How to connect integrated servo motors



  • Hello
    I want to make one arm SCARA drawing manipulator with large working area. So I decided to use Teknic Clearpath integrated servo motors.
    I try to fing answer at wiki how to connect them, but “Using external drivers” page are empty.
    Can you please explain how to connect Clearpath to Duet2wifi?
    Thank you!


  • administrators

    You need to give some information on the interface that these servos have. For example is it step/dir or something else



  • I am using the Clearpath servos on my corexy printer and my cnc router, they are great! They provide programming software to set them up, plenty options and easy to use, free download just register with them. Get the step/direction version, wiring is extra. I am using a 48 vdc power supply on my printer with no issues. There are three options for torque and speed, your choice. I haven’t used them with a duet yet, my corexy with standard steppers is working way beyond expectations. I can see an advantage with a SCARA ARM because they may provide a higher resolution at lower rpm. I am considering building a SCARA ARM with the Clearpath servos, just out of my budget and my other printers with Duet are working really great.
    Ed



  • Clearpath need step and direction or
    https://www.teknic.com/model-info/CPM-SDSK-2311S-RLN/
    I definitely need more torture at low than 3A stepper.



  • Yup, that’s the one, you will never be short on power. They are silent and smooooth.
    Ed


  • administrators



  • I need not less than 5VDC and 8mA. So I need to order Expansion breakout board for Duet2, correct?

    Also can I make some changes at the interface layout? For example delete joggers? Or 3 different homing buttons?


  • administrators

    @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.



  • 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.


  • administrators

    Our US distributor is Filastruder, https://www.filastruder.com/collections/electronics.



  • 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?



  • 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?



  • 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


  • administrators

    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.



  • 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.



  • 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)


  • administrators

    @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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