--- In DynoMotion@yahoogroups.com, Tom Kerekes <tk@...> wrote:
>
> Hi Mike,
>
> It looks like on page 13 it shows that the amplifier puts out some king of instantaneous analog current measurement and accepts a single PWM signal to control the current.  I'm guessing the amplifier somehow does the commutation with Hall Sensors from the 3 phase motor.  So potentially a KFLOP PWM signal out and a Kanalog ADC signal in might be able to control it.  But there isn't enough information.  It would be up to you to figure everything out and one mistake could easily blow things up :}
>
> Regards
> TK
>
>
>
> ________________________________
> From: michaelthomasn <michaelniksch@...>
> To: DynoMotion@yahoogroups.com
> Sent: Thursday, November 22, 2012 7:54 AM
> Subject: [DynoMotion] Re: Kuka 6 axis robot retrofit
>
>
>  
> Tom,
>
> The only document that I have been able to dig up so far is a general controller manual. On page 9 it begins to talk a little about the drives. It mentions PWM and current control.
>
> Would you care to look at this document and tell me if you think this may be compatible with the Kflop?
>
> http://www.scribd.com/doc/56178218/Control-Cabinet-Hardware
>
> There may not be enough info there.
>
> My projects with the Kflop keep getting harder...lol.
>
> Mike
>
> --- In DynoMotion@yahoogroups.com, Tom Kerekes <tk@> wrote:
> >
> > Hi Mike,
> >
> > No I'm not familiar other than through watching some cool videos.
> >
> >
> > You might ask on the cnczone.
> >
> > Regards
> > TK
> >
> >
> > ________________________________
> > From: michaelthomasn <michaelniksch@>
> > To: DynoMotion@yahoogroups.com
> > Sent: Wednesday, November 21, 2012 3:06 PM
> > Subject: [DynoMotion] Kuka 6 axis robot retrofit
> >
> >
> >  
> > Hi Tom,
> >
> > Are you familiar with Kuka robots?
> >
> > My friend just purchased an older low hours machine. He wants to be able to do 3d carving and stuff like that. The control is old and apparently not up to that.
> >
> > I'm wondering if I could replace it with a Kflop. I looked at the thing today, but was not really able to determine what type of drives it has. The motors are AC brushless......they look like giant steppers. I don't see an external encoder mounted to any of them, althought there is a 8 pin connector along with the 5 pin motor supply. I believe there is brake on 3 of the 6 axis'.
> >
> > He's trying to get the electrical manual for it at the moment.
> >
> > Any ideas?
> >
> > Kflop can perform coordinated motion for 6 axis', right?
> >
> > Mike
> >
>

--- In DynoMotion@yahoogroups.com, "michaelthomasn" <michaelniksch@...> wrote:
>
> Tom,
>
> Thanks for the reply. I'm hoping to have some manuals maybe next week....hopefully they will be more explanatory.
>
> Have a nice Thanksgiving.
>
> Mike
>
> --- In DynoMotion@yahoogroups.com, Tom Kerekes <tk@> wrote:
> >
> > Hi Mike,
> >
> > It looks like on page 13 it shows that the amplifier puts out some king of instantaneous analog current measurement and accepts a single PWM signal to control the current.  I'm guessing the amplifier somehow does the commutation with Hall Sensors from the 3 phase motor.  So potentially a KFLOP PWM signal out and a Kanalog ADC signal in might be able to control it.  But there isn't enough information.  It would be up to you to figure everything out and one mistake could easily blow things up :}
> >
> > Regards
> > TK
> >
> >
> >
> > ________________________________
> > From: michaelthomasn <michaelniksch@>
> > To: DynoMotion@yahoogroups.com
> > Sent: Thursday, November 22, 2012 7:54 AM
> > Subject: [DynoMotion] Re: Kuka 6 axis robot retrofit
> >
> >
> >  
> > Tom,
> >
> > The only document that I have been able to dig up so far is a general controller manual. On page 9 it begins to talk a little about the drives. It mentions PWM and current control.
> >
> > Would you care to look at this document and tell me if you think this may be compatible with the Kflop?
> >
> > http://www.scribd.com/doc/56178218/Control-Cabinet-Hardware
> >
> > There may not be enough info there.
> >
> > My projects with the Kflop keep getting harder...lol.
> >
> > Mike
> >
> > --- In DynoMotion@yahoogroups.com, Tom Kerekes <tk@> wrote:
> > >
> > > Hi Mike,
> > >
> > > No I'm not familiar other than through watching some cool videos.
> > >
> > >
> > > You might ask on the cnczone.
> > >
> > > Regards
> > > TK
> > >
> > >
> > > ________________________________
> > > From: michaelthomasn <michaelniksch@>
> > > To: DynoMotion@yahoogroups.com
> > > Sent: Wednesday, November 21, 2012 3:06 PM
> > > Subject: [DynoMotion] Kuka 6 axis robot retrofit
> > >
> > >
> > >  
> > > Hi Tom,
> > >
> > > Are you familiar with Kuka robots?
> > >
> > > My friend just purchased an older low hours machine. He wants to be able to do 3d carving and stuff like that. The control is old and apparently not up to that.
> > >
> > > I'm wondering if I could replace it with a Kflop. I looked at the thing today, but was not really able to determine what type of drives it has. The motors are AC brushless......they look like giant steppers. I don't see an external encoder mounted to any of them, althought there is a 8 pin connector along with the 5 pin motor supply. I believe there is brake on 3 of the 6 axis'.
> > >
> > > He's trying to get the electrical manual for it at the moment.
> > >
> > > Any ideas?
> > >
> > > Kflop can perform coordinated motion for 6 axis', right?
> > >
> > > Mike
> > >
> >
>

