arduino rotary table for dummies for sale
The stepper motor will have to be sized for your application. I used a small 3 rotary table and dont plan on using it for anything other than indexing so a high torque NEMA17 did the job. If youre working with a larger rotary table or want to be able to use it as a 4th axis in the mill you will want at least a NEMA23 size motor. You will have to reach out to the forum for help with selection.
Ok get out the anti-identity thief, pre-paid Visa card and order all the bits, wait for a month and a half for Canada Customs/Canada Post to figure out it isnt anything nasty and youre ready to begin.
Youll have to install the Arduino software (IDE) on your computer. Spark Fun has a good step by step tutorial for completing the install. https://learn.sparkfun.com/tutorials/installing-arduino-ide
Actually you only need to make it work by step of your stepper motor. Do you know how many steps you will have the stepper motor take to turn the table 365 degrees? When you know that you can compute the degrees the table makes for a single motor step.
I need a cup dispenser that can be controlled from arduino (motor or servo) which can drop cups it can be any design u like but here u can see some examples
Its not complicated, the site is a simple restaurant-site with no possibility to purchase or order online, just to book a table through "the fork" (biggest table-reservation company in the world so should be easy enough tech) a contact form and some revolving images. It needs to look more or less exactly the same after you rebuilt it, but can be done with other WP-theme and plugins.
This concerns an existing PHP Laravel project with MySQL database. One table needs to have extra column "enabled". From an admin page (screenshot 1) it should be possible to edit existing rows using a checkbox that sets the enabled column to 0 or 1. There already is a similar form to add new rows, also here there should come a checkbox that sets the enabled column.
Next, there are 2 pages (screenshot2 , screenshot3) where there are results displayed from this table. The queries responsible for this should be adjusted so that only rows with column enabled value set to 1 is returned.
There is an overview table with 18 columns (you can see part of it on the screenshot attached). All data in this table is fetched from a MySQL database. The table can be filtered using the fields on top.
The purpose of the project is to make each row editable, by adding a pencil icon. When this icon is clicked, it should be possible to edit each of the fields and then save the changes to the database.
3.Sample Page – page only to be used for demonstration of roles / permissions – after user creation and role assignment, here needs to be a sample of features that can be seen by user depending on the role. For example, a role can see users, but can’t disable or modify their data.
I have a large pdf.I want to extract several pages title and their table informations using should be automatic and not manual entering of pages because each pdf vary between them but titles remain same
I want my Zap to see this table as a matrix. If I have a building age of say 45 years and 5x modernization points, I want the Zap to check the rows and columns and give me the value where the intersection is (42.25 in this example).
...omy_hierarchical table is too large to be imported on our shared servers. We already have consulted on the case with our system administrators and with our Supervisors for the problem and the only solution is for you or your developer to optimise the database and decrease the table significantly. The SQL query, which imports the table, has 44 350 586 characters:
and the import operation times out due to the significant length of the query. We can not increase the limitations on the shared server for the import to be completed as such actions might affect the other clients" websites on the server, which we can not allow. Also, any operation on the database afterwards might timeout as well and would prompt the limitations on the server to be ...
Need to create the MIS report in excel using formula, pivot table and vlookup function. It"s construction company, create a dashboard and excel sheet for accounts work and materials handling details of suppliers payment details. Site wise need to do create MIS report.
Please note. The developer I am looking for must know what he is doing. I just had a developer who has spent 2 days on a simple api that should take 4 hours.
Hello, the task is to collect financial data of 250 companies in the United Kingdom (LTD, PLC, LP, LLP, SLP). Financial Data for 5 last years. The result can be represented in the Excel table. You can use any third-party sites that contain such information. Or maybe you have access to a ready database, and you can collect information from there.
I need help creating a custom DIY bark repellent device. It can be based on Arduino, Raspberry or pure electronics - Raspberry and Arduino being the best as they can be easily updated or programmed.
