Rotary Delta Robot 4 axis
18 Jul 2019 13:05 #139797
by slckzbn
Rotary Delta Robot 4 axis was created by slckzbn
Rotary Delta Robot 4 axis (xyza)
4x Servo motor (ASDA-A2-M 750W)
3x Reducer (1:25 Liming FE-90)
Software is a LinuxCNC 2.8.0-pre0
I need motion control card. Is there a card that you can recommend that meets these specifications?
And what else do I need?
4x Servo motor (ASDA-A2-M 750W)
3x Reducer (1:25 Liming FE-90)
Software is a LinuxCNC 2.8.0-pre0
I need motion control card. Is there a card that you can recommend that meets these specifications?
And what else do I need?
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- tommylight
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18 Jul 2019 13:17 #139799
by tommylight
Replied by tommylight on topic Rotary Delta Robot 4 axis
Two options:
You can use the step and direction type of control as your drives most probably can use that. It is simple to wire and configure if the drives are already tuned, it works perfectly but if for any reason the motors loose position there is no feedback to know by how much it is off just the drive fault. For this type you can use the following Mesa cards:
5i25 with 7i76 for PCI slot
6i25 with 7i76 for PCI-E slot
7i92 with 7i76 for ethernet to PC
7i96 for ethernet
7i76E for ethernet
The cheapest option it 7i96, i think.
For complete controll from Linuxcnc you can use +-10V analogue controll if your drives support it. This gives full feedback and controll to Linuxcnc so even when you get position errors you know exactly what axis and by how much.
Mesa boards:
5i25 with 7i77
6i25 with 7i77
7i92M with 7i77
Personally i use the 7i77 version always with servo systems.
You can use the step and direction type of control as your drives most probably can use that. It is simple to wire and configure if the drives are already tuned, it works perfectly but if for any reason the motors loose position there is no feedback to know by how much it is off just the drive fault. For this type you can use the following Mesa cards:
5i25 with 7i76 for PCI slot
6i25 with 7i76 for PCI-E slot
7i92 with 7i76 for ethernet to PC
7i96 for ethernet
7i76E for ethernet
The cheapest option it 7i96, i think.
For complete controll from Linuxcnc you can use +-10V analogue controll if your drives support it. This gives full feedback and controll to Linuxcnc so even when you get position errors you know exactly what axis and by how much.
Mesa boards:
5i25 with 7i77
6i25 with 7i77
7i92M with 7i77
Personally i use the 7i77 version always with servo systems.
The following user(s) said Thank You: barisduzenli, slckzbn
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19 Jul 2019 08:11 #139853
by slckzbn
Replied by slckzbn on topic Rotary Delta Robot 4 axis
Do I need anything other than a control card?
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19 Jul 2019 09:33 #139858
by tommylight
Replied by tommylight on topic Rotary Delta Robot 4 axis
Power supply, cables, connectors, isolating tape, a lot of reading, and patience.
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25 Jul 2019 22:35 #140578
by andypugh
Replied by andypugh on topic Rotary Delta Robot 4 axis
And a PCPower supply, cables, connectors, isolating tape, a lot of reading, and patience.
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12 Dec 2019 10:50 #152523
by barisduzenli
Replied by barisduzenli on topic Rotary Delta Robot 4 axis
Hello,
We are using and AMD Athlon 64 PC + 5i25 + 7i77 and Delta Servos as mentioned above.
We wired as as in the atthached pdf file and set driver parameters (Speed mode, Servo on and disabling limit switches).
We could not get any movement. Drivers working in jogging mode.
I observed that CR1 doesnt flash or light up only CR3 as yellow and CR16 as red light up.
It is our first robot project experience. We scan the forum but still I can not be sure wiring is exactly right.
Thank you.
We are using and AMD Athlon 64 PC + 5i25 + 7i77 and Delta Servos as mentioned above.
We wired as as in the atthached pdf file and set driver parameters (Speed mode, Servo on and disabling limit switches).
We could not get any movement. Drivers working in jogging mode.
I observed that CR1 doesnt flash or light up only CR3 as yellow and CR16 as red light up.
It is our first robot project experience. We scan the forum but still I can not be sure wiring is exactly right.
Thank you.
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12 Dec 2019 11:14 #152525
by bevins
Replied by bevins on topic Rotary Delta Robot 4 axis
Are you sure your drives re in velocity speed mode? Alot of drives come default as step/dir.
The following user(s) said Thank You: barisduzenli
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12 Dec 2019 11:23 #152526
by bevins
Replied by bevins on topic Rotary Delta Robot 4 axis
You pins and inputs working? Hal configuration menu item. You can check your pins and ignals live.
If linuxcnc starts, dont worry about the LEDs on the card.
If linuxcnc starts, dont worry about the LEDs on the card.
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12 Dec 2019 11:54 #152527
by barisduzenli
Replied by barisduzenli on topic Rotary Delta Robot 4 axis
Yes I changed P01-01 to "02" P02-15...P02-17 to"00" to disable limitswitch errors. And P02-30 to "01" to Servo On.
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12 Dec 2019 11:55 #152528
by tommylight
Replied by tommylight on topic Rotary Delta Robot 4 axis
mesaflash --device 5i25 --readhmid
What does it return?
How is the 5V side on the 7i77 powered ?
What does it return?
How is the 5V side on the 7i77 powered ?
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