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    Max Favre
    Jan 08, 2019
    Edited: Jan 08, 2019

    AR2 from switzerland

    in Robot Builds

    Hi there ;)

    I finally pulled the trigger, can't wait to build it !

    Thank you Chris for all your work and sharing it, It's awesome.


    Meanwhile I'm printing plastics parts and working on the controler.

    I plan to build something similar to the smoothiebrainz CNC controller I made a few years ago:



    But the big plan is to connect almost everything with a single top PCB. Pins will be soldered on the bottom and screwed in the driver's connectors.

    I can either put an arduino footprint or mount a mega2650 directly on the pcb. Not yet decided but I have everything in stock so...

    Early WIP:


    How is the heat generation on the "recommended" enclosure ? I might add fan(s) if I go compact.

    44 comments
    44 Comments

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    rochmesa
    Jul 18, 2019

    Hi.... totally dismantled the CNCCS prototype. Many of the parts are the same as used on the current builds, so I decided to do a new build from scratch so that I could utilize these parts. On this build I am going to go with aluminum on the plate material. My goal is to do this without any special machining gear. IE pretty much using a drill press. Before I get started I wanted to show you my layout since you will see much of it in the background of this build.


    turnkey pcb assembly

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    Paul
    Jul 18, 2019
    Replying to

    1) Sorry, what is the "CNCCS prototype"


    2) If you can use as much aluminium plate I think that is a great goal.


    3) Can we see the layout?

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    matthew flego
    Mar 04, 2019

    @Max Favre I'm so glad that your thinking of using Trinamics. I was also thinking the same when I first saw your design. Do you follow Marco Reps on youtube? https://www.youtube.com/watch?v=ZzO9skEYqwY I wonder if limit switches are necessary with the trinamics current sense back shown in his video here.


    Do you think an HDMI cable could work? OR DVI? I have been reading that in premium HDMI cables that the strands are paired and sub wrapped by AL as pairs then externally wrapped by braided steel or AL. Furthermore premiums can have 26 or 28 AWG which might be able to handle the current. 2 amps roughly at 26 awg. https://www.powerstream.com/Wire_Size.htm I haven't dived into the typical current draw for this arm design using the motors from the stepper online kit, so take that with a grain of salt.


    Also I am a big fan of raspberry pi. Any interest in model 3b+?



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    matthew flego
    Mar 04, 2019
    Replying to

    https://www.amazon.com/Monoprice-Commercial-24AWG-Speed-Jacket/dp/B005CAPIDW

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    Max Favre
    Mar 04, 2019
    Replying to

    DVI won't work neither. They are similar to VGA with digital signal added. Some pins are common ground, analog signals use coaxial wire,etc.

    HDMI looks like the same with common grounds


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    matthew flego
    Mar 02, 2019

    Max, This is a very intensive piece of work. Thank you for contributing back, I would love to try this board out when I start my build/s. Are you planning to continue to develop this? ;and what ECAD / CAD platform do you work with?

    Like
    Z
    Zach Allen
    Mar 04, 2019
    Replying to

    @Max Favre I’m using an RPi as the computer, hence the 5V step down. AMd the 12V one is to power the Arduino, so I only need the one 24V 10A power supply. Not sure if that’ll yield current issues with the Arduino or Pi, but no problems yet.


    I’ve been playing around with Trinamic’s TMC5160-BOB, and hope to make an integrated driver board like the SlushEngine. The parts aren’t super cheap, but not too much more than the StepperOnline drivers. What I love about Trinamic’s drivers is the ability to set a position and let it do the positioning work, rather than having to deal with the Step/Dir - it takes a lot of work off the CPU. The trickiest bit is the firmware, to get all the motors to sync (move their respective distances in the same amount of time). But I’m working on it, while also modifying the AR2 design to put all the electronics in he base rather than a separate enclosure. Another nice thing about the Trinamics is the capability to do sensorless homing - making a hard stop at each end of travel rather than using limit switches and having to manually enter in the mac travel.


    I‘m wrapping up my how-to for using the AR2 software on a Raspberry Pi, and will hopeully pull-request that to @Chris Annin this week - it’s long overdue. The next steps will be to get the Trinamic firmware sorted out in Python so there‘s no need for the Arduino.

