Dane.Kouttron
[1.2.10] IBM 7575 Arm Development
[In Progress]
| What? Aquired an IBM 7575 Robotic arm, sans controller. Its awesome, but far from operational. The following page documents building controllers and feedback systems to get the arm connected via parallel to Linux CNC (EMC2) There are two thetas and one z axis, all of which will be driven by EMC2 for the purposes of small scale model milling |
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| DISASSEMBLY
DOCUMENTATION |
STEPPER MOTOR INSTALL | DRIVER HARDWARE | EMC2 INTERFACE | IMAGE DIRECTORY |
Stepper Motor Driver Hardware
| Descriptor | Image/ Media | Image / Media |
| Semi-Completed
Stepper motor drive (2 motor) This drives the Z Axis stepper and Theta 2 Stepper. Copper Heatsinks fabricated for thermal dissapation (namely when locking steppers) |
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Brush DC Motor Driver Hardware
| Descriptor | Image/ Media | Image / Media |
| The
encoder signals displayed at 50us / Div. DC brush motor operating at 5V
(instead of 12) and the output signal is between yellow and ground. The
yellow-ground signal is plenty of the purposes of the initial testing,
and will be used in the interrupt / brush dc control scheme. (Note, im @ home, thus the lack of proper scope probes and archaic-ish tools) |
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| DISASSEMBLY
DOCUMENTATION |
STEPPER MOTOR INSTALL | DRIVER HARDWARE | EMC2 INTERFACE | IMAGE DIRECTORY |
Dane.Kouttron
Rensselaer Polytechnic Institute
Electrical & Electrical Power
631.978.1650
