They are in a Denso robot, and the robot controller directly reads the encoders. Several fpga's on the main board. We don't have the big cable that connects the controller to the arm, unfortunately, but may try to cobble together one channel to see if we can capture communication between the controller and the encoder. All the batteries were dead, so all stored info is gone.
-- Ralph ________________________________________ From: Todd Zuercher [to...@pgrahamdunn.com] Sent: Friday, October 22, 2021 6:44 AM To: Enhanced Machine Controller (EMC) Subject: Re: [Emc-users] Panasonic serial encoder interface Are you using the Panasonic servo drives that go with the motors and encoders? How are you commanding them? Depending on the command interface you may not need to deal with reading the encoders directly or even at all. The drives will do that for you and maybe even send out a position signal linuxcnc is capable of reading for feedback. Todd Zuercher P. Graham Dunn Inc. 630 Henry Street Dalton, Ohio 44618 Phone: (330)828-2105ext. 2031 -----Original Message----- From: Ralph Stirling <ralph.stirl...@wallawalla.edu> Sent: Thursday, October 21, 2021 11:14 PM To: emc-users@lists.sourceforge.net Subject: [Emc-users] Panasonic serial encoder interface [EXTERNAL EMAIL] Be sure links are safe. 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://nam12.safelinks.protection.outlook.com/?url=https%3A%2F%2Fwww.eevblog.com%2Fforum%2Fprojects%2Finterfaceprotocol-to-encoder-on-panasonic-servo-motor%2F&data=04%7C01%7Cralph.stirling%40wallawalla.edu%7C665f7f0c23a742ef04e708d9956f225a%7Cd958f048e43142779c8debfb75e7aa64%7C0%7C1%7C637705126827244953%7CUnknown%7CTWFpbGZsb3d8eyJWIjoiMC4wLjAwMDAiLCJQIjoiV2luMzIiLCJBTiI6Ik1haWwiLCJXVCI6Mn0%3D%7C3000&sdata=RYymtPoDjeH8QREN4liUgmrumfSUAtmFaHB3rvb4Bmg%3D&reserved=0 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 mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
