On Mon, Dec 6, 2010 at 9:32 PM, Stephen Wille Padnos <spad...@sover.net>wrote:
> Stuart Stevenson wrote: > >> It doesn't matter what microstepping the drive uses - just adjust > >> the scale to suit. The encoder will tell you when you have it > >> right. > >> > > Yes, I adjusted the scale to allow motion. I think 3333.333333333 * 50 / > 128 > > will give me the correct movement/encoder count scale. I was adjusting > the > > scale and seemed to be converging on a value close to this. I determined > > this is the probable number after we removed the drive. > > The upper arm motion is noisy and not smooth. I will wait until I have > the > > new drive that has the finer microstepping. > > I found an exact compumotor drive on ebay. With the ebay drive and the > new > > drive I will have a full complement of drives - finally. > > > Did you ever swap the drives from the wrist back where they belong? > Those definitely don't need to be as powerful as the ones for the waist, > shoulder, and elbow, which could cause bad motion on the larger motors. > Yes, these have been moved to their original locations. The mount plate has the serial numbers scribed to match the serial numbers on the drive. This allowed me to determine (with a degree of confidence) the proper locations. I talked to a Parker (the current owner of Compumotor) engineer. He told me the particulars of the motors and drives. He had to dig for information as these are 80's vintage. They are before his time but he was very helpful. thanks Stuart -- dos centavos ------------------------------------------------------------------------------ What happens now with your Lotus Notes apps - do you make another costly upgrade, or settle for being marooned without product support? Time to move off Lotus Notes and onto the cloud with Force.com, apps are easier to build, use, and manage than apps on traditional platforms. Sign up for the Lotus Notes Migration Kit to learn more. http://p.sf.net/sfu/salesforce-d2d _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
