Puma 560 simulation using pumakins

Hi jstoquica,

you IRB6 project sounds also very interesting. I guess the IRB6 is also running brushed DC servo's - correct? What voltage level? Does these servo's have standard encoders or resolver?
I just asking if I could use my universal controller also for an IRB6?

Many thanks, Thomas

Hi robottom,

In fact, I will replace all hardware components, because the investment time is smaller than test and repair some original components. The new components are 24VDC Servo Motors and digital encoders. 5 Gecko Drive 320X.

Can you send me more information about your controller.

Visit my blog, it|s more updating now.

plus.google.com/116960304375198732734/posts

Regards.

Hi jstoquica,

sure no problem. I reusing the complete PUMA 560 arm including Servos and Encoder. My controller consists of a normal DB25 parport board for 6 axis Step/Dir (as you are using) and 6xUHU servo controller: www.uhu-servo.de/servo_en/index.htm . The power supply is an old 48V server supply and some additional smaller power supplies (12V for the UHU servo boards and 19V for the PUMA breaks. That alls fits easily into a normal PC case.
The current controller is lacking of homing possibilities - e.g. not making use of the index-pulses and the potentionmeter of the encoders for absolute positioning/homing. Currently I have to home via scribe marks. These things will be added in a second phase of the project.
I'm planning to do a small YouTube video in the near future as soon as I have to first application working.
So my project is a minimum budget project compared to yours. Looks like you do it at the university - budget might be a topic but not that much as it is for my private one. This allows you to exchange more items. Exchanging the encoders sounds very natural (I guess the orginal IRB 6 is using resolver - correct) but why you exchange also the servo motors. Are the servos no longer working fine?
Did you ever consider to use something else than LinuxCNC - other open source operating software, e.g. ROS? Because I had some experience already with LinuxCNC I did not consider alternatives but I'm no longer 100% sure about this decision.

Best regards, Thomas

Hi robottom,

Are the servos no longer working fine?

Really, I don't know. The retrofitting methodology that I am working, doesn't test any hardware component.

Did you ever consider to use something else than LinuxCNC - other open source operating software, e.g. ROS?

I am working with open architecture (OA) concept, then I am mainly using LinuxCNC because is GNU and add value for the OA concept.

Regards.

Hi guys,

today I could find time to do a little video of the project and uploaded it to YouTube:
There is a little intro to the controller (prototype) and a first test.

Thomas

I am very excited to see this. My controller is working, but starting to show signs of failure.

If I can follow your work and convert this to work properly with my machine... then it will be possible to create new software to use the STEP-DIRECTION outputs to control it as well. Great job!!!

Please follow-up with the interface MESA or PARALLEL PORTS that you are using as well as the servo boards you are using. I will want to gather as much information as possible, then eventually convert my machine to the new controller as well. My machine is a bit older... I am wondering if it has the same encoders or not. I hope so... that is a big part of making it work properly.

Jerry