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Some do, but not much so far, and not active here much.
Me neither, yet, but probably should need some editing in hal as mm/m and mm/rev are not the same thing nor the same pin in hal.
As to what exactly, i have no clue.

All Kuka robots i have worked with have resolvers on motors, that is the sine/cosine thingy, not encoders. Those were KR150 and KR320, so much bigger.
Mesa has something that can read resolvers, but you need to find the exact model of the resolvers to know for sure.
Motors might also use something for comutation, but not sure if that is also done from resolvers.
I did a lot of wiring on one of those, but never needed to mes with motors or drives as all were working.
I was not on robot forums for a long time, i was the one who posted the hack to make Kuka robots work in Auto mode when they are factory disabled. They are usually controlled by a central computer for synchronization.

 thanks Chris, it is none proportionality of the figure at all, there is no idea at the moment.

and the single point threadmill test

Hi all

I have big latency issues, using the nvem rt1052 cpp/dma with Linuxcnc 2.9.3.
My laptop is a Lenovo L540 (i5), 12gb, ssd. Latency test shows jitter of about 30-40k with glxgears.
As soon as i turn on the machine the servo-thread goes up to 1.5m average and even up to >5m. Is the Cpu really that much to slow ? It runs perfectly with a mesa 7i96s.
I tried playing around with PRU_base_freq= parameters, nothing changed. Also i noticed in the sample config BASE_PERIOD is set to 0 ? Is this some error or not used at all ?
Also i noticed when the axis is moved fast, the DRO still counts for 1-2 seconds even DTG is 0 ?

-
schnellmued
 

Does nobody really use Probe Basic Lathe?

It doesn't matter whether it's mm/rev or inch/rev, the same effect should occur with both if it's normal that you can't use a potentiometer.

I'd like your help in organizing my project.

i managed to recover a KUKA Kr15 robot but without the control bay.
and i'd like to get my hands on it and learn all about it. “Denavit-Hartenberg (DH) parameters”, ‘genserkins’ ...

After calling KUKA, they told me that only their KRC1 with old electronics was compatible with the KR15-1.

So I'd like to go with linuxcnc.

my first question is about the harware:

after several searches, i could see that the motors were siemens servos with a kuka label. the encoders seem to be cos/sin.

www.robot-forum.com/robotforum/thread/32...0-servomotor-pinout/

As for motor control, I'm a bit confused, on the motor nameplate you can see 1.5A / Uistr 146V / 6000/9000tr. they are in 3-phase AC.

after a long search on drivers, i find many with 200V -400V. I see that all the drivers have an encoder input. Is it wiser to connect the encoders to the drivers or to the mesa card? Are there AC drivers without encoder feedback?

-can a mesa card read cos/sin encoders? or do you need a card between the encoder and the mesa card?

 

Congrats to that, the debugger is a big big help, for some problems.
As you found out, the variable updates when the program is paused, or stepping.

Where did you read that in the manual?

Do you mean the image is not the full tab width in Axis?

I installed Pathpirate in 2.9.2 and when updating to 2.10.whatever, PathPilot removed it. I will reinstall Pathpirate but it would be nice to not to have to every time PP updates.

It shouldn't be necessary to use Multimedia CHEESE for AXIS data logging, right?

I think I successfully entered debug mode, but when I rotate the shaft, no change is detected in encCtn. Or I am viewing incorrect information. 



Eventually, as I tested the method further, I found that it actually counted…it worked.
 

Get Debian with the Mate or GNOME desktops, it is miles better than XFCE.
And, yes, it still has issues, Debian issues, but much less than before. Talking about 12 here.

MirkoCNC wrote:

In my case, it would be more convenient, as I only have Linux on the Raspberrry Pi 5.
 

For the Windows convenience I'd still recommend a debian Virtual Machine for the Rio, toolchains, configs, and bitstream gen. They are easy and quick to put together. Only challenge I could think of is the bit file programmer, some VM aren't good friends with USB2.0/3.0 (e.g. Hyper-v).

It's been a decade since I've VM anything and so I wouldn't know which is best to use. Bet Virtualbox does it USB nowadays though.