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I recommend you keep all original brusheless motors, but perhaps you don't care about preserving old motors enough to spend the time.

Try to sell them, they may be worth more than their scrap value.

(Not sure what scarp metal prices are like where you are)

I'm assuming the closer you are to China (and Vietnam, Thailand, etc.), the higher the value of E-waste because the shipping to the reccling center in Asia is cheaper.

Hi Langdons,

I'd like to reuse them, but I haven't been able to find any successful examples of this online so far.

I can find Delta drives in the right voltage and they sell all their encoders as spare parts. I guess it's a matter of deciphering the spare part codes to match the right drives and figuring out how to adapt them. There is space to mount on the back of the motors where the Heidenhain encoders are.

Anyone done this?

I'm currently using PNCconf to set up my 7i96S board. So far, everything works fine when using stepgen for motor control. However, I'm running into an issue when switching to encoder-based feedback in a closed-loop setup. Specifically, whenever I try to home the joint using the encoder, I encounter a following error (the traveled distance until Error increases when i enlarge the "FERROR"). The stepgen setup homes without any problems, so it seems the issue is related to the encoder configuration. I'll upload my config in case anyone wants to take a look. I'd really appreciate any help or suggestions!

MAX_VELOCITY on both.

Wow, that's amazing. Did each of the eight heads move on the X-axis independently? I wish you could help me; I think I bit more than I can chew. I downloaded your files, and I feel lost. I am trying to retrofit this bystronic dual head water jet, it looks like a mess. I have all the axis moving, but I can't get the XHC-WHB04B-6 to work. I have not picked a GUI yet, and I  have no clue of how to modify  one , it sounds easy reading about things but doing it seem to be another issue, I just really need help  

Yes, I have looked in there and I only see max spindle override and max feed override. I do not see max velocity override or max rapid override. Not in my .ini file or any of the qtdragon .ini's. Maybe I should try and add those? Like MAX_VELOCITY_OVERRIDE =x.x and MAX_RAPID_OVERRIDE =x.x ?

Edit: And I just tried it, no change. Adding those into display with the feed and spindle did nothing.

Murphy wrote:

Thanks Cakeslob, I forgot your using the stm32 :/ the code in the hal file is the same for 0-10v and PWM ? Just the gain determines the difference?
In my VFD there is an option for 0-10v, 0-5v and external digital signal. Is it 0-5v or digital signal for PWM ?
@scotta , any ideas why it's doing this?

the gain thing was my mistake, they are both the same. remora outputs pwm, and if your hardware has a 0-10v, it will convert it to analog with the op-amp hardware circuit. digital signal might be referring to PWM

Those drives can not do more than 3-3.5A, but that might still not be the issue, i doubt the new motors are of very high inductance, so can you measure the resistance between the windings?
The old motor, is it unipolar or bipolar? How many wires does it have?
If 5 wires = do not use with new drives
If 4 or 6 or 8, try to use it with the new drives, just mind the windings.

Those should be in the ini file, the DISPLAY and TRAJ sections.