Hello,
I've been trying to simulate the Fanuc serial protocol, I have a fanuc servo controller with REQ and DAT signals for Absolute Fanuc encoders. I am doing so because I'm trying to controll different servomotors (ABB Servomotors) I don't have any fanuc encoders or servomotors at this moment.
-> I get a REQ signal at a frequency of 8 kHz
-> I am feeding data using a SN75176 differential driver.
-> Signal is generated from an mbed microcontroller at 1.024Mhz, which is 977ns per bit
-> The Controller gives me the following error: SRVO-068 SERVO DTERR for each of the six axis,
-> After a Feed the signal i get two extra errors:
SRVO–068 SERVO DTERR alarm (Grp:%d Ax:%d)
Cause1: The axis control PCB sent the request signal, but did not receive serial data from the pulse coder.
SRVO–069 SERVO CRCERR alarm (Grp:%d Ax:%d)
Cause: The serial data from the pulse coder changed during communication to the axis control PCB.
SRVO–070 SERVO STBERR alarm (Grp:%d Ax:%d)
Cause: The communication stop and start bits are abnormal.
-> I am using Ulis serial capture: it has 79 bits, altough the stream is supposed to have only 77, maybe start and stop bits, also last bits are constant?
This a snipped from the telegrams from a slowly turned Pulsecoder:
UHU Pulse(de)coder 0.9 (c) Snr: 1
01110010010110011100101000000000001000000000000000 00100000011111000001011101111
01010010010110011100101000000000001000000000000000 00100000011111000011110111111
01010010010110011100101000000000001000000000000000 00100000011111000011110111111
01010010010110011100101000000000001000000000000000 00100000011111000011110111111
01010010010110011100101000000000001000000000000000 00100000011111000011110111111
01010010010110011100101000000000001000000000000000 00100000011111000001110111111
01010010010110011100101000000000001000000000000000 00100000011111000001110111111
01010010010010011100101000000000001000000000000000 00100000011111000001100001111
01010010010110011100101000000000001000000000000000 00100000011111000001110111111
From this I am assuming |0| start bit and |101| as encoder ID: 5,
Atached is a photo of the output of the microcontroller to the SN75176.
Any help with this will be greatly appreciated.
Attachment 204194