Just curious, what will this robot do when it is finished? On Fri, Oct 22, 2021 at 10:20 AM Ralph Stirling < ralph.stirl...@wallawalla.edu> wrote:
> 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 > -- Chris Albertson Redondo Beach, California _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
