Hi,
This machine has feedback from rotary encoders on the motor shaft which is backed up by linear scales =Closed loop in my understanding.
Note quite. All servos have a rotary encoder so that the servo drive, or PID controller, knows the servos angular position and can compare that to the commanded
angular position, and drive the servo to close the error between the two. But we don't specify angular position, we specify '6.342mm from there' or '12.687mm absolute'.
In an ideal world you could convert any linear measurement into and angular displacement of a ballscrew. This relies on the ballscrew being lineraly accurate and no
backlash. Much expense is encountered to ensure that is the case, but inevitably there will be some variance between angular position and linear position, and that variance
will be the basic accuracy of the machine.
If however you have good linear scales then you can compare linear position to angular position, with usually linear position being the more accurate, and demand that the servo
alter position to minimise the linear error.
All Feild-Oriented-Control servos, normally called AC servos, and the current state of the art in servos, require a very accurate and immediate knowledge of the angular position of the servo
in order to operate, and thus MUST have a rotary encoder. What I have elluded to is that you can have dual loop control, where the rotary encoder is used in the torque and velocity loops, but
the load sensing encoder/linear scale is used to control the position loop. As I say this is the last word in machine position control. If you can have it ....you want it!!!
This scheme would maximise the excellent mechanical properties that your machine has.
Over the course of time it is servos and particularly servo drives that have advanced and result in the machines we have today. Your machine is well built and rigid and would compare favourably
to any machine made today in terms of mechanical accuracy and rigidity. What a modern machine has is a much more sophisticated CNC control....and less, surprisingly enough, about the controller
or PC, but the smarts built into the servo drives. In this example we are talking about the servo drive, a Delta A2 series, offering this dual loop feature. The PC/controller can and is in fact fairly
basic, its the servo drive that adds the state of the art feature and the increased resolution and accuracy that comes with it.
Now I'm not saying you could not get your existing analog servos (with rotary encoder) AND the linear scales to operate in the same manner with LinuxCNC, but unless you are an experienced realtime
programmer it would not be easy, whereas using suitable AC servos then its (comparatively) easy.
Craig
Craig