We need a Smart Digital Marketing Expert . This is a remote (work from home) position. The role will require many different tasks but here is the main things I am looking for:
a profile for the registered customer with a nice looking forms with fields like name,age,hobby, hometown etc. This profile will get saved in Elastic search
should be text box where user can put some text and it will go to Database and fetch the data based on the input. E.g. Cricket.. Then it will goto PostGreSqL and query a table which has column name “sportName” and then it will return all the rows which matches with that sport.
Long Term need for experienced SQL developer to assist development team with BI product development. Best Candidate will have a minimum of five years of experience and the following skills:
...I didn"t provide correct eye pillow to client and I had few bad reviews from clients. I was told that I don"t have good return rate. My experience is that return rate depends most of the time on other people not only on me. I"m a member of Professional Bodyworkers at the ABMP for 10 years and I never caused any injuries to anybody. I upgraded my knowledge into HHP (Holistic Health Practitioner).
I wasn"t accepted at different Burke Williams location because the place where I worked mentioned that I don"t qualify for this kind of work and I need more training. The Burke Williams has several franchises in California. It looks like I can"t work at any of their franchises.
This work will be to jumpstart the frontend for a new project. It will be frontend only, using Angular, and very basic to start. There may be follow-up work on the frontend later. There will be a simple table view that starts with no data, then the app must make an API call to get JSON data to populate the table. Clicking the "Audit ID" link must open a dialog box to edit the fields (name, description, status, resolution), a cancel and save button. If the save button is clicked, the app will submit the changes to another API, wait for a 200 response, then close the dialog and update the table.
...looking for is a person that just replies with one or two words like "ok" and expects me to reply to that. Preferrably a strong filipina freelancer or a nigerian woman with a mean right hook that is confident that they can really give me a hard time in the boxing ring/ boxing chat. Someone very talkative and creative that can bring a lot of ideas to the table would be ideal. Even better if you know other languages or have roleplay experience
A big plus would be if the freelancer could pick a female character she"s familiar with from a videogame, anime, cartoon or any form of media. The idea would be to pretend you were boxing as that character, with what they"d say(via text) and as if you were boxing while wearing their outfit. If you could bring a lis...
1) Recreate an image (essentially a table), with a small number of changes (frame colour, shortening the text to make things fit better etc). The image is attached. The new format should be one that can be used (and looks clear) in a mailchimp template needed for an e-shot.
2) Create the E-shot in a mailchimp template. We will need the link to forward to the publisher. The e-shot will contain the above new image, our logo (which leads to our website when clicked), another clickable "button" leading to our applicaiton form, and some text.
Release 1 is for internal use. This is a minimal app where user create a room. It presents a poker style card table and ability to add one more many deck of cards on the table. User can also add other people on table. These people are local. User can tap on any person that becomes active. From there, active user can shuffle the cards. User has ability to deal as many cards as he/she wants in any order to anyone. User has option to choose card designs. Simple project with no networking ability. Need full source code and images/assets.
It appears rather simple but so far I have distorted the 16mm hole. I have given thought to drilling the 16mm hole after bending the strapping but it defeats the speed of the plasma table. If that is the only solution then I would sti...
If some business directories there are not working or not posting a page for free, to form 50 links, then need to find another UAE business directory (replacement) from Google.
