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mcmaster:brainscope [2015/09/18 06:58] – mcmaster | mcmaster:brainscope [2018/06/28 04:51] – [2018-06-05] mcmaster | ||
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|Color |Signal |To | | |Color |Signal |To | | ||
- | |White |Optocoupler reference | \\ BBB P9.5-6 | + | |White |Optocoupler reference | \\ BBB P9.5-6 |
- | | Orange | Step | \\ BBB P8.15 \\ \\ Blue | | + | | Orange | Step | \\ BBB P8.15 |
- | | Blue | Direction | \\ BBB P8.14 \\ \\ White | | + | | Blue | Direction | \\ BBB P8.14 |
| Brown | Output bridge enable | N/C | | | Brown | Output bridge enable | N/C | | ||
- | | Black | Ground | \\ Ground | + | | Black | Ground | \\ Ground |
- | | Red | \\ Power | + | | Red | \\ Power \\ \\ 12-75 VDC | 24V | |
Open question: do I need the programming cable? | Open question: do I need the programming cable? | ||
Line 268: | Line 268: | ||
|5 |24 | | | | |5 |24 | | | | ||
|6 |19 | | | | |6 |19 | | | | ||
- | |7 | \\ 20 \\ \\ 27 \\ \\ 29 | | | | + | |7 | \\ 20 |
|8 |N/C | | | | |8 |N/C | | | | ||
|9 |7 | | | | |9 |7 | | | | ||
Line 336: | Line 336: | ||
|4 |P3.6 | | | | |4 |P3.6 | | | | ||
|5 |P3.5 | | | | |5 |P3.5 | | | | ||
- | |6 | \\ P1.4 \\ \\ P3.1 | | | | + | |6 | \\ P1.4 |
- | |7 | \\ P1.3 \\ \\ P3.2 | | | | + | |7 | \\ P1.3 |
|8 |N/C | | | | |8 |N/C | | | | ||
|9 |P2.1 | | | | |9 |P2.1 | | | | ||
Line 392: | Line 392: | ||
|3 |19 | | | | |3 |19 | | | | ||
|4 |44 | | | | |4 |44 | | | | ||
- | |5 | \\ 20 | + | |5 | \\ 20 \\ \\ 27 \\ \\ 31 | | | |
|6 |N/C | | | | |6 |N/C | | | | ||
|7 |N/C | | | | |7 |N/C | | | | ||
Line 459: | Line 459: | ||
Per breakout board, pin 1 lower left, pin 2 upper left | Per breakout board, pin 1 lower left, pin 2 upper left | ||
- | ^ Pin ^ \\ Main | + | ^ Pin ^ \\ Main \\ \\ Board ^ To ^ Function ^ Notes | |
- | | 1 | |X1.9 P2.1? | \\ X1 motor? | + | | 1 | |X1.9 P2.1? | \\ X1 motor? |
- | | 2 | |X1.11 P2.2 | \\ X1 motor | + | | 2 | |X1.11 P2.2 | \\ X1 motor \\ \\ Step clock | | |
- | |3 | |X1.12 | + | |3 | |X1.12 |
- | |4 | |X1.14 | + | |4 | |X1.14 |
- | |5 | |X1.10 | + | |5 | |X1.10 |
- | |6 | |X1.13 | + | |6 | |X1.13 |
- | |7 | |Y1.9 P2.1 | \\ Y1 motor | + | |7 | |Y1.9 P2.1 | \\ Y1 motor \\ \\ Opto: 5V | | |
- | |8 | |Y1.11 | + | |8 | |Y1.11 |
- | |9 | |Y1.12 | + | |9 | |Y1.12 |
- | |10 | |Y1.14 | + | |10 | |Y1.14 |
- | |11 | |Y1.10 | + | |11 | |Y1.10 |
- | |12 | |Y1.13 | + | |12 | |Y1.13 |
|13 | | | |Z1 motor? | | |13 | | | |Z1 motor? | | ||
|14 | |Z1-MOT.3 |Z1 motor | | | |14 | |Z1-MOT.3 |Z1 motor | | | ||
Line 478: | Line 478: | ||
|17 | |Z1-MOT.2 |Z1 motor | | | |17 | |Z1-MOT.2 |Z1 motor | | | ||
|18 | |Z1-MOT.5 |Z1 motor | | | |18 | |Z1-MOT.5 |Z1 motor | | | ||
- | |19 | | | + | |19 | | |
|20 | |< | |20 | |< | ||
|21 | |X1.2 P3.3 |X1 limit switch? | | | |21 | |X1.2 P3.3 |X1 limit switch? | | | ||
Line 484: | Line 484: | ||
|23 | |Y1.2 P3.3 |Y1 limit switch? | | | |23 | |Y1.2 P3.3 |Y1 limit switch? | | | ||
|24 | |Y1.5 P3.5 | | | | |24 | |Y1.5 P3.5 | | | | ||
- | |25 | | \\ Z1-LIM.19 | + | |25 | | \\ Z1-LIM.19 |
|26 | |Z1-LIM.1 | | | | |26 | |Z1-LIM.1 | | | | ||
|27 | |< | |27 | |< | ||
Line 490: | Line 490: | ||
|29 | |< | |29 | |< | ||
|30 | |Z1-ROT.2 | | | | |30 | |Z1-ROT.2 | | | | ||
- | |31 | | %< | + | |31 | | %< |
|32 | |X2?.6 | | | | |32 | |X2?.6 | | | | ||
|33 | | | | | | |33 | | | | | | ||
Line 561: | Line 561: | ||
Jumper config: | Jumper config: | ||
