Topics created by Arnix

@Arnix I'm not exactly clear how many stepper motors/axes you need to support; is it 5 or 6? Also, you say NEMA 32; do you mean NEMA 23 or NEMA 34? Generally, a Duet 3 MB6HC has 6 stepper driver outputs (up to 6.3A peak current), and can easily drive all NEMA 23 motors, and many NEMA 34 motors (depending on current draw), directly. It can also take a 48V input voltage now. However, you will not be able to drive servo motors directly from it; you will need expansion boards to do that. The Duet3 MB6XD would be the better choice to run external drivers, particularly if you want to run 5 or 6 of them, but then doesn't have any internal stepper drivers.

Duet 2 on it's own is limited to 5 on board stepper drivers (Up to 2.4A peak current). You can expand this with a DueX5, which adds a further 5 stepper drivers. 3 of these outputs can be used to drive external drivers, or you can use the Duet 2 Expansion Breakout Board (EBoB) that provides 5 external stepper driver outputs. A further two outputs are available on the Duet 2 itself, but require extra hardware if the signalling level is not 3.3V.

For more information about external drivers, see https://docs.duet3d.com/User_manual/Connecting_hardware/Motors_connecting_external

You can contact our sales team on sales@duet3d.com if you don't have a local retailer.

Ian

Hi ! Sorry for late reply.

We have followed this example, but we need inverse version :
https://stackoverflow.com/questions/18162880/how-to-correctly-compute-direct-kinematics-for-a-delta-robot
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Regarding the code:
Can we hear us per message or mail ?

A.

Its working. Thank you guys for your help !.
@dc42
Dear David, we are 95% done with the project and robot will be online in 2 weeks. There was some problems regarding vacuum and hardware so we have changed the whole approach. We made new HW installation and cover mask design. Now when i think of it, we spend really much time on HW. Finally we choose PIAB vacuum grippers and at the moment vacuum is working at 6 bar pressure with 800 Nl/m... As we discussed long time ago :-), i will need additional 4 boards. Hear you over skype regarding this...

Thank you for your reply. I will drop you a note when we complete the part that i need to finish. Best regards !

@arnix said in Vacuum ejector --> Aventics --> how to:

Where can i connect this error signal (GND and positive wire ) and how can i monitor it ?

Probably to an endstop input, then setup a trigger macro to process it using M581.

If you mean step-direction servos to take the place of stepper drivers, then you can connect up to 7 to a Duet WiFi or Duet Ethernet. 5 can be connected to the expansion bus, using the expansion breakout board if you need to shift the signals levels to 5V and higher current. 2 can be connected to the CONN_SD connector, but you will probably need to connect them via level shifters to increase the signal level to 5V and also increase the available current.

I found error in clearpath setup so after reconfiguration i can use Z axis.
I have copy pasted main conf file to all motors and everything is working accept smooth movement. Btw. the same is happening when i test it in MSP setup. Shortly, motor start to move smoothly but after some 20 cm it starts to "shake". As if it would move every second or third step...

Now,when i took a better look, it looks like that this shaking comes from micro stepping. The upper hand starts to vibrate when it moves up. Ofcourse, when i add lower hands (carbon tubes), everything looks like if it would shake... Edkirk mentioned 200 steps per mm ... Should this solve it ? Btw. am running rotary delta firmware..
A.

@arnix said in Suggestion for servo motor --> big delta robot:

max speed is 1 turn per second

So that's 10 turns/sec at the input side of your x10 gearbox. So the step pulse rate at x16 microstepping is 10 * 200 * 16 = 32kHz. Knowing that, you can use the calculator at reprapfirmware.org to determine whether 24V is sufficient to maintain torque at that speed using your current stepper motors.