On Thu, 24 Oct 2013, andy pugh wrote: > Date: Thu, 24 Oct 2013 21:56:50 +0100 > From: andy pugh <bodge...@gmail.com> > Reply-To: "Enhanced Machine Controller (EMC)" > <emc-users@lists.sourceforge.net> > To: "Enhanced Machine Controller (EMC)" <emc-users@lists.sourceforge.net> > Subject: Re: [Emc-users] Fanuc 420F 6-axis robot > > On 24 October 2013 21:51, Peter C. Wallace <p...@mesanet.com> wrote: > >> The Fanuc digital drives are relatively simple power stages that need a 3 >> phase current controller that implements field oriented control. We are >> working on a device (sserial to velocity mode fanuc digital drive interface) >> to do this but have no idea when it will be ready. The drive signals are 3 or >> 6 sinusoidal PWMs, DRDY (drive ready from drive) MCON (controller ready from >> controller) IR and IS (analog +-4.4V FS motor current from 2 phases). > > Is the Hostmot2 3-phase PWM from the 5i20 / 5i23 class cards suitable > for driving these?
Probably but there are some complications: 1. the PWM signals are bi-directional (when the drive is not ready, they are driven by the drive as drive status bits) The right kind of daughtercard would fix this 2. Its a bare HBridge with status and some protections. It is intended to run with a processor doing field oriented control (using the current feedback signals) This loop needs to run at at least 10 KHz or so so is probably beyond what parctical for HAL. Firmware with a built in processor (like the resolver interface) could do it, but a separate serially interfaced processor seems like the best choice (that what we are planning) > > -- > atp > If you can't fix it, you don't own it. > http://www.ifixit.com/Manifesto > > ------------------------------------------------------------------------------ > October Webinars: Code for Performance > Free Intel webinars can help you accelerate application performance. > Explore tips for MPI, OpenMP, advanced profiling, and more. Get the most from > the latest Intel processors and coprocessors. See abstracts and register > > http://pubads.g.doubleclick.net/gampad/clk?id=60135991&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. ------------------------------------------------------------------------------ October Webinars: Code for Performance Free Intel webinars can help you accelerate application performance. Explore tips for MPI, OpenMP, advanced profiling, and more. Get the most from the latest Intel processors and coprocessors. See abstracts and register > http://pubads.g.doubleclick.net/gampad/clk?id=60135991&iu=/4140/ostg.clktrk _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
