Bosch SCARA robot, CAN bus controled drives
21 Feb 2017 11:19 - 21 Feb 2017 11:31 #88424
by MaD
Bosch SCARA robot, CAN bus controled drives was created by MaD
Well this old SCARA robot looks like it is very hard to program it, all instructions i have are in German and very hard to understand.
So i decided to retrofit it with Linuxcnc if possible.
Servo drives are controlled thru CAN bus by RHO 3.0 computer which will be removed. I don't want to remove servo drivers too because new ones that take step/dir or analog +/-10V will cost fortune.
So my question is:
Is it possible to connect these drives to Linuxcnc and how?
Here is some information for drives:
www.moog.com/content/dam/moog/literature...terpol-Manual-en.pdf
So i decided to retrofit it with Linuxcnc if possible.
Servo drives are controlled thru CAN bus by RHO 3.0 computer which will be removed. I don't want to remove servo drivers too because new ones that take step/dir or analog +/-10V will cost fortune.
So my question is:
Is it possible to connect these drives to Linuxcnc and how?
Here is some information for drives:
www.moog.com/content/dam/moog/literature...terpol-Manual-en.pdf
![File Attachment:](https://s16.postimg.org/5nk99q581/20170220_105336.jpg)
![File Attachment:](https://s16.postimg.org/yelodj0fl/20170220_105345.jpg)
![File Attachment:](https://s16.postimg.org/5dhc44fzl/20170220_105352.jpg)
![File Attachment:](https://s16.postimg.org/hgmnror1t/20170221_112649.jpg)
Last edit: 21 Feb 2017 11:31 by MaD.
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- Todd Zuercher
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21 Feb 2017 13:41 #88425
by Todd Zuercher
Replied by Todd Zuercher on topic Bosch SCARA robot, CAN bus controled drives
Most drives that can be controlled serially, often still have traditional analog input controls as well. And quick scan of the manual you linked to seems to imply that these are not an exception.
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21 Feb 2017 17:20 #88436
by MaD
Replied by MaD on topic Bosch SCARA robot, CAN bus controled drives
I don't have encoder simulation boards for these drives so there for analog input is useless i think.
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- tommylight
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21 Feb 2017 17:44 #88439
by tommylight
Replied by tommylight on topic Bosch SCARA robot, CAN bus controled drives
Make sure you have encoders before you buy any card, most robots i have seen and worked on use resolvers, especialy KUKA.
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21 Feb 2017 19:35 #88454
by MaD
Replied by MaD on topic Bosch SCARA robot, CAN bus controled drives
I meant add on board for drives, this robot is using resolvers but drives won't work without them so i can't just replace resolvers with encoders.
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24 Feb 2017 00:02 #88569
by andypugh
Replied by andypugh on topic Bosch SCARA robot, CAN bus controled drives
So: The drives take resolver feedback, but there is no way to get that feedback into LinuxCNC?
That is rather awkward. LinuxCNC can work with resolvers, but the cards that do that expect to be supplying the excitation signal themselves, and won't work with separately-excited resolvers (As far as I know)
General Mechatronics make mention of linuxCNC and CAN bus on this page, it might be worth contacting them:
www.generalmechatronics.com/en/linuxcnc
That is rather awkward. LinuxCNC can work with resolvers, but the cards that do that expect to be supplying the excitation signal themselves, and won't work with separately-excited resolvers (As far as I know)
General Mechatronics make mention of linuxCNC and CAN bus on this page, it might be worth contacting them:
www.generalmechatronics.com/en/linuxcnc
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