 

Tom,

I've gotten a little more information, and I'm trying to understand how they are making things work within the control.

The brushless ac servo motors have multiturn resolvers that maintain an absolute reference. The resolver output goes to a resolver to digital converter.....then to the control. I'm thinking the resolver is handling the shaft angle for commutation as well.

I'm unsure of what input method in Kflop could be used with this configuration.

Does any of this change the way you think things may operate or interface with Kflop?

Mike

--- In DynoMotion@yahoogroups.com, "michaelthomasn" <michaelniksch@...> wrote:
>
> Tom,
>
> Thanks for the reply. I'm hoping to have some manuals maybe next week....hopefully they will be more explanatory.
>
> Have a nice Thanksgiving.
>
> Mike
>
> --- In DynoMotion@yahoogroups.com, Tom Kerekes <tk@> wrote:
> >
> > Hi Mike,
> >
> > It looks like on page 13 it shows that the amplifier puts out some king of instantaneous analog current measurement and accepts a single PWM signal to control the current.  I'm guessing the amplifier somehow does the commutation with Hall Sensors from the 3 phase motor.  So potentially a KFLOP PWM signal out and a Kanalog ADC signal in might be able to control it.  But there isn't enough information.  It would be up to you to figure everything out and one mistake could easily blow things up :}
> >
> > Regards
> > TK
> >
> >
> >
> > ________________________________
> > From: michaelthomasn <michaelniksch@>
> > To: DynoMotion@yahoogroups.com
> > Sent: Thursday, November 22, 2012 7:54 AM
> > Subject: [DynoMotion] Re: Kuka 6 axis robot retrofit
> >
> >
> >  
> > Tom,
> >
> > The only document that I have been able to dig up so far is a general controller manual. On page 9 it begins to talk a little about the drives. It mentions PWM and current control.
> >
> > Would you care to look at this document and tell me if you think this may be compatible with the Kflop?
> >
> > http://www.scribd.com/doc/56178218/Control-Cabinet-Hardware
> >
> > There may not be enough info there.
> >
> > My projects with the Kflop keep getting harder...lol.
> >
> > Mike
> >
> > --- In DynoMotion@yahoogroups.com, Tom Kerekes <tk@> wrote:
> > >
> > > Hi Mike,
> > >
> > > No I'm not familiar other than through watching some cool videos.
> > >
> > >
> > > You might ask on the cnczone.
> > >
> > > Regards
> > > TK
> > >
> > >
> > > ________________________________
> > > From: michaelthomasn <michaelniksch@>
> > > To: DynoMotion@yahoogroups.com
> > > Sent: Wednesday, November 21, 2012 3:06 PM
> > > Subject: [DynoMotion] Kuka 6 axis robot retrofit
> > >
> > >
> > >  
> > > Hi Tom,
> > >
> > > Are you familiar with Kuka robots?
> > >
> > > My friend just purchased an older low hours machine. He wants to be able to do 3d carving and stuff like that. The control is old and apparently not up to that.
> > >
> > > I'm wondering if I could replace it with a Kflop. I looked at the thing today, but was not really able to determine what type of drives it has. The motors are AC brushless......they look like giant steppers. I don't see an external encoder mounted to any of them, althought there is a 8 pin connector along with the 5 pin motor supply. I believe there is brake on 3 of the 6 axis'.
> > >
> > > He's trying to get the electrical manual for it at the moment.
> > >
> > > Any ideas?
> > >
> > > Kflop can perform coordinated motion for 6 axis', right?
> > >
> > > Mike
> > >
> >
>

