Mesa-Fanuc-PWM

Hi All

Hope you are well.

I have the following drives and Fanuc motors.
A06B-6058-H004
A06B-6058-H005
A06B-6058-H223
A06B-6058-H224

These drives needs PWM signals. I have only worked with Analog e.g. 7i77 before. I need to know if Mesa has cards available that can communicate with these drives, and what you reccomend.

The other drives I have is: A16B-1100-0220-10A. I'm trying to get documentation on this drive, but suspect this is also PWM.

The first machine that I need to do with these drives is a 5-Axis Machining Centre. Two of the drives has two axes integrated, Z has a seperate Drive. (I have no experience in PWM... how much more complicated is PWM compared to Analog?

Please advice me which route to go. Thanks.

I have A06b drive and I am using 7i77 and 10v to drive it. You sure there is no +-10V for those drives?

There are PWM-output options with Mesa. But I suspect that more details will be needed.

Thanks Andy,

What details would be needed?

How many PWM channels, and whether they need to be phase-locked.

Thanks for your assistance Andy,
As far as I understand, each axis needs 6 PWM channels per Axis, we have 5 Axis, which gives us a total of 30 PWM channels. it sounds crazy to me, but this comes from my friend that used to work for Fanuc. With regards to phase locked, I'm not sure. I'm waiting for a reply from my friend.

If you look here, you will see that the Mesa Three-Phase PWM can have 6 channels:
github.com/LinuxCNC/linuxcnc/blob/master...hostmot2/pins.c#L113

I don't know off-hand if any of the existing firmwares make all 6 pins available, but at least the possibility exists.

Thanks Andy. Was this done through GPIO?

No.
It is a set of carefully-synched signals to drive the 6 devices in a 3-phase bridge correctly generated by the FPGA.
The driver has adjustable dead-time. You need to get that at least big enough, or bad things happen.

Thanks Andy,

Here follows the reply from my friend:
for each axis = 6 channels.
3 for cw,
3 for ccw
synchronized by pulse coder commutation signals and fed back via servo lsi.

Now... as far as I know, the LSI acts as a Tacho feedback to the drive. I used a analog output from a 7i77 before to emulate the tacho feedback to the DC drives of fanuc. I got that to work well, on a previous machine I did.