Along 3 years I have been trying several leg mechanism, at first I decided to do a simple desing with tibial motor where placed on femur joint.This design had several problems, like it wasn"t very robust and the most importat is that having the motor (with big mass) that far from the rotating axis, caused that in some movements it generate unwanted dynamics to the robot body, making controlability worse.New version have both motors of femur/tibial limb at coxa frame, this ends with a very simple setup and at the same time, the heaviest masses of the mechanism are centered to the rotating axis of coxa limb, so even though the leg do fast movements, inertias won"t be strong enough to affect the hole robot mass, achieving more agility.Inverse Kinematics of the mechanismAfter building it I notice that this mechanism was very special for another reason, at the domain the leg normally moves, it acts as a diferential mecanism, this means that torque is almost all the time shared between both motor of the longer limbs. That was an improvent since with the old mechanism tibial motor had to hold most of the weight and it was more forced than the one for femur.To visualize this, for the same movement, we can see how tibial motor must travel more arc of angel that the one on the new version.In order to solve this mechanism, just some trigonometry is needed. Combining both cosine and sine laws, we can obtain desired angle (the one between femur and tibia) with respect to the angle the motor must achieve.Observing these equations, with can notice that this angle (the one between femur and tibia) depends on both servos angles, which means both motors are contributing to the movement of the tibia.Calibration of servosAnother useful thing to do if we want to control servo precisely is to print a calibration tool for our set up. As shown in the image below, in order to know where real angles are located, angle protactor is placer just in the origin of the rotating joint, and choosing 2 know angles we can match PWM signal to the real angles we want to manipulate simply doing a lineal relation between angles and PWM pulse length.Then a simple program in the serial console can be wrtten to let the user move the motor to the desired angle. This way the calibration process is only about placing motor at certain position and everything is done and we won"t need to manually introduce random values that can be a very tedious task.With this I have achieved very good calibrations on motors, which cause the robot to be very simetrial making the hole system more predictable. Also the calibration procedure now is very easy to do, as all calculations are done automatically. Check Section 1 for the example code for calibration.More about this can be seen in the video below, where all the building process is shown as well as the new leg in action.SECTION 1:In the example code below, you can see how calibration protocol works, it is just a function called calibrationSecuence() which do all the work until calibration is finished. So you only need to call it one time to enter calibration loop, for example by sending a "c" character thought the serial console.Also some useful function are used, like moving motor directly with analogWrite functions which all the calculations involved, this is a good point since no interrupts are used.This code also have the feature to calibrate the potentiometer coming from each motor.