How to connect integrated servo motors
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@dk:
I need not less than 5VDC and 8mA. So I need to order Expansion breakout board for Duet2, correct?
Many stepper drivers specified for 5V operation work at 3.3v too.
@dk:
Also can I make some changes at the interface layout? For example delete joggers? Or 3 different homing buttons?
I presume you mean the web interface (Duet Web Control). It's open source and written in HTML, CSS and Javascript. The source is at https://github.com/chrishamm/DuetWebControl.
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I vant to make sure it will work. Can you please suggest there can I buy Expansion breakout board for Duet2 with cable. I live in USA, PA ZIP 18901.
And Duet2 itself. -
Our US distributor is Filastruder, https://www.filastruder.com/collections/electronics.
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Hi dk,
I’m an applications engineer with Teknic and came across your post. The ClearPath motors are integrated servo systems meaning the servo motor, servo drive and encoder all come in one single housing so no external servo drive is necessary. I am not familiar with Duet’s products but after a little research, it appears that Teknic’s ClearPath “SD” (step/dir) servo motors would be a good fit (as some in this forum have already suggested). The “SD” models (SDSK and SDHP) need step and direction command inputs (along with an enable input and a high level feedback output).The following link on the Duet3D site offered some good information in this regard: https://duet3d.dozuki.com/Wiki/Using_external_stepper_motor_drivers))
Note that the ClearPath inputs require 7mA at 5V (3.3V is not enough) so you'll need to use the Duet expansion board. If you have any other questions please feel free to email us at support@teknic.com.
Sincerely,
AbeA -
I connect CleaPath motors to expansion board, but Can’t get my SCARA arm to work.
In Cnfig.g file I use M584 command to remap X and Y to E3 and E4 (I don’t have Z axes). I put M669 command.
Maybe I need to delete M906 command ?And one more question: how can I use HLFB (High-Level Feedback) signal from Clearpath as a homing switches trigger?
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DK, I also want to use the Clearpath Teknic motors driven from a Duet. Have you been able to get this working? I spoke to Teknic support and they confirmed the need for 5V .8mA minimum signal.
There is another thread discussing using a Duex board with external drivers so you can have additional I/O.
https://forum.duet3d.com/topic/2095/wiring-external-drives-and-duex5?loggedin=trueDC42 wrote:
"Unfortunately that isn't going to work, because when a DueX5 is connected, the firmware knows that the stepper motors on the expansion bus use TMC2660 drivers, and it drives them accordingly. Even with a firmware change, the unused driver chips would interfere with the status reports from the other TMC driver chips.Here are some other options:
•the latest beta firmware supports 2 additional drivers connected to the CONN_LCD connector
•if you use a DuetX2 instead of a DueX5 then you can connect 3 external stepper drivers to the expansion bus
•it's possible to remove the last 3 stepper driver chips from a DueX5 and change a few resistors to make it identify itself as a DueX2 so that you can again use 3 external drivers. The additional heaters, fans etc. will still work even though a DueX2 doesn't have them.Btw the voltage output by the external driver interface board is somewhat less than 5V in practice. It should be possible to get close to 5V out by wiring the + inputs of your drivers directly to +5V instead of to the + output pins provided on the board."
I am concerned that the external driver signal is a little less than 5V. The ClearPath has 5V .8milliamp as a minimum.
Is there another way to boost the .2mA 3.3V signals?
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I connect CleaPath motors to Expansion breakout board, but still can't get them to work. Probably there is some issue with settings in Config.g or homming files.
David, can you please give some instruction on Config.g settings for SCARA with CleaPath motors? -
I referred to the frequency setting in my previous post, the setting is “input resolution”. It is the servo term for step angle used with a stepper motor. I did a trial and error to get the proper travel. This was the most difficult part for me in my setup. Teknic has a very thorough manual for setting up the Clearpath servos, it is 150 pages and less then 20 apply to step/direction.
Ed -
My previous post didn’t post. If the “lnput resolution” is set to high in the MSP Setup Software the steps per mm may not be high enough to create enough rotation to be noticeable. either raise the steps per mm (a lot) or lower the input resolution down to the first or second setting. Also check that there is power to the enable pins to the Clearpath Servos, if there is no enable signal you can rotate the motor shaft by hand. If there is the motor will have the brakes on until it gets a step/direction or enable is disabled.
Ed -
With any external drivers, you need to use the M569 command T parameter to extend the step pulse timing. The step pulses generated by default are very short, which is fine for the on-board TMC2660 drivers but they are too short for external drivers.
