I need to connect a rotary table to a Staubli CS8 robot controller for a milling setup.
The table has two stepper motors: one for rotation and one for tilt. There's currently no positional feedback from encoders.
I know I will need a stepper driver and power supply.
Can someone guide me on how to obtain the required pulses for the driver, ramp up down, for acceleration , etc.
I think it's probable that some feedback will be needed...
How to control rotary table?
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Yorrite -
February 10, 2016 at 8:28 PM -
Thread is marked as Resolved.
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If my information is correct, the Staubli controller does not support integrated axis motion. Your position data will be pNewPoint = {x, y, z, rx, ry, rz} but it cannot support pNewPoint = {x, y, z, rx, ry, rz, thetaTilt, thetaRotate}. I could be wrong and you should confirm. But if that is indeed the case, you will not be able to perform milling cut paths on a part with simultaneous motion of a positioner. You could only move the positioner to a static location and maintain that position while milling is done in that position, then move to another position, etc.
So some of your options could be:
- Obtain a nice stepper driver system with programming capability. Set up a program with predetermined static moves. Command the static moves via I/O.
- Ditto above, but with sophisticated programming capability to accept commands sent from the CS8 via serial comm line of some sort.
- Integrate a PLC that can produce pulse streams on command that will be sent to the motor driver.
- Become a crazy-good programmer with the powerful VAL3 language and develop your own system that will produce required motion of all axes to achieve correct motion for milling, then be able to drive all axis motions accordingly with proper trajectory planning, accels, decels, fault tolerance, etc. A couple lifetime's worth of work.
- Get another robot.
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Thanks TD.
I never thought this would be easy...
One of your first three options will probably be best for the Staubli system.
Do you happen to know if Kawasaki controllers offer more options? -
Can't say for certain. I thought Kawa does welding apps, so I assume so. Your answer is only a telephone call away to your local Kawasaki Robotics guy.