Can I replace one stepper with a servo?

Hi,
yes. Modern AC servos with Step/Dir position control behave almost identically to steppers. You will have noted the Clearpath have called their servos
'Stepper Killers' and their parts numbers are SDSKxxxxx etc to reflect the fact that that are drop in replacements for steppers.
There are a few differences between steppers and servos so there will be a learning curve.

• Gilbert

  : Permit me to comment that Clearpath servos are expensive for what they are. I cast no aspersions to their quality but Teknics have made some very severe compromises to get a servo that 'looks and feels like a stepper'. In particular Clearpath servos have only one digital output, whereas competing servos will have six, eight or more.

• Gilbert

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  @Gilbert

  : Additionally Clearpath has no auxilliary encoder output, unlike Delta and DMM, nor does Clearpath have an analog input for velocity or torque modes whereas Delta an DMM do.

• Gilbert

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  @Gilbert

  : Clearpath have low resolution (800 cpr) encoders as standard and 6000cpr encoders at special order. Even the basic Delta B2 series has a 160,000 cpr encoder and the A2 and B3 series much MUCH more again. The last thing is that they are expensive. A 400W Clearpath is abut $517USD whereas a 750W Delta B2 series kit (servo motor, servo driver and cables) costs $438USD,

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