Mesa daughter cards for TPEN6_6 firmware.

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26 May 2022 17:14 #243928 by ddmachine
Hi, could someone recommend suitable Mesa daughter cards to run the TPEN6_6 firmware, with 6 pwm per axis for 6 joints.
From playing with pncconf, it seems the 72 i/o 50 pin cards can use this firmware, but I don't know where to start when it comes to the daughter cards. Thanks for any advice.

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26 May 2022 17:54 #243930 by tommylight
Moved to "driver boards".

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26 May 2022 20:43 #243944 by PCW
What are you trying to drive?

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26 May 2022 21:31 #243948 by ddmachine
I want to try to drive 2 fanuc A06B-6058-H325 amps on a puma robot. 

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26 May 2022 21:56 - 26 May 2022 22:11 #243949 by PCW
Probably the closest thing would be a 7I52S
but new firmware would be needed

What encoders are used?

What FPGA card do you have or are you intending to use?
Last edit: 26 May 2022 22:11 by PCW.

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26 May 2022 22:55 #243953 by ddmachine
Encoders are fanuc 2000 line incremental with 4 wire commutation.

I presently have a 5i20, but if there is a better combination to drive these amps, I would go that route.

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27 May 2022 00:07 - 27 May 2022 00:14 #243961 by PCW
A 5I20 should work.

I'll try and make a 5I20 configuration
when I get a chance.

Edit Oops:

I don't think a 7I52 will work because you need to tri-state the first 4 PWM channels
so you dont have a conflict with the alarm status bits when the drive is not ready
You really want a daughterboard made for this particular purpose
(ideally incorporating the IS and IR current sense A-Ds)
 
Last edit: 27 May 2022 00:14 by PCW.
The following user(s) said Thank You: ddmachine

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30 May 2022 18:11 #244236 by ddmachine
Thanks for the info.
Would a different firmware be an enhanced version of TPEN6_6 to incorporate the tri-state and current sense functions.
Can you recommend a company that I could approach about designing
and building a prototype card, or is such an idea impractical with the present supply chain situation.
I am just trying to assess if I should persevere with it or have 2 fanuc amps for sale on ebay.

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30 May 2022 20:23 #244239 by PCW
Not sure. its not so much the firmware but a Fanuc specific daughteboard would be needed
Its not terribly complicated though as you mentioned, getting the A-D chips may be an issue
though you could choose something you could get

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