Step-Direction vs Analog Command vs CW/CCW Signals

You become really good friends with HalScope whilst tuning........

Thanks bevins,

I guess at that price point you cant be picky, I have similar pricing for other china brand servos, I will see what I negotiate with them.

thefabricator03 wrote: Thanks bevins,

I guess at that price point you cant be picky, I have similar pricing for other china brand servos, I will see what I negotiate with them.

We could run it at 2100 inches per minute. I think that was 800 ipm or something like that in the video.
It is loud because of the rack and pinion.
We had a 10:1 planetary gearbox on the two Y motors and the X motor. THe Z just has a brake.

bevins wrote: It is loud because of the rack and pinion.

Just a good Microphone!

And it seems a very coarse straight rack at that. I used one straight rack on X and 2 helical on the Y and I will never use a noisy straight rack again!

thefabricator03 wrote:

tommylight wrote: 9 Axis, much more joints, i think, in version 2.8 and 2.9 of Linuxcnc .

Yeah thats right 9 axises, and each axis can be comprised of multiple joints.

Tom, What are your thoughts on a 6 axis robot retrofit with Linuxcnc? For this robot there really is no other option. It was made in 1991 and the ERC contoller is very much antiquated.

I would not thing to much about it, just do it.
There are several success stories around, and from what i read the only tricky part is getting the kinematics right, meaning the angles, lengths, and how they interact with each other.
CAM might be a bigger issue.

tommylight wrote: CAM might be a bigger issue.

Na I have CAM sorted,

Between Big Johns Teach-in.py script and this robodk.com/index

thefabricator03 wrote:

tommylight wrote: CAM might be a bigger issue.

Na I have CAM sorted,

Between Big Johns Teach-in.py script and this robodk.com/index

Nice.

There are different types of Yaskawa encoders, Id pull the manual up for the motor, see what was offered and see what you have. In my experience, even the older absolute encoders still used A A/ B B/ and a marker channel and still read incremental , they kept track of where they were with battery backed memory and reported to the controller serially. Yaskawa got out of the control business 17 years ago, my guess is you can re use them. The drives may or may not be analog, there was another post about the AC drives on an I80 control using pwm signals.

andypugh wrote: Are you in a hurry? If you can put this on hold for a few months there should be a new version of the STMBL drive out. That connects direct to Yaskawa servos with absolute encoders.
That should be a neat conversion with no loss of function.

Andy,

Do you have anymore information about the STMBL drives and when they will be released?

Also do you think they will ever get Ethercat capabilities? And is there a better place to get info on them then the Gitter page? It really is a pain.

I have heard that the (probably) final iteration of the new power stage is being tested.

Also someone on the STMBL Gitter chat is looking to make a batch of boards using a lower-power and still available version of the IRAMs chip.

But I am not deeply embedded in the project, so know no more than anyone else.