Hi Jim.
I forgot to mention there is an index o/p from the encoders also. The travel of
the pots on the motors are geared to match the complete range of the joint so I
can use the far ends of the resistance range for limits (or any point in
between) and a centre point for homing.
When I get a minute I'll post some more photos to help everyone get an idea of
what I'm talking about...
----- Original Message ----
From: Jim Coleman <[EMAIL PROTECTED]>
To: Enhanced Machine Controller (EMC) <emc-users@lists.sourceforge.net>
Sent: Wednesday, 3 September, 2008 10:05:29 PM
Subject: Re: [Emc-users] Puma560
possibility of replacing the encoders with one with index?
would there be enough room on the us digital discs to drill a couple holes
closer to the center for the purpose of limits?
On Wed, Sep 3, 2008 at 3:44 PM, sam sokolik <[EMAIL PROTECTED]> wrote:
Well that sucks :) my plan is to make some inexpensive h-bridges and
using one of the mesa cards we have to run it. 40v and a few amps
should be easy. I am very surprised that it is sin/cos. Darn. I
will keep tabs on this thread for sure .
Thanks again.
sam
Jonathan Hancock wrote:
Hi all - just a quick update on my Puma project.
As a thought, the output from the original encoders is a sin/cos
waveform (to see goto http://www.flickr.com/photos/[EMAIL PROTECTED]/ ).
I will try to convert this low level signal into a ttl level square
wave using an op-amp. The encoder has a pair of leds and photo sensors
in.
I am looking at using a pic adc to gain limit and homing signals
from the pots on the back of the motors. This is looking quite
promissing.
I've installed ubuntu and emc2 on my machine and now baffled!
Jon - am I sorting the correct things out to interface to your
cards?
I'll keep you posted...
Jonathan
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