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Good luck DK. I hope you get it running.
DC42 - Does the Duex 2 put out the 5 volt signals like the expansion board?
•if you use a DuetX2 instead of a DueX5 then you can connect 3 external stepper drivers to the expansion bus.Edkirk - do you have your printer with the Clearpath motors running a Duet now?
Thanks.
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No result with M569.
To break the task into 2 steps I replaced the servo motors with Steppers. First, I Want to achieve, the hand moved as expected. Then I will deal with the connection of the Clearpath servo instead of Steppers.
My scar arm even easier than Robotdigg SCARA printer which you took apart in your blog. I don't need the z-axis. And homing allso, not need, I physically move the arm in the position from which it must start moving.
If it is possible, Please send me settings for this configuration.PS link to the setup files at the end of your article does not work (https://miscsolutions.files.wordpress.com/2017/08/robotdigg-scara-duet-config2.odt)
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@jaredc said in How to connect integrated servo motors:
DC42 - Does the Duex 2 put out the 5 volt signals like the expansion board?
No.
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@dk said in How to connect integrated servo motors:
No result with M569.
To break the task into 2 steps I replaced the servo motors with Steppers. First, I Want to achieve, the hand moved as expected. Then I will deal with the connection of the Clearpath servo instead of Steppers.
My scar arm even easier than Robotdigg SCARA printer which you took apart in your blog. I don't need the z-axis. And homing allso, not need, I physically move the arm in the position from which it must start moving.
If it is possible, Please send me settings for this configuration.PS link to the setup files at the end of your article does not work (https://miscsolutions.files.wordpress.com/2017/08/robotdigg-scara-duet-config2.odt)
I will correct the link. Please post your config.g file.
To "home" the printer, after placing the arm in the correct position use the G92 command to tell the firmware what the X and Y coordinates are.
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This is my settings
; Configuration file for Duet WiFi (firmware version 1.20 or newer)
; General preferences
G90 ; Send absolute coordinates...
M83 ; ...but relative extruder moves; Network
M550 PScara ; Set machine name
M552 S1 ; Enable network
;*** Access point is configured manually via M587
M586 P0 S1 ; Enable HTTP
M586 P1 S0 ; Disable FTP
M586 P2 S0 ; Disable Telnet; Drives
M569 P0 S1 ; Drive 0 goes forwards
M569 P1 S1 ; Drive 1 goes forwardsM584 X6 Y7 ; remap drive to extension board E3 and E4
M569 P5 R1 T1:1:25:1 ; from Clearpath manual
M350 X16 Y16 I1 ; Configure microstepping with interpolation
M92 X266.66 Y266.66 ; Set steps per mm (30:1 gearbox) OR use 66.66 (800 step per revolution for Clearpath motor
M669 K4 P600 D600 A-90:90 B-120:120 C0:0:0 ; 600mm both arms
M566 X1800 Y1800 ; Set maximum instantaneous speed changes (mm/min)
M203 X6000 Y6000 ; Set maximum speeds (mm/min)
M201 X600 Y600 ; Set accelerations (mm/s^2)
M906 X1200 Y1200 I30 ; Set motor currents (mA) and motor idle factor in per cent
M84 S30 ; Set idle timeout
G92 ; set start point; Axis Limits
; Endstops
; Z-Probe
; Heaters
M140 H-1 ; Disable heated bed
; Fans
M106 P0 S0.3 I0 F500 H-1 ; Set fan 0 value, PWM signal inversion and frequency. Thermostatic control is turned off
; Tools
; Automatic saving after power loss is not enabled
; Custom settings are not configured -
from Clearpath manual:
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The setup time is 25ns not 25us, so instead of 1:1:25:1 I suggest 1:1:0.5:0 in the M569 T parameter. My suggestion to use 0.5us setup time is to allow for possible skew in the opto isolators.
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PS - as per the wiki docs, when remapping axis drivers with M584 you must also re-specify the extruder driver numbers.
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But I do not have extruder and Z-axis (this is simple drawing arm). Do I still need to include them in config.g?
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@dk said in How to connect integrated servo motors:
But I do not have extruder and Z-axis (this is simple drawing arm). Do I still need to include them in config.g?
Yes, so that any commands you issue that relate to extruders (e.g. M350) don't also affect the motors you have remapped. You can add e.g. E10 if you have no extruders.
