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Activity
    Adarsh
    @AKoo7
    Fanuc LR Mate 100
    I am replacing control box with STMBL, Mesa and LinuxCNC
    boerderpatrol
    @boerderpatrol
    Which cards?
    Adarsh
    @AKoo7
    do you mean Mesa cards?
    I am using 7i92 and 7i44
    samcoinc
    @samcoinc
    I really should get our puma moving...
    Adarsh
    @AKoo7
    which model?
    samcoinc
    @samcoinc
    old? :) I don't know if I have a picture. It is actually the puma sample in the linuxcnc configs. (alex joni made it hoping I would get going on it)
    560 maybe..
    Adarsh
    @AKoo7
    I think there are DC servo motors in there
    according to:
    samcoinc
    @samcoinc
    Yes
    not sure about the encoders.. they are either quadrature or just the sensor output. (wave shaping done in the electronics that we don't have)
    Adarsh
    @AKoo7
    do you know motor model Number?
    samcoinc
    @samcoinc
    not at the moment
    Adarsh
    @AKoo7
    ok
    Adarsh
    @AKoo7
    based on AB drives being used motor following are encoder specs
    Ultra3000
    Digital Servo Drives
    boerderpatrol
    @boerderpatrol
    Sorry to interrupt but does anyone remember the rx60 motor voltage and brake voltage?
    Dean Forbes
    @deanforbes
    the brake is 24 VDC I was running it at 100VDC and I think Jonathan was at 150 VDC
    The staubli's orginal box produced 150 I think but I think the motors are rated/can handle more
    boerderpatrol
    @boerderpatrol
    Thanks got axis three to at least jitter but then hit a saturation error not quite sure how to rectify that yet...I used the same config from the rx60 config file but still had issues
    John Dammeyer
    @jcdammeyer
    @samcoinc Where does one even get one of these robot arm units if they just wanted to play with it for the fun of doing it. Do they show up as cheap (or free) surplus occasionally? Or are those so worn out they couldn't be rebuilt even if one wanted to.
    Rene Hopf
    @rene-dev
    @borderpatrol you can only reuse the config if you hooked up the resolver and motor wires in the same way. If not you need to at least adjust the direction and offset of the resolver
    boerderpatrol
    @boerderpatrol
    @jcdammeyer if you are in the USA hgrinc or bidspotter are your best options without their controllers they show up cheap often there is a fanuc s model 10 for sale on hgr for $1100 with the controller just check their website often as they get robots constantly and if they aren't selling the price drops every 2-4 weeks or so I almost bought an irb-6 for $300 but it was missing the pendant so i bailed.....in summary they're everywhere and usually there is nothing wrong with the mechanical units they are tanks just as they age out large companies replace them every 10 years or so
    @rene-dev thankyou I will adjust accordingly
    boerderpatrol
    @boerderpatrol
    @jcdammeyer I may be able to find you a yaskawa yr-up6- a00 as I know a guy
    boerderpatrol
    @boerderpatrol
    baldor screenshot.png
    we moved around the motor power until we got it to at least rotate smoothly upon enable were trying to adjust offset but our changing of values seems to do little we tried 1-10 what are we doing wrong?
    link pid
    link pmsm
    link res_fb0
    link jog_cmd
    link misc
    io0.out0 = fault0.mot_brake
    linrev0.scale = 3
    conf0.polecount = 2
    conf0.max_ac_cur = 17
    conf0.max_force = 5
    conf0.j = 0.0001
    conf0.l = 0.002
    conf0.r = 0.4
    adc0.sin_gain = 2
    adc0.cos_gain = 2
    res0.phase = 1
    conf0.motor_fb_offset = 3
    John Dammeyer
    @jcdammeyer
    @boerderpatrol I'd have to find the room first. To many other unfinished projects in the way.
    boerderpatrol
    @boerderpatrol
    Same boat
    Adarsh
    @AKoo7
    @rene-dev what is system_error ? it appears randomly in servoterm and after that com port disconnects
    Rene Hopf
    @rene-dev
    It means your operating system lost connection to the usb device
    Use a better usb cable, or you probably have another noise problem
    JonathanHancock
    @JonathanHancock

    Sorry to interrupt but does anyone remember the rx60 motor voltage and brake voltage?

    The motors are rated at 200v. The original Staubli controller has a voltage bus of 180v DC. I've been testing mine at 150V which seems to work well. The brakes are 24V.

    JonathanHancock
    @JonathanHancock

    not sure about the encoders.. they are either quadrature or just the sensor output. (wave shaping done in the electronics that we don't have)

    I have a Puma 560. The early ones (including mine) have sin/cos encoders. They are optical and produce 1.8v p/p if I remember correctly. I added incremental encoders to mine for ease of interface. They also have a pot on each motor which is geared to match the complete travel of the joint. This gives a rough 'absolute' position for the calibration process. Motors are rated at 48V DC with 24V brakes.

    Here's one of the encoders (small motor for J4,5,6)
    samcoinc
    @samcoinc
    @JonathanHancock, that is what I (sort of) remember... Thanks!
    A
    John Dammeyer
    @jcdammeyer
    @samcoinc Speaking of encoders. My harmonic drive has a small connector and a PC board that I had to butcher to get some conversion cables to RJ45 cables to plug into the STBML. I also want to try the Bergerda AC Servo motors with the STMBL and they have a DB-25 for the encoder connection. So I am going to put a DB-25 on the Harmonic Drive to match the Bergerda encoder connections and make up a PC board to interface to the STMBL. Hopefully new versions of the STMBL won't change the pin-out.
    http://www.autoartisans.com/mill/Bergerda2STMBL.pdf
    http://www.autoartisans.com/mill/Bergerda2STMBL_PCB.pdf
    I only need three but odds are a prototype run of these PC boards will deliver 4. Or I could get more made. Anyone interested? Does the DB-25 match other Chinese AC Servos?
    Nico Stute
    @crinq
    @jcdammeyer the stmbl pinout will not change and there is no common DB-25 pinout for encoders
    John Dammeyer
    @jcdammeyer
    @crinq Sad isn't it. Although truthfully I'd have rather had one DB-25 instead of the two RJ45 connectors for the encoder but I understand that these are also very versatile inputs.
    boerderpatrol
    @boerderpatrol
    @rene-dev or @crinq and advice on hunting out the offset all our values left no change to the waveform and our resolver pinout was gleaned from the manual we have
    horcsab
    @horcsab
    Hi all,
    Please help me!
    I construct the STMBL servo drive.
    I wired the motor (Berger Lahr SER3913/4L3SS0TO) to the STMBL drive.
    I setup the motor parameters.
    I wired the sincos encoder to the FB0 input. When I rotate the motor shaft width hand I can see the change widt the servoterm program.
    If I test the rotate of the motor width constans velocity, the program give saturation error.
    Could someone send me a good configuration parameters?
    Thanks!