Hi, i need to add one external axis to control a camera focus lens( very slow and low force needed) . I would like to buy a very small motor and drive it whit my ksd1-8 already on board of my krc2 05 ed. I have also a free ksd1-48 onboard(linear track axis) avaiable.
The main question is : the motor that a have to buy, how many volt supply? What kind of encoder? Brushless ac? Dc? Sinc or async?
Thanks for help me
Add external axis for micro servo motor
-
Mizio31 -
August 17, 2017 at 3:41 PM -
Thread is Resolved
-
hmmm... smallest KUKA motor is still going to be much bigger than your camera... unless you don't care about that aspect.
i would consider using something much smaller, perhaps stepper motor and drive it with robot outputs -
Probably not a KR3 motor -- the KR3s, IIRC, are re-labelled Denso robots, so the motors will no be compatible with a KSD. The list of available KUKA servo motors is attached.
Any motor you want to control directly from a KSD will have to meet the specifications in the attached document.
-
Stuff that small is pretty rare in the industries I work in. Only item I can think of offhand that's even remotely close is https://robotiq.com/products/gripper-2-fingers, and I don't think that's really what you're looking for.
I personally have a soft spot for ClearPath servo motors, but again, might not be what you're looking for. The big advantage to the CPs is that they're quite good motors, and cheap, while still being almost brain-dead simple to set up and interface.
-
No stepper, i 'm like to record a point of 6axis and external axis in easy way. In this way the program will be more light and at same time the focus will follow the movement and distance continuosly. May be motor of kr3???You can use UserTech to create own inline forms for manipulating state of some custom actuator.
Alternatively create external axis and then simulate it. This will take care of teaching and jogging E1.
Then write your own code that will use E1 value to position whatever actuator you have. -
check system variable manuals. hint: open MADA and search for "sim"
-
we do this, and we use stepper (and its also for a camera, ironically). Back when we had KRC2 we used a WAGO stepper drive directly in the field bus. This would require some extensive SPS programming though. Now with KRC4 we find it much easier to use virtual axis and drive the motor with PLC communicating to robot.
I haven't found any good small servo motors. Maxon seems promising. But stepper is so much easier, and pretty good power density (we use an encoder on the motor too, so its not completely open loop).
-
Hm... ClearPath servos can be "bit banged" like stepper controllers (as little as two bits), but are easy to set up as "smart" motors to handle all the ramp, inertia, and PID tuning.
Advertising from our partners