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    Max Favre
    Mar 04, 2019
    Replying to

    @Zach Allen Cool ! That's great news !

    I have to confess I'm more a hardware/electronic designer than a programmer. I work as automation engineer, mainly with PLC and doing some specific C# dev. I'm way more at ease with arduino which is close to a PLC than a pi and python scripts. So I tend to design things in my scope of knowledge.


    I'm 100% with you regarding a Slushengine-like on-base controller / sensorless homing and get rid of the step/dir control. I can gladly spend some time designing the electronics but porting the software is out of my reach for now.

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    Zach Allen
    Mar 04, 2019
    Replying to

    @Max Favre I’m a mechanical engineer, so from a professional standpoint most of this is new to me. I’ve got experience designing PCBs and SMT soldering, but am new to the programming sort of stuff. Totally understand that about sticking to what you know in Arduino. My process was going to be getting the logic sorted out with the Arduino since Chris’s program is sending “simplified” commands from the computer, then adapt it back to python and embed it into the base code for the RPi - at that point it’s just using the different syntax of python.


    We’ll see, it‘ll take some time.

    Like

    ruizvial
    Mar 02, 2019

    Looks like T-1000. Very well. Regards from Chile.

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    Paul
    Feb 22, 2019

    Wow. That looks incredible. Very clean and well built.


    Are there any available for purchase? I'm happy to do all the soldering if need be :)

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    Max Favre
    Mar 03, 2019
    Replying to

    Thanks ;)

    I have 4 blank boards. As said I can solder the SMT parts and do the flashing-thing.

    Through-hole components (and smt) are easy to find on aliexpress,etc

    If you can solder SMT I can ship you the blank board. It should be ok to send it as a letter.

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    Paul
    Mar 08, 2019
    Replying to

    @Max Favre Awesome. Perhaps send me an email and we can go from there. I am on: PaulMclaugh at Gmail.com

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    Max Favre
    Feb 15, 2019

    The final part is here:

    All soldered

    With the 3d printed housing, cables enter from behind

    In the meanwhile I discovered that some VGA cables simplified: ground pins are shared. I need to find 3 fully wired.

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    Max Favre
    Feb 05, 2019

    Here are the source files for the PCBs projects:


    Controller shield:


    https://drive.google.com/drive/folders/1BVWQ9XtNRVI-LLkeI67GsTA8-qUJy9d6?usp=sharing


    ! Require reflow oven SMD soldering and some arduino knowledge to flash the bootloader


    BOM and 7th axis version coming soon





    Robot interface:



    https://drive.google.com/drive/folders/1DC262n13lVaJyhVmGSyD9pbmnmeG-PZu?usp=sharing


    SMD soldering are optional status leds, doable by hand.


    Use VGA connectors and wago 804-103 & 804-104

    3d printed housing coming soon.



    I ordered 5 pieces of each, used 1 and will spare 1 "in case of" so 3 sets are available. I don't intend to make any money of them, they're just better being used than taking dust in a drawer. I gladly do the SMD and flashing magic, the other components are on your side.


    Meanwhile you can order the boards yourself by uploading the zip on the gerber folder on JLCPCB or any other pcb maker.

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    Max Favre
    Feb 04, 2019

    Mechanical assembly is almost done, wiring is on the way ;)






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    Max Favre
    Feb 01, 2019

    Steppers and drivers are here !

    Everything fits nicely on the controller. I will wire the smaller driver (planned to use 6x 542 at the beginning).

    The drivers are smaller than expected, some models have a bigger heatsink. The board could have been a bit smaller but at least they won't heat.



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    Max Favre
    Jan 28, 2019

    Sorry for the spam ;)

    This one is almost finished. I tested the digital ouputs trough the AR2 software, everything works fine.



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    Paul
    Jan 29, 2019
    Replying to

    Wow. Looking great!! Looking forward to more updates :D


    I've placed 3 orders with steppers online and their shipping time & service was on point. However I'm in Australia so that could influence it.

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    matthew flego
    Mar 02, 2019