On Sun, Jan 8, 2012 at 2:33 PM, EBo <e...@sandien.com> wrote:
> On Sun, 8 Jan 2012 09:06:14 +0800, Yishin Li wrote:
> > On Sat, Jan 7, 2012 at 9:50 PM, andy pugh <bodge...@gmail.com> wrote:
> >
> >> On 7 January 2012 06:06, Dave <e...@dc9.tzo.com> wrote:
> >>
> >> > I mentioned the 7i43 since it also has a USB port but cannot be
> >> used.
> >>
> >> It has been made to work on USB with EMC2.
> >> http://youtu.be/BraEMAu5UkY
> >> But I am not clear on what changes were made.
> >>
> >>
> > The USB interface for EMC2 has been adopted on two automatic cleaning
> > machines for more than 8 months. It worked 24-7; it's stable.
> >
> > Currently, it could handle:
> > * up to 5 joints of closed loop servo motors
> > * 16-channel of 12-bit A/D converter
> > * 64 DIN and 32-DOUT
>
> Yishin, a couple of questions before passing the information on.
>
> *) I assume you are referring to the 7i43 mentioned above. Is that
> correct?
>
Yes, it is 7i43.
> *) what is the maximum number of steps it can handle -- the docs only
> talk about the FT245R/FT2232H and not how fast you could theoretically
> push a motor.
>
It could generate up to 8192 steps within a servo period (655.36us).
The step rate would be up to 12.5MHz for each joints.
The sampling rate for each encoder is 25MHz.
> *) has the changes been ported into the repository trunk, or are they
> still considered experimental.
>
>
The experimental source code is at:
http://github.com/artek/emc2
That would be great if the EMC2 community would be willing
to accept this branch.
> *) can you comment on the auxiliary hardware (such as drivers,
> isolators, etc.) you used on your cleaner machines?
>
>
Drivers:
AXIS_X: Mitsubishi J2S, 400W
AXIS_Y: Mitsubishi J2S, 400W
AXIS_YY: Mitsubishi J2S, 400W
AXIS_Z: Mitsubishi J2S, 100W
AXIS_A: Yaskawa SGDV with 32 N.m DD motor
We've developed isolated line driver/receive prototype,
and isolated A/D converter for this machine.
Yishin
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