Thread View: comp.robotics
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3 total messages
Started by ska
Thu, 21 Jan 1993 20:25
Help needed - Optical Encoders
Author: ska
Date: Thu, 21 Jan 1993 20:25
Date: Thu, 21 Jan 1993 20:25
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Hello all: Have the following problem that I need "approach pointers" on - I have an IBM 7540 SCARA type robot which has two servoed joints driven by 12V DC servo motors. The motors are Yaskawa Print Motors of type - Joint 1 = PMES-16-SA13 Joint 2 = PMES-12-SA21 Each motor has a built-in "AB quadrature output and zero index channel" type optical encoder. These encoders output voltages in the range 0.5 to 6 V DC via 4 leads - A, B, I, and ground. Now, how can I use the voltages from the encoders to compute joint positions ? Is there a Yaskawa representative that I can call in the US ? Are there any standard texts explaining the decoding procedure ? Please email responses to - ska@raphael.acpub.duke.edu Thanks in advance. -santosh
Re: Help needed - Optical Encoders
Author: Jon R Bryan
Date: Fri, 22 Jan 1993 22:12
Date: Fri, 22 Jan 1993 22:12
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ska@hercules.acpub.duke.edu writes: : Each motor has a built-in "AB quadrature output and zero index channel" : type optical encoder. These encoders output voltages in the range 0.5 to : 6 V DC via 4 leads - A, B, I, and ground. : : Now, how can I use the voltages from the encoders to compute joint positions ? Get the Monolithic Memories "PAL/PLE Device Programmable Logic Array Handbook." There are three shaft encoder designs that will explain quadrature decoding to you (if you can decipher the PALASM code). -- Jon R. Bryan (505) 844-2015 <=> bryan@isrc.sandia.gov Sandia National Laboratories, Intelligent System Sensors and Controls
Re: Help needed - Optical Encoders
Author: John Schuch
Date: Sun, 24 Jan 1993 00:59
Date: Sun, 24 Jan 1993 00:59
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In article <1993Jan22.221233.650@isrc.sandia.gov> bryan@isrc.sandia.gov (Jon R Bryan) writes: >ska@hercules.acpub.duke.edu writes: >: Each motor has a built-in "AB quadrature output and zero index channel" >: type optical encoder. These encoders output voltages in the range 0.5 to >: 6 V DC via 4 leads - A, B, I, and ground. >: >: Now, how can I use the voltages from the encoders to compute joint positions ? > >Get the Monolithic Memories "PAL/PLE Device Programmable Logic Array >Handbook." There are three shaft encoder designs that will explain >quadrature decoding to you (if you can decipher the PALASM code). > or get the Hewlett Packard Opto Electronics databook for a couple of single chip solutions. Or get the Oak-Grigsby optical encoder/ switch booklet for a couple of examples using simple gates. Write me if you want more details, I can look it up Monday. John -- +--------------------------------------------------------------------------+ | John R. Schuch - Motorola Computer Group - Manufacturing Engineering | | N7XVS - schuch@phx.mcd.mot.com - (602) 438-3008 - CompuServe: 70733.3330 | +--------------------------------------------------------------------------+
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