2012/12/28 Florian Rist <[email protected]>: > Hi Viesturs > > > I agree with Andy about keeping servo amps. > > The problem is, that these amps are from Kuka and linked to the > controller by some kind of bus system. At present I do not know anything > about this bus.
Do You have any documentation to find out, if the drive will accept analog or pwm signal? AFAIK there has been some work to get LinuxCNC to work with EtherCAT (I have seen a video in youtube that shows it in action), so if the drive has it, then there is a chance... > Sure, on the other hand replacing all the electronics would enable me to > by a used plain robot, these are cheap, and add the new LinuxCNC controller. If I understand You correctly about purchasing simple robot and putting LinuxCNC on it, I think that looking out for a Kuka or ABB robot with damaged controls also is an option. > Indeed that would be difficult, but motion in the Cartesian space > (called linear movements in the Kuka Robot control Language (KRL)) would > be enough. What about the powerful base coordinate system in KRL? I > guess G68 and G92 could be used to partly mimic this feature. But I > don't see a way to work in a tool tip coordinate system, neither does > G42 provide the possibilities to specify an offset in xyzABC. So this > would probably have to be implemented via a custom M command. Sorry, my experience with Kuka control system is limited to 15 minutes of taking a really close look at the arm itself, holding the control pendant in hand, jogging it around a little and asking the owner questions at a rate much faster than he managed to reply. > What LinuxCNC would be able to do out of the box is tool radius > compensation, though I don't real know how well this is implements for 5 > DOF movements. KRL can't do it at all. AFAIK 5 axis tool radius compensation is not available at the moment, and I have no idea what would it take to implement that. I guess that some kind of workaround of doing this in kinematics module might be possible. > What I'm mostly interested would be a simple and fast way to control the > motion of the robot from an external system by streaming location and > orientation data at the speed of the main control loop and/or at the > speed of the servo control loop. Almost all or all motion planing an > tool path interpolation is than done external only the kinematic would > be handled by LinuxCNC. I am curious about the intended application of this concept - feeding the position data from another application, because now it looks like You are going to take out g-code interpreter, trajectory planner and most probably some other modules, like i/o control, as well. What is left is motion controller. Anything else? -- Viesturs If you can't fix it, you don't own it. http://www.ifixit.com/Manifesto ------------------------------------------------------------------------------ Master HTML5, CSS3, ASP.NET, MVC, AJAX, Knockout.js, Web API and much more. Get web development skills now with LearnDevNow - 350+ hours of step-by-step video tutorials by Microsoft MVPs and experts. SALE $99.99 this month only -- learn more at: http://p.sf.net/sfu/learnmore_122812 _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
