Jonathan Hancock wrote:
Hi Jon. Thanks for your response. I hope this helps:
The Puma560 has 6 joints all having 40v dc brushed motors. The 3 lower
joints are rated at 160W and the final 3 at 80W.
The encoders are sin/cos types with differential outputs and an index
output. I
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