On Mon, 9 Sep 2013, Rudy du Preez wrote: > Date: Mon, 9 Sep 2013 14:28:25 +0200 > From: Rudy du Preez <r...@asmsa.co.za> > Reply-To: "Enhanced Machine Controller (EMC)" > <emc-users@lists.sourceforge.net> > To: emc-users@lists.sourceforge.net > Subject: Re: [Emc-users] Motorman Robot with absolute Yaskawa encoders > > I am busy converting a Motorman 6-axis robot to Linuxcnc. The original > Yaskawa motors and servo drives are used. The motors are all fitted with > absolute encoders. The encoders have differential A and B pulse trains, but > the A channel is used in the beginning to send 8 bytes of serial data plus > some incremental pulses to establish the absolute positions of the axes when > activating the robot after a start-up. The 8 bytes give "P(+ or -)XXXXX(CR)" > with M=XXXXX the number of full turns of the motor from the home position. > The next incremental pulses (Po) give the number of counts of a partial > turn. So if R is the number of counts/rev, the position in counts is M*R + > Po. After this short burst of serial data and pulses the encoder behaves > like a normal incremental encoder. > > I have set up one motor on a bench and have tuned the PID for it. I have to > reset the encoder count to zero before I carry on after the initialization, > ie. I currently ignore the initial serial data and pulses, but of course > like to use this data to have absolute encoding functional. > > A component seems necessary to read the serial data and count the initial > pulses to set the initial offset. Has anybody perhaps prepared such a > component. I have looked at the lsrio16.comp and could probably make > something similar work for me. The tricky part for me would be to get the > right clock speed to synchronize with the serial data speed of 9600 baud. > > I am using a Mesa 6i26 + 7i77 interface system. > > Rudy >
Its probably possible a make a special pin type that combines a UARTRX and a encoder (its a little trickier since its a muxed encoder), But the driver would have to be taught to understand the pin tag. > > ------------------------------------------------------------------------------ > Learn the latest--Visual Studio 2012, SharePoint 2013, SQL 2012, more! > Discover the easy way to master current and previous Microsoft technologies > and advance your career. Get an incredible 1,500+ hours of step-by-step > tutorial videos with LearnDevNow. Subscribe today and save! > http://pubads.g.doubleclick.net/gampad/clk?id=58041391&iu=/4140/ostg.clktrk > _______________________________________________ > Emc-users mailing list > Emc-users@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-users > Peter Wallace Mesa Electronics (\__/) (='.'=) This is Bunny. Copy and paste bunny into your (")_(") signature to help him gain world domination. ------------------------------------------------------------------------------ Learn the latest--Visual Studio 2012, SharePoint 2013, SQL 2012, more! Discover the easy way to master current and previous Microsoft technologies and advance your career. Get an incredible 1,500+ hours of step-by-step tutorial videos with LearnDevNow. Subscribe today and save! http://pubads.g.doubleclick.net/gampad/clk?id=58041391&iu=/4140/ostg.clktrk _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
