Robot using already existing servo amplifiers

I am a student of Mechanical Engineering Department in National Technical University of Athens.
My final year project requires me to reprogram the MITSUBISHI RM-501 robot through linucCNC environment. The project requires use the already existing servo amplifiers of the drive unit (zero budget project)

I am wondering if it is that possible.

In my search I was not able to find any datasheet for this drive unit except for a user's manual of the model. Unfortunately, this manual does not contain the information I need regarding the hardware.

Servo type: Sanyo Denki Super Mini 24V DC
Thank you in advance.

Hi

In my search I was not able to find any datasheet for this drive unit except for a user's manual of the model. Unfortunately, this manual does not contain the information I need regarding the hardware.

What about this one?

At 353 pages long you would think something would be relevant

www.datasheetarchive.com/dl/Datasheets-SW18/DSASW00346856.pdf

regards

Thank you for the immediate answering!

The robot is really old ('86 I think),so doesn't match a lot with the new technology. My main concern is, if the boards of the servos, which are located in drive unit, are capable do whatever mesa board does. Also I have not so much experience on electronics, so I would be grateful if you could suggest me a way, how to figure what signal is for without having datasheets. I am new in this field!
Excuse my English…

I think the trick will be figuring out the servo motor drive interface wiring (the encoder wiring should be pretty simple).
It looks like the RM-501 is a small teaching robot with quite tiny DC servos. I suspect the motor drives are simple PWM
driven HBridges so should be easy for LinuxCNC to drive, but lacking a hardware manual or schematics, you will need
the help of someone familiar with electronics to decipher the drive connections.

PCW wrote:

I think the trick will be figuring out the servo motor drive interface wiring (the encoder wiring should be pretty simple).
It looks like the RM-501 is a small teaching robot with quite tiny DC servos. I suspect the motor drives are simple PWM
driven HBridges so should be easy for LinuxCNC to drive, but lacking a hardware manual or schematics, you will need
the help of someone familiar with electronics to decipher the drive connections.

Thank you! I am not familiar with the expressions PWM and HBridges, but I am going to study!

andypugh wrote:

Is Vassilis Kefalas still there?

Still Here! He is Assistant Professor of Engineering at the Department of Applied Mathematics and Natural Sciences right now.

Here I am after two months and 8 days!

I just finish the schematics , in an attempt of reverse engineering, of driver motor boards.

The boards are using flags to activate each motor section. A DA conversion with a resistor ladder controls the velocity and up down counters are in charge for the control and direction. Still after schematics is not very clear how to manipulate the boards.

I am attaching the sch. It's one of the three boards. (The other two have got, pretty much, the same orientation)

I need your knowledge and your experience. Have you ever see something like this? Is it possible to make them functional with a step/dir communication?



Thank you in advance!

can you post a link to the actual image file? the google image is unreadable to me

andypugh wrote:

Can you work out what input the drives are expecting?

I am trying to acquire signals, but they are really noisy. A lot of spikes and mixed lines on oscillator's screen

There is an 20pin interface for each board, which communicates with the cpu.
pins 1~ 3 carry the information
pin 4 is a clock for a flip flop
pin 5 is a trigger for a buffer which controls the signal of hard sw
pins 6~12 they are something like flags
pins 13,14 outputs (?)
pin 15 reset for all flip-flop and up-down counters
pin 16 rectangular signal for clocking
pin 17 signal for the grip
pins 18~20 no connection

PCW wrote:

can you post a link to the actual image file? the google image is unreadable to me

SHLD L/R WRIST BOARD

Thank you