Clearpath servomotor --> 50Nm --> suggestion



  • Not to much to set up the Clearpath, once it is installed run the auto calibration as per instructions. The other thing is steps, the Clearpath has a setting for frequency and config.g M92 has steps per mm. if the frequency is to high and the steps is too low the motor shaft appears to not move, if it is the opposite the motor will turn very fast. Since you are using a reduction gear experiment before attaching the gear box. You will probably want to start with the frequency setting at its lowest. I set my frequency so the steps is around two to three hundred. then dial in M92 to get the proper travel. You don’t have this capability with a stepper motor.



  • @dc42
    Hi David and thank you for replay.
    P5 P6 and P7 ... step pulse width, step pulse interval, direction setup time, and direction hold time


    So, basic setup should be something like this:
    M569 P5 S1 ;
    M569 P6 S1 ;
    M569 P7 S1 ;
    M569 P5 R1 T 2:2:5 ( need to be checked with manual )
    ... ?

    @Edkirk
    Autocalibration:

    • i run the auto calibration part with 70% peak and it completed without problems. Gearbox is running as it should. At 2500 rpm i get 100 rpm / minute on gearbox. Weight test is also passed ok ( tested with 3 kg on gearbox shaft ). Now, there is an option for setup acceleration but i dont know what is some minimal or maximal value. If i set some bigger or lower value, then some defined limit value, will this be automatically corrected in MSP ? I know its basic question but motor is too expensive to test it with try / fail option :-). At the moment i have 2500 RPM ( max is 3010 RPM ) and acceleration is set to 3000...

    Gear:

    • OK, i will test it without gearbox, but after test i need to make auto calibration again. Should this auto tuning setup be "compatible" with my M92 / M569 manual tuning defined in duet ?

    A.



  • Auto calibration is used to define how the servo works with the machine, fun to see the motor work. Other then remap outputs to the output board and calibrate steps per mm I didn’t make any other changes to Duet, other then miss wiring the motor it hard to damage the motor. Have you actually operated the motors with Duet?



  • I will test duet tomorrow. Can you share your M92 and M569 setup ?



  • My M92 and M569 are useless to your application which are machine specific and will be determined by the action of your machine. Mine is a corexy and I have not clue of what you are doing other then driving Clearpath servos with a Duet controller.



  • @Edkirk
    I agree. But is there anything else accept those two command , that i need to watch for ?

    And, do you define M569 for each drive (p5/6/7 ) ?

    A.

    A.



  • HI guys !
    We have finally set up the main rotary delta robot. Most of the problems ware in upper arm production and setup,but we solve it. Now it' time to wire all this. I will post picture of work in progress so someone alse can benefit from this too.

    Question:
    I need to run auto calibration on each motor but the upper arm is now tightened to gearbox shaft. As far as i remember in the first auto calibration test, motor shaft has turn full circle few times and i can not do this now... Should i just dismantle the upper arm and make calibration without it or is there a way to set some option in calibration setup routine ?
    A.


  • administrators

    I'm not sure what you mean by auto calibration, because RRF doesn't support that for rotary deltas. But you need to measure the upper arm angle at which each endstop triggers and put those angles into the M669 command.



  • i meant auto calibration as part of MSP software
    It's related just to clearpath motor setup.



  • Yes, you will need to add a T parameters to the M569 commands for the external drivers, which I presume are P5 P6 and P7. The Clearpath manual should say what values you need (they are step pulse width, step pulse interval, direction setup time, and direction hold time).


    I have completed MSP auto config on all motors and they are ready for duet test. I will try with one motor just to see if this will work.

    There is one thing that i dont understand...
    Dont i need to set M584 command to remap motors to x,y,z, for use on external driver ?


  • administrators

    Yes, M584 X5 Y6 Z7


 

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