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    How to connect integrated servo motors

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    • dkundefined
      dk
      last edited by

      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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      • JaredCundefined
        JaredC
        last edited by JaredC

        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=true

        DC42 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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        • dkundefined
          dk
          last edited by

          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?

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          • Edkirkundefined
            Edkirk
            last edited by

            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

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            • Edkirkundefined
              Edkirk
              last edited by

              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

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              • dc42undefined
                dc42 administrators
                last edited by

                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.

                Duet WiFi hardware designer and firmware engineer
                Please do not ask me for Duet support via PM or email, use the forum
                http://www.escher3d.com, https://miscsolutions.wordpress.com

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                • JaredCundefined
                  JaredC
                  last edited by

                  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.

                  dc42undefined Edkirkundefined 2 Replies Last reply Reply Quote 0
                  • dkundefined
                    dk
                    last edited by

                    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)

                    dc42undefined 1 Reply Last reply Reply Quote 0
                    • dc42undefined
                      dc42 administrators @JaredC
                      last edited by

                      @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.

                      Duet WiFi hardware designer and firmware engineer
                      Please do not ask me for Duet support via PM or email, use the forum
                      http://www.escher3d.com, https://miscsolutions.wordpress.com

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                      • dc42undefined
                        dc42 administrators @dk
                        last edited by dc42

                        @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.

                        Duet WiFi hardware designer and firmware engineer
                        Please do not ask me for Duet support via PM or email, use the forum
                        http://www.escher3d.com, https://miscsolutions.wordpress.com

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                        • dkundefined
                          dk
                          last edited by

                          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 forwards

                          M584 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

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                          • dkundefined
                            dk
                            last edited by

                            from Clearpath manual:
                            0_1523542133286_Screen Shot 2018-04-12 at 09.57.23.png

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                            • dc42undefined
                              dc42 administrators
                              last edited by

                              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.

                              Duet WiFi hardware designer and firmware engineer
                              Please do not ask me for Duet support via PM or email, use the forum
                              http://www.escher3d.com, https://miscsolutions.wordpress.com

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                              • dc42undefined
                                dc42 administrators
                                last edited by

                                PS - as per the wiki docs, when remapping axis drivers with M584 you must also re-specify the extruder driver numbers.

                                Duet WiFi hardware designer and firmware engineer
                                Please do not ask me for Duet support via PM or email, use the forum
                                http://www.escher3d.com, https://miscsolutions.wordpress.com

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                                • dkundefined
                                  dk
                                  last edited by

                                  But I do not have extruder and Z-axis (this is simple drawing arm). Do I still need to include them in config.g?

                                  dc42undefined 1 Reply Last reply Reply Quote 0
                                  • dc42undefined
                                    dc42 administrators @dk
                                    last edited by

                                    @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.

                                    Duet WiFi hardware designer and firmware engineer
                                    Please do not ask me for Duet support via PM or email, use the forum
                                    http://www.escher3d.com, https://miscsolutions.wordpress.com

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                                    • Edkirkundefined
                                      Edkirk @JaredC
                                      last edited by

                                      @jaredc Yes I am running my CoreXY with Clearpath motors on X,Y and Z. Although I have to make a confession, I purchased a Duet WiFi months ago to replace the Rambo 2 board but got interested in using the Delta Smart Effector and built a Delta instead, works great and I really like it.
                                      Anyway to make sure the the Clearpath motors work with the Duet WiFi I installed a Duet WiFi today, did a rough setup with RepRap Configurator, installed the Duet Expansion Header Breakout board and connected the Cleatpath motors turned it on and tested, The Clearpath motors work just like they are supposed to. About 4 hours to replace the board. Next step is tune everything for the Duet WiFi.
                                      Ed

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                                      • dkundefined
                                        dk
                                        last edited by

                                        Ed, can you please share your settings? I get stuck with config.g Clearpath did not want to move

                                        Edkirkundefined 1 Reply Last reply Reply Quote 0
                                        • Edkirkundefined
                                          Edkirk
                                          last edited by

                                          I do not know how to copy things to this forum, try the attached config.g file. If it doesn't work I will create a text file and sent it. I used the RepRap Configurator, if I could I would sent the entire sys folder.

                                          Ed
                                          0_1523625874032_config.g

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                                          • Edkirkundefined
                                            Edkirk @dk
                                            last edited by

                                            @dk
                                            The config.g file I used is from my back-up folder, sorry about that. Try this file. It opens Repetier and then use the "Edit G-Code"
                                            0_1523627082930_config.g

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