--- In DynoMotion@yahoogroups.com, TK <tk@...> wrote:
>
> Hi Mike,
>
> That is all pretty vague. But assuming the resolvers/amplifier somehow does the commutation and the "digital converter" can output position as digital quadrature it could potentially work with KFLOP outputting PWM to control torque and receiving digital quadrature (encoder) feedback.
>
> Try it. Connect a PWM and see if you can control torque.
>
> TK
>
> On Nov 27, 2012, at 7:53 AM, "michaelthomasn" <michaelniksch@...> wrote:
>
> > Tom,
> >
> > I've gotten a little more information, and I'm trying to understand how they are making things work within the control.
> >
> > The brushless ac servo motors have multiturn resolvers that maintain an absolute reference. The resolver output goes to a resolver to digital converter.....then to the control. I'm thinking the resolver is handling the shaft angle for commutation as well.
> >
> > I'm unsure of what input method in Kflop could be used with this configuration.
> >
> > Does any of this change the way you think things may operate or interface with Kflop?
> >
> > Mike
> >
> > --- In DynoMotion@yahoogroups.com, "michaelthomasn" <michaelniksch@> wrote:
> > >
> > > Tom,
> > >
> > > Thanks for the reply. I'm hoping to have some manuals maybe next week....hopefully they will be more explanatory.
> > >
> > > Have a nice Thanksgiving.
> > >
> > > Mike
> > >
> > > --- In DynoMotion@yahoogroups.com, Tom Kerekes <tk@> wrote:
> > > >
> > > > Hi Mike,
> > > >
> > > > It looks like on page 13 it shows that the amplifier puts out some king of instantaneous analog current measurement and accepts a single PWM signal to control the current. I'm guessing the amplifier somehow does the commutation with Hall Sensors from the 3 phase motor. So potentially a KFLOP PWM signal out and a Kanalog ADC signal in might be able to control it. But there isn't enough information. It would be up to you to figure everything out and one mistake could easily blow things up :}
> > > >
> > > > Regards
> > > > TK
> > > >
> > > >
> > > >
> > > > ________________________________
> > > > From: michaelthomasn <michaelniksch@>
> > > > To: DynoMotion@yahoogroups.com
> > > > Sent: Thursday, November 22, 2012 7:54 AM
> > > > Subject: [DynoMotion] Re: Kuka 6 axis robot retrofit
> > > >
> > > >
> > > >
> > > > Tom,
> > > >
> > > > The only document that I have been able to dig up so far is a general controller manual. On page 9 it begins to talk a little about the drives. It mentions PWM and current control.
> > > >
> > > > Would you care to look at this document and tell me if you think this may be compatible with the Kflop?
> > > >
> > > > http://www.scribd.com/doc/56178218/Control-Cabinet-Hardware
> > > >
> > > > There may not be enough info there.
> > > >
> > > > My projects with the Kflop keep getting harder...lol.
> > > >
> > > > Mike
> > > >
> > > > --- In DynoMotion@yahoogroups.com, Tom Kerekes <tk@> wrote:
> > > > >
> > > > > Hi Mike,
> > > > >
> > > > > No I'm not familiar other than through watching some cool videos.
> > > > >
> > > > >
> > > > > You might ask on the cnczone.
> > > > >
> > > > > Regards
> > > > > TK
> > > > >
> > > > >
> > > > > ________________________________
> > > > > From: michaelthomasn <michaelniksch@>
> > > > > To: DynoMotion@yahoogroups.com
> > > > > Sent: Wednesday, November 21, 2012 3:06 PM
> > > > > Subject: [DynoMotion] Kuka 6 axis robot retrofit
> > > > >
> > > > >
> > > > > Â
> > > > > Hi Tom,
> > > > >
> > > > > Are you familiar with Kuka robots?
> > > > >
> > > > > My friend just purchased an older low hours machine. He wants to be able to do 3d carving and stuff like that. The control is old and apparently not up to that.
> > > > >
> > > > > I'm wondering if I could replace it with a Kflop. I looked at the thing today, but was not really able to determine what type of drives it has. The motors are AC brushless......they look like giant steppers. I don't see an external encoder mounted to any of them, althought there is a 8 pin connector along with the 5 pin motor supply. I believe there is brake on 3 of the 6 axis'.
> > > > >
> > > > > He's trying to get the electrical manual for it at the moment.
> > > > >
> > > > > Any ideas?
> > > > >
> > > > > Kflop can perform coordinated motion for 6 axis', right?
> > > > >
> > > > > Mike
> > > > >
> > > >
> > >
> >
> >
>