Clearpath HLFB amp.joint.delay

tommylight wrote:

 back when they were selling stepper motors and labeling them as "revolutionary servo motors" for a lot more $, and i think they still do, but now with encoder feedback.
 

Tommy,

They aren't steppers and I don't think they ever have been.  I haven't seen the internal windings, but they don't act like any steppers I've come across.  There is no perceptible rotor cogging when you spin them by hand.  Even the Berger-Lahr 5-phase steppers I have on my Emco lathe have a tiny bit of cogging feel.

The Nema 23/34's are BLDC's with an encoder, trajectory generator, and IO (not just some halls).  The AC-input versions are... maybe something else, don't know.

I've been using them off and on for automation equipment for about 7-8 years and they haven't changed, at least not the mechanical/electrical parts.  They've got upgraded IP67 connectors as an option now, as well as Ethercat models.

Best thing since sliced bread?  No.  There's an upper limit to the performance you can get with 75VDC and 16AWG(ish) cables.

But they are extremely useful in certain applications and no separate drive makes integrating them very easy.

I did setup the MSP software, And I just confirmed the pins again.