Path: utzoo!utgpu!news-server.csri.toronto.edu!cs.utexas.edu!helios!cs.tamu.edu
From: sean@cs.tamu.edu (Sean Graves)
Newsgroups: comp.robotics
Subject: Puma 560 encoders->degrees
Message-ID: <8780@helios.TAMU.EDU>
Date: 3 Oct 90 23:06:38 GMT
Sender: news@helios.TAMU.EDU
Organization: Computer Science Department, Texas A&M University
Lines: 24

We are constructing an interface for our Puma 560 controller that will enable
us to communicate with the servo controllers directly.  However, we are
having some trouble with the conversion between encoders and degrees.
Does anyone have the proper conversion factors?  The ones we are using
are:  Joint #    Encoders/Degree   Divide-by-two-bit
      -------    ---------------   -----------------
         1            -173.92              0
         2             239.59              0
         3            -149.18              0
         4             211.21              0
         5             199.79              0
         6             106.51              1

Joint 6 is being adjusted by a factor of -0.180556 of joint 5.

Also - we are using a movement routine that can move in joint or 
cartesian space.  The speed of movement is determined by the total time
the user wants the move to take.  Does anyone have a movement routine
in which the user specifies the percentage of max velocity instead?
Although we could write one ourselves, we would rather not do something
that has already been done 1001 times.

Thanks in advance
Sean Graves