#define MAX_PULSE 2500 #define MIN_PULSE 560 /*---------------SERVO PIN DEFINITION------------------------*/ int m1 = 6;//FR int m2 = 5; int m3 = 4; int m4 = 28;//FL int m5 = 29; int m6 = 36; int m7 = 3;//BR int m8 = 2; int m9 = 1; int m10 = 7;//BL int m11 = 24; int m12 = 25; int m13 = 0;//BODY /*----------------- CALIBRATION PARAMETERS OF EACH SERVO -----------------*/ double lowLim[13] = {50, 30, 30, 50, 30, 30, 50, 30, 30, 50, 30, 30, 70}; double highLim[13] = {130, 150, 150, 130, 150, 150, 130, 150, 150, 130, 150, 150, 110}; double a[13] = { -1.08333, -1.06667, -1.07778, //FR -1.03333, 0.97778, 1.01111, //FL 1.03333, 1.05556, 1.07778, //BR 1.07500, -1.07778, -1.00000, //BL 1.06250 }; double b[13] = {179.0, 192.0, 194.5, //FR 193.0, 5.5, -7.5, //FL 7.0, -17.0, -16.0, //BR -13.5, 191.5, 157.0, //BL -0.875 }; double ae[13] = {0.20292, 0.20317, 0.19904 , 0.21256, -0.22492, -0.21321, -0.21047, -0.20355, -0.20095, -0.20265, 0.19904, 0.20337, -0.20226 }; double be[13] = { -18.59717, -5.70512, -2.51697, -5.75856, 197.29411, 202.72169, 185.96931, 204.11902, 199.38663, 197.89534, -5.33768, -32.23424, 187.48058 }; /*--------Corresponding angles you want to meassure at in your system-----------*/ double x1[13] = {120, 135, 90, 60, 135 , 90, 120, 135, 90, 60, 135, 90, 110}; //this will be the first angle you will meassure double x2[13] = {60, 90, 135, 120, 90, 135, 60, 90, 135, 120, 90, 135, 70};//this will be the second angle you will meassure for calibration /*--------You can define a motor tag for each servo--------*/ String motorTag[13] = {"FR coxa", "FR femur", "FR tibia", "FL coxa", "FL femur", "FL tibia", "BR coxa", "BR femur", "BR tibia", "BL coxa", "BL femur", "BL tibia", "Body angle" }; double ang1[13] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}; double ang2[13] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}; float xi[500]; float yi[500]; float fineAngle; float fineL; float fineH; int motorPin; int motor = 0; float calibrationAngle; float res = 1.0; float ares = 0.5; float bres = 1.0; float cres = 4.0; float rawAngle; float orawAngle; char cm; char answer; bool interp = false; bool question = true; bool swing = false; int i; double eang; int freq = 100; // PWM frecuency can be choosen here. void connectServos() { analogWriteFrequency(m1, freq); //FR coxa digitalWrite(m1, LOW); pinMode(m1, OUTPUT); analogWriteFrequency(m2, freq); //femur digitalWrite(m2, LOW); pinMode(m2, OUTPUT); analogWriteFrequency(m3, freq); //tibia digitalWrite(m3, LOW); pinMode(m3, OUTPUT); analogWriteFrequency(m4, freq); //FL coxa digitalWrite(m4, LOW); pinMode(m4, OUTPUT); analogWriteFrequency(m5, freq); //femur digitalWrite(m5, LOW); pinMode(m5, OUTPUT); analogWriteFrequency(m6, freq); //tibia digitalWrite(m6, LOW); pinMode(m6, OUTPUT); analogWriteFrequency(m7, freq); //FR coxa digitalWrite(m7, LOW); pinMode(m7, OUTPUT); analogWriteFrequency(m8, freq); //femur digitalWrite(m8, LOW); pinMode(m8, OUTPUT); analogWriteFrequency(m9, freq); //tibia digitalWrite(m9, LOW); pinMode(m9, OUTPUT); analogWriteFrequency(m10, freq); //FR coxa digitalWrite(m10, LOW); pinMode(m10, OUTPUT); analogWriteFrequency(m11, freq); //femur digitalWrite(m11, LOW); pinMode(m11, OUTPUT); analogWriteFrequency(m12, freq); //tibia digitalWrite(m12, LOW); pinMode(m12, OUTPUT); analogWriteFrequency(m13, freq); //body digitalWrite(m13, LOW); pinMode(m13, OUTPUT); } void servoWrite(int pin , double angle) { float T = 1000000.0f / freq; float usec = float(MAX_PULSE - MIN_PULSE) * (angle / 180.0) + (float)MIN_PULSE; uint32_t duty = int(usec / T * 4096.0f); analogWrite(pin , duty); } double checkLimits(double angle , double lowLim , double