We are digging into a 2002-vintage Denso 6-axis robot, with a Linuxcnc conversion in mind. The joint motors on this robot appear to have Panasonic encoders with a four wire interface and a fair amount of circuitry inside each encoder. I suspect that these are the same as the ones in this EEVblog thread:
https://www.eevblog.com/forum/projects/interfaceprotocol-to-encoder-on-panasonic-servo-motor/ A rather terse comment at the end of that thread suggests that these are 2.5Mbaud async RS485 communications: 2.5MBps RZ 8N1 RS485 0x52 comes from drive - seems encoder reset. changes afterwards to 0x2a - read encoder command We already determined that ours are using RS485, so this seems to confirm we are looking at right things. Anybody ever tried interfacing such encoders to LCNC? Thanks, -- Ralph _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
