Hi Chris, My student originally bought two of these Denso robots to improve his production line for 3d printer filament. Spool handling and the like. His filament business was very busy, and then it tanked. He is now back in school to finish the engineering degree he started 15 years ago or so. He is taking my Manufacturing Systems class right now. He is an EE, and this class is geared to ME's. There is another EE in it too, so I was going to have them do a bit different project than the 12 ME's. My student had the idea to drag in his Denso, and getting it going should be a great project for them. Two ME teams are using Yaskawa Motoman arms. The project for the ME's involves uncapping, filling, and recapping glass vials, a process inspired by some of our bioengineering work. If we get the Denso going soon enough, they may be able to apply it to this project too.
-- Ralph On Oct 22, 2021 8:35 PM, Chris Albertson <albertson.ch...@gmail.com> wrote: CAUTION: This email originated from outside the Walla Walla University email system. 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%7C169b8dac86224119ea1608d995d61ba0%7Cd958f048e43142779c8debfb75e7aa64%7C0%7C1%7C637705569101438469%7CUnknown%7CTWFpbGZsb3d8eyJWIjoiMC4wLjAwMDAiLCJQIjoiV2luMzIiLCJBTiI6Ik1haWwiLCJXVCI6Mn0%3D%7C3000&sdata=m0nfs2Z%2BkuQFy8E6DjAqxlQUh4ASIK0VUE2xchqn1oY%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://nam12.safelinks.protection.outlook.com/?url=https%3A%2F%2Flists.sourceforge.net%2Flists%2Flistinfo%2Femc-users&data=04%7C01%7Cralph.stirling%40wallawalla.edu%7C169b8dac86224119ea1608d995d61ba0%7Cd958f048e43142779c8debfb75e7aa64%7C0%7C1%7C637705569101438469%7CUnknown%7CTWFpbGZsb3d8eyJWIjoiMC4wLjAwMDAiLCJQIjoiV2luMzIiLCJBTiI6Ik1haWwiLCJXVCI6Mn0%3D%7C3000&sdata=PC5HU2s7TdU48ObIZfTL6aefEfj2oK6Imk9paiVDpqo%3D&reserved=0 > -- Chris Albertson Redondo Beach, California _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://nam12.safelinks.protection.outlook.com/?url=https%3A%2F%2Flists.sourceforge.net%2Flists%2Flistinfo%2Femc-users&data=04%7C01%7Cralph.stirling%40wallawalla.edu%7C169b8dac86224119ea1608d995d61ba0%7Cd958f048e43142779c8debfb75e7aa64%7C0%7C1%7C637705569101438469%7CUnknown%7CTWFpbGZsb3d8eyJWIjoiMC4wLjAwMDAiLCJQIjoiV2luMzIiLCJBTiI6Ik1haWwiLCJXVCI6Mn0%3D%7C3000&sdata=PC5HU2s7TdU48ObIZfTL6aefEfj2oK6Imk9paiVDpqo%3D&reserved=0 _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