highLim) { if ( angle >= highLim ) { angle = highLim; } if ( angle <= lowLim ) { angle = lowLim; } return angle; } int motorInfo(int i) { enc1 , enc2 , enc3 , enc4 , enc5 , enc6 , enc7 , enc8 , enc9 , enc10 , enc11 , enc12 , enc13 = readEncoders(); if (i == 0) { rawAngle = enc1; motorPin = m1; } else if (i == 1) { rawAngle = enc2; motorPin = m2; } else if (i == 2) { rawAngle = enc3; motorPin = m3; } else if (i == 3) { rawAngle = enc4; motorPin = m4; } else if (i == 4) { rawAngle = enc5; motorPin = m5; } else if (i == 5) { rawAngle = enc6; motorPin = m6; } else if (i == 6) { rawAngle = enc7; motorPin = m7; } else if (i == 7) { rawAngle = enc8; motorPin = m8; } else if (i == 8) { rawAngle = enc9; motorPin = m9; } else if (i == 9) { rawAngle = enc10; motorPin = m10; } else if (i == 10) { rawAngle = enc11; motorPin = m11; } else if (i == 11) { rawAngle = enc12; motorPin = m12; } else if (i == 12) { rawAngle = enc13; motorPin = m13; } return rawAngle , motorPin; } void moveServos(double angleBody , struct vector anglesServoFR , struct vector anglesServoFL , struct vector anglesServoBR , struct vector anglesServoBL) { //FR anglesServoFR.tetta = checkLimits(anglesServoFR.tetta , lowLim[0] , highLim[0]); fineAngle = a[0] * anglesServoFR.tetta + b[0]; servoWrite(m1 , fineAngle); anglesServoFR.alpha = checkLimits(anglesServoFR.alpha , lowLim[1] , highLim[1]); fineAngle = a[1] * anglesServoFR.alpha + b[1]; servoWrite(m2 , fineAngle); anglesServoFR.gamma = checkLimits(anglesServoFR.gamma , lowLim[2] , highLim[2]); fineAngle = a[2] * anglesServoFR.gamma + b[2]; servoWrite(m3 , fineAngle); //FL anglesServoFL.tetta = checkLimits(anglesServoFL.tetta , lowLim[3] , highLim[3]); fineAngle = a[3] * anglesServoFL.tetta + b[3]; servoWrite(m4 , fineAngle); anglesServoFL.alpha = checkLimits(anglesServoFL.alpha , lowLim[4] , highLim[4]); fineAngle = a[4] * anglesServoFL.alpha + b[4]; servoWrite(m5 , fineAngle); anglesServoFL.gamma = checkLimits(anglesServoFL.gamma , lowLim[5] , highLim[5]); fineAngle = a[5] * anglesServoFL.gamma + b[5]; servoWrite(m6 , fineAngle); //BR anglesServoBR.tetta = checkLimits(anglesServoBR.tetta , lowLim[6] , highLim[6]); fineAngle = a[6] * anglesServoBR.tetta + b[6]; servoWrite(m7 , fineAngle); anglesServoBR.alpha = checkLimits(anglesServoBR.alpha , lowLim[7] , highLim[7]); fineAngle = a[7] * anglesServoBR.alpha + b[7]; servoWrite(m8 , fineAngle); anglesServoBR.gamma = checkLimits(anglesServoBR.gamma , lowLim[8] , highLim[8]); fineAngle = a[8] * anglesServoBR.gamma + b[8]; servoWrite(m9 , fineAngle); //BL anglesServoBL.tetta = checkLimits(anglesServoBL.tetta , lowLim[9] , highLim[9]); fineAngle = a[9] * anglesServoBL.tetta + b[9]; servoWrite(m10 , fineAngle); anglesServoBL.alpha = checkLimits(anglesServoBL.alpha , lowLim[10] , highLim[10]); fineAngle = a[10] * anglesServoBL.alpha + b[10]; servoWrite(m11 , fineAngle); anglesServoBL.gamma = checkLimits(anglesServoBL.gamma , lowLim[11] , highLim[11]); fineAngle = a[11] * anglesServoBL.gamma + b[11]; servoWrite(m12 , fineAngle); //BODY angleBody = checkLimits(angleBody , lowLim[12] , highLim[12]); fineAngle = a[12] * angleBody + b[12]; servoWrite(m13 , fineAngle); } double readEncoderAngles() { enc1 , enc2 , enc3 , enc4 , enc5 , enc6 , enc7 , enc8 , enc9 , enc10 , enc11 , enc12 , enc13 = readEncoders(); eang1 = ae[0] * enc1 + be[0]; eang2 = ae[1] * enc2 + be[1]; eang3 = ae[2] * enc3 + be[2]; eang4 = ae[3] * enc4 + be[3]; eang5 = ae[4] * enc5 + be[4]; eang6 = ae[5] * enc6 + be[5]; eang7 = ae[6] * enc7 + be[6]; eang8 = ae[7] * enc8 + be[7]; eang9 = ae[8] * enc9 + be[8]; eang10 = ae[9] * enc10 + be[9]; eang11 = ae[10] * enc11 + be[10]; eang12 = ae[11] * enc12 + be[11]; eang13 = ae[12] * enc13 + be[12]; return eang1 , eang2 , eang3 , eang4 , eang5 , eang6 , eang7 , eang8 , eang9 , eang10 , eang11 , eang12 , eang13; } void calibrationSecuence( ) { //set servos at their middle position at firstt for (int i = 0; i <= 12; i++) { rawAngle , motorPin = motorInfo(i); servoWrite(motorPin , 90); } // sensorOffset0 = calibrateContacts(); Serial.println(" "); Serial.println("_________________________________SERVO CALIBRATION ROUTINE_________________________________"); Serial.println("___________________________________________________________________________________________"); Serial.println("(*) Don"t send several caracter at the same time."); delay(500); Serial.println(" "); Serial.println("Keyboard: "x"-> EXIT CALIBRATION. "c"-> ENTER CALIBRATION."); Serial.println(" "i"-> PRINT INFORMATION. "); Serial.println(" "); Serial.println(" "n"-> CHANGE MOTOR (+). "b" -> CHANGE MOTOR (-)."); Serial.println(" "m"-> START CALIBRATION."); Serial.println(" "q"-> STOP CALIBRATION."); Serial.println(" "); Serial.println(" "r"-> CHANGE RESOLUTION."); Serial.println(" "p"-> ADD ANGLE. "o"-> SUBTRACT ANGLE. "); Serial.println(" "s"-> SAVE ANGLE."); delay(500); Serial.println(" "); Serial.println("---------------------------------------------------------------------------------------------------"); Serial.print("SELECTED MOTOR: "); Serial.print(motorTag[motor]); Serial.print(". SELECTED RESOLUTION: "); Serial.println(res); while (CAL == true) { if (Serial.available() > 0) { cm = Serial.read(); if (cm == "x") { Serial.println("Closing CALIBRATION program..."); CAL = false; secuence = false; startDisplay(PAGE); angleBody = 90; anglesIKFR.tetta = 0.0; anglesIKFR.alpha = -45.0; anglesIKFR.gamma = 90.0; anglesIKFL.tetta = 0.0; anglesIKFL.alpha = -45.0; anglesIKFL.gamma = 90.0; anglesIKBR.tetta = 0.0; anglesIKBR.alpha = 45.0; anglesIKBR.gamma = -90.0; anglesIKBL.tetta = 0.0; anglesIKBL.alpha = 45.0; anglesIKBL.gamma = -90.0; } else if (cm == "i") { // + Serial.println(" "); Serial.println("---------------------------------------------------------------------------------------------------"); Serial.println("---------------------------------------------------------------------------------------------------"); Serial.println("(*) Don"t send several caracter at the same time."); delay(500); Serial.println(" "); Serial.println("Keyboard: "x"-> EXIT CALIBRATION. "c"-> ENTER CALIBRATION."); Serial.println(" "i"-> PRINT INFORMATION. "); Serial.println(" "); Serial.println(" "n"-> CHANGE MOTOR (+). "b" -> CHANGE MOTOR (-)."); Serial.println(" "m"-> START CALIBRATION."); Serial.println(" "q"-> STOP CALIBRATION."); Serial.println(" "); Serial.println(" "r"-> CHANGE RESOLUTION."); Serial.println(" "p"-> ADD ANGLE. "o"-> SUBTRACT ANGLE. "s"-> SAVE ANGLE."); Serial.println(" "); delay(500); Serial.println(" "); Serial.println("---------------------------------------------------------------------------------------------------"); Serial.println(" "); Serial.print("SELECTED MOTOR: "); Serial.print(motorTag[motor]); Serial.print(". SELECTED RESOLUTION: "); Serial.println(res); Serial.println("Actual parameters of the motor: "); Serial.print("High limit: "); Serial.print(highLim[motor]); Serial.print(" Low limit: "); Serial.print(lowLim[motor]); Serial.print(" Angle 1: "); Serial.print(ang1[motor]); Serial.print(" Angle 2: "); Serial.println(ang2[motor]); Serial.println("---------------------------------------------------------------------------------------------------"); } else if (cm == "m") { // + secuence = true; } else if (cm == "s") { // + } else if (cm == "n") { // + motor++; if (motor >= 13) { motor = 0; } Serial.print("SELECTED MOTOR: "); Serial.println(motorTag[motor]); } else if (cm == "b") { // + motor--; if (motor < 0) { motor = 13 - 1; } Serial.print("SELECTED MOTOR: "); Serial.println(motorTag[motor]); } else if (cm == "r") { // + if (res == ares) { res = bres; } else if (res == bres) { res = cres; } else if (res == cres) { res = ares; } Serial.print("SELECTED RESOLUTION: "); Serial.println(res); } } if (secuence == true) { Serial.print("Starting secuence for motor: "); Serial.println(motorTag[motor]); for (int i = 0; i <= 30; i++) { delay(20); Serial.print("."); } Serial.println("."); while (question == true) { unsigned long currentMicros = micros(); if (currentMicros - previousMicros >= 100000) { previousMicros = currentMicros; if (Serial.available() > 0) { answer = Serial.read(); if (answer == "y") { question = false; interp = true; secuence = true; } else if (answer == "n") { question = false; interp = false; secuence = true; } else { Serial.println("Please, select Yes(y) or No(n)."); } } } } answer = "t"; question = true; if (interp == false) { Serial.println("___"); Serial.println(" | Place motor at 1ts position and save angle"); Serial.println(" | This position can be the higher one"); rawAngle , motorPin = motorInfo(motor); calibrationAngle = 90; //start calibration at aproximate middle position of the servo. while (secuence == true) { /* find first calibration angle */ if (Serial.available() > 0) { cm = Serial.read(); if (cm == "p") { // + Serial.print(" | +"); Serial.print(res); Serial.print(" : "); calibrationAngle = calibrationAngle + res; servoWrite(motorPin , calibrationAngle); Serial.println(calibrationAngle); } else if (cm == "o") { // - Serial.print(" | -"); Serial.print(res); Serial.print(" : "); calibrationAngle = calibrationAngle - res; servoWrite(motorPin , calibrationAngle); Serial.println(calibrationAngle); } else if (cm == "r") { // + if (res == ares) { res = bres; } else if (res == bres) { res = cres; } else if (res == cres) { res = ares; } Serial.print("SELECTED RESOLUTION: "); Serial.println(res); } else if (cm == "q") { // quit secuence secuence = false; Serial.println(" | Calibration interrupted!!"); } else if (cm == "s") { // save angle ang1[motor] = calibrationAngle; secuence = false; Serial.print(" | Angle saved at "); Serial.println(calibrationAngle); } } } if (cm == "q") { Serial.println(" |"); } else { secuence = true; Serial.println("___"); Serial.println(" | Place motor at 2nd position and save angle"); Serial.println(" | This position can be the lower one"); } while (secuence == true) { /* find second calibration angle */ if (Serial.available() > 0) { cm = Serial.read(); if (cm == "p") { // + Serial.print(" | +"); Serial.print(res); Serial.print(" : "); calibrationAngle = calibrationAngle + res; servoWrite(motorPin , calibrationAngle); Serial.println(calibrationAngle); } else if (cm == "o") { // - Serial.print(" | -"); Serial.print(res); Serial.print(" : "); calibrationAngle = calibrationAngle - res; servoWrite(motorPin , calibrationAngle); Serial.println(calibrationAngle); } else if (cm == "r") { // + if (res == ares) { res = bres; } else if (res == bres) { res = cres; } else if (res == cres) { res = ares; } Serial.print("SELECTED RESOLUTION: "); Serial.println(res); } else if (cm == "q") { // quit