Source

puma / NOTES

Mounting box:
155x145 base
35mm separation for the controllers (30mm + 3mm)
60mm for the power supply (50mm + 3mm)
130mm total height


Axis 1: (positive rotation ccw viewed from above)
-11200 == +90 deg
+12000 == -90  deg
= 128.8 ticks/deg

Axis 2:
-18000 == -90 deg
+16500 == 90 deg
= 192 ticks/deg
21 cm


axis 3:
^CLERD 1 0
+10500 == +90
-11200 == -90
= 120.5 ticks/deg
26 cm

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1 2 3 4 5
 6 7 8 9

wire color/stripe color

axis 1:
1 blue/brown (1a)
4 red/blue (1b)
6 orange/red (index?)
8 grey (+5v)
9 red/orange (gnd)

axis 2:
1 white/blue
4 blue/white
6 white/red
nc orange/white

axis 3:
1 red/green
4 green/brown
6 red/blue
nc brown/red

axis 4:
1 white/brown (4a)
4 brown/white (4b)
6 white/gray
nc gray/white

axis 5:
1 red/gray (5a)
4 gray/brown (5b)
6 blue/black
nc black/blue

axis 6:
1 orange/black
4 black/brown
6 green/white
nc white/green



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Cross coupling
command: 4 -40000
to fix: 5 9000
p5 command = p5 desired + p4 * (-40000/9000)

command: 4 10000
to fix: 6 -1200
p6 command = p6 desired + p5 * (-10000 / 1200)

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Six axis controller features:

Each axis:
- 30 V PWM drivers
- +5V Quadrature power and counter input
- Index pulse input
- Amperage measurement (or something proportional to it)
- Tunable PID closed loop PVA control

Overall:
- +5V regulated output for CPU board
- Brake engage signal
- Input voltage measurement
- Kill switch detection (to save current points)
- USB pendant input
- Aux port for user pins (on PUMA arms)
- 8 additional analog inputs

Software features:
- "Teach mode" for limit detection
- Compound motion: move to a new set of angles and reach them at the same time.
- Chaining: once the new position is reached, move to a new position
- No wind up: when the motor power is re-engaged, sample the current pos
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