- | ^Jumper ^Function ^ \\ Pos \\ \\ Test ^ \\ Pos \\ \\ Final ^ Notes | | + | ^Jumper ^Function ^ \\ Pos |
- | | JU1 | Motor current range | Off | Off | \\ pg 15 \\ \\ Off low range (0.83-2.5A) | + | | JU1 | Motor current range | Off | Off | \\ pg 15 |
| JU2 | Resolution | On | On | pg 27 | | | JU2 | Resolution | On | On | pg 27 | | ||
| JU3 | … | On | On | | | | JU3 | … | On | On | | | ||
|JU4 |… |On |On | | | |JU4 |… |On |On | | | ||
|JU5 |… |On |On | | | |JU5 |… |On |On | | | ||
- | |JU6 |Waveform shape |Off |Off | \\ pg 27 \\ \\ Sine wave | | + | |JU6 |Waveform shape |Off |Off | \\ pg 27 |
|JU7 |… |Off |Off | | | |JU7 |… |Off |Off | | | ||
|JU8 |… |On |On | | | |JU8 |… |On |On | | | ||
Line 577: | Line 577: | ||
^Pin ^Function ^Connect ^Notes | | ^Pin ^Function ^Connect ^Notes | | ||
- | |1 |REMOTE |N/C | \\ pg 32 \\ \\ Can be used to disable motor by connecting to CURRENT | + | |1 |REMOTE |N/C | \\ pg 32 |
| 2 | REF | … | | | | 2 | REF | … | | | ||
- | |3 |CURRENT |18.2k 1/4W to REF | | + | |3 |CURRENT |18.2k 1/4W to REF | |
- | | 4 | DUMP | N/C? | | + | | 4 | DUMP | N/C? | |
| 5 | VDC+ | +75V | | | | 5 | VDC+ | +75V | | | ||
|6 |VDC- |Ground | | | |6 |VDC- |Ground | | | ||
Line 591: | Line 591: | ||
^Pin ^Function ^Connect ^Notes | | ^Pin ^Function ^Connect ^Notes | | ||
- | |1 |Step+ |BBB 5V buffer | \\ pg 32 \\ \\ Minimum high-level output: 4.26V (Source 24mA) | | + | |1 |Step+ |BBB 5V buffer | \\ pg 32 |
| 2 | Dir+ | BBB 5V buffer | Maximum low-level output: 0.44V (Sinks 12 mA) | | | 2 | Dir+ | BBB 5V buffer | Maximum low-level output: 0.44V (Sinks 12 mA) | | ||
- | | 9 | Fault+ | N/C | \\ pg 32 \\ \\ Not needed at this time \\ \\ long term connect to EMC e-stop? | + | | 9 | Fault+ | N/C | \\ pg 32 |
- | | 11 | Gear+ | N/C | \\ pg 33 \\ \\ Advanced usage | | + | | 11 | Gear+ | N/C | \\ pg 33 |
| 14 | Step- | … | | | | 14 | Step- | … | | | ||
|15 |Dir- |… | | | |15 |Dir- |… | | | ||
- | |16 |Remote+ |N/C | \\ Pg 32 \\ \\ See above | | + | |16 |Remote+ |N/C | \\ Pg 32 |
| 17 | Remote- | … | | | | 17 | Remote- | … | | | ||
|21 |Fault- |… | | | |21 |Fault- |… | | | ||
Line 734: | Line 734: | ||
[[http:// | [[http:// | ||
- | * **stepgen.**// | + | * **stepgen.**// |
- | * **stepgen.**// | + | * **stepgen.**// |
Calibration test: [[https:// | Calibration test: [[https:// | ||
Line 772: | Line 772: | ||
Next objective: get laser under Python control | Next objective: get laser under Python control | ||
+ | |||
+ | * Good place to start: https:// | ||
Open issues: | Open issues: | ||
Line 780: | Line 782: | ||
\\ | \\ | ||
+ | |||
+ | ====== 2018-06-05 ====== | ||
+ | |||
+ | < | ||
+ | motor | ||
+ | M061-LS02 | ||
+ | http:// | ||
+ | type: LEADS | ||
+ | typical step time: 2.5 ms | ||
+ | nominal volts: 5 V | ||
+ | bipolar series | ||
+ | A per winding: 0.7 A | ||
+ | H per winding: 38.3 mH | ||
+ | Hold torque: 60 | ||
+ | </ | ||
+ | |||
+ | < | ||
+ | Rorze RD-021M8 resistor value | ||
+ | Ir = 0.7 A | ||
+ | I = Ir | ||
+ | microstep: I=1.414×Ir | ||
+ | 1.414 * 0.7 = 0.9898 = 1.0 | ||
+ | |||
+ | X ={I/ | ||
+ | 0.7 / (0.1108* 0.7 + 0.66) = 0.949075329 | ||
+ | 1.0 / (0.1108* 1.0 + 0.66) = 1.3 | ||
+ | R = 8.2×X/ | ||
+ | 8.2 * 0.95 / (8.2 - 0.95) = 1.074482759 = 1.1 | ||
+ | 8.2 * 1.3 / (8.2 - 1.3) = 1.5 | ||
+ | </ | ||
+ | |||
+ | |||
+ | ====== 2018-06-27 ====== | ||
+ | |||
+ | Effort to overhaul control system, especially for upper XY | ||
+ | |||
+ | Rorze RD-021M8 resistor value: 1.5 ohm? | ||