Hi. I'm waiting for delivery of my new oscilloscope so will find out if the
encoder o/p is sin/cos or square wave. Each one has 250 counts, which means
1000 edges right (assuming square wave o/p)? It appears there is +12v and -12v
going to the arm. I wonder if that provides any clues?
Also, I've had a look at the power amplifiers. They are not separate units with
i/p's and o/p's etc marked on them. They are 2 large pcbs covered in mosfets.
It's difficult to see where signals go in and out. The only thing I can find is
the o/p to the motors and +40v and -40v input but as for the control signal,
I'm still not sure. I'm pretty sure the motors don't have tachometers on.
Sam - if you have any questions please let me know - I will help if I can.
Jon - do you think any of your boards would be suitable?
Also, has anyone heard of a Pluto-P card?
Thanks
Jonathan
----- Original Message ----
From: Jon Elson <[EMAIL PROTECTED]>
To: Enhanced Machine Controller (EMC) <[email protected]>
Sent: Monday, 25 August, 2008 5:06:22 PM
Subject: Re: [Emc-users] Puma560
sam sokolik wrote:
> I have the exact robot. I have been having problems finding the specs on
> the servos - so thank you very much. - the small ones then are 2A and the
> large ones are 4A. cool. I read references to the encoders being sin/cos
> output. I figured I would believe it when I got around to hooking them up.
> seems a bit odd. If all else fails - encoders are cheap. We did not get
> any of the control electronics.
Some encoder makers and system builders use Sine and Cosine just
to describe the two quadrature signals, even when they are
digital. The fact they are differential makes me think even
more thay are already digital. Sin/Cos really is the same as A/B.
Jon
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