secuence secuence = false; Serial.println(" | Calibration interrupted!!"); } else if (cm == "s") { // save angle ang2[motor] = calibrationAngle; secuence = false; Serial.print(" | Angle saved at "); Serial.println(calibrationAngle); } } } /*--------------------start calibration calculations------------------*/ if (cm == "q") { Serial.println("___|"); Serial.println("Calibration finished unespected."); Serial.println(" Select another motor."); Serial.print("SELECTED MOTOR: "); Serial.print(motorTag[motor]); Serial.print(". SELECTED RESOLUTION: "); Serial.println(res); } else { Serial.println("___"); Serial.println(" |___"); Serial.print( " | | Interpolating for motor: "); Serial.println(motorTag[motor]); secuence = true; //real angle is calculated interpolating both angles to a linear relation. a[motor] = (ang2[motor] - ang1[motor]) / (x2[motor] - x1[motor]); b[motor] = ang1[motor] - x1[motor] * (ang2[motor] - ang1[motor]) / (x2[motor] - x1[motor]); Serial.println(" | |"); } interp = true; } /*---------------------------make swing movement to interpolate motor encoder-----*/ if (interp == true and secuence == true) { delay(200); double x; int k = 0; int stp = 180; swing = true; i = 0; orawAngle , motorPin = motorInfo(motor); previousMicros = 0; while (swing == true) { // FIRST unsigned long currentMicros = micros(); if (currentMicros - previousMicros >= 10000) { // save the last time you blinked the LED previousMicros = currentMicros; x = x2[motor]; calibrationAngle = a[motor] * x + b[motor]; servoWrite(motorPin , calibrationAngle); rawAngle , motorPin = motorInfo(motor); if ((i % 3) == 0) { yi[k+1] = x; xi[k] = rawAngle; Serial.print(" | | Real ang: "); Serial.print(x); Serial.print(" -> Servo ang: "); Serial.print(calibrationAngle); Serial.print(" Enc: "); Serial.println(rawAngle); k++; } if (i >= stp) { swing = false; } i++; } } swing = true; i = 0; while (swing == true) { // moving unsigned long currentMicros = micros(); if (currentMicros - previousMicros >= 10000) { // save the last time you blinked the LED previousMicros = currentMicros; x = x2[motor] + float(i) * (x1[motor] - x2[motor]) / stp; calibrationAngle = a[motor] * x + b[motor]; servoWrite(motorPin , calibrationAngle); rawAngle , motorPin = motorInfo(motor); if ((i % 6) == 0) { yi[k+1] = x; xi[k] = rawAngle; Serial.print(" | | Real ang: "); Serial.print(x); Serial.print(" -> Servo ang: "); Serial.print(calibrationAngle); Serial.print(" Enc: "); Serial.println(rawAngle); k++; } if (i >= stp) { swing = false; } i++; } } swing = true; i = 0; while (swing == true) { // SECOND unsigned long currentMicros = micros(); if (currentMicros - previousMicros >= 10000) { // save the last time you blinked the LED previousMicros = currentMicros; x = x1[motor]; calibrationAngle = a[motor] * x + b[motor]; servoWrite(motorPin , calibrationAngle); rawAngle , motorPin = motorInfo(motor); if ((i % 3) == 0) { yi[k+1] = x; xi[k] = rawAngle; Serial.print(" | | Real ang: "); Serial.print(x); Serial.print(" -> Servo ang: "); Serial.print(calibrationAngle); Serial.print(" Enc: "); Serial.println(rawAngle); k++; } if (i >= stp) { swing = false; } i++; } } swing = true; i = 0; while (swing == true) { // moving unsigned long currentMicros = micros(); if (currentMicros - previousMicros >= 10000) { // save the last time you blinked the LED previousMicros = currentMicros; x = x1[motor] + float(i) * (x2[motor] - x1[motor]) / stp; calibrationAngle = a[motor] * x + b[motor]; servoWrite(motorPin , calibrationAngle); rawAngle , motorPin = motorInfo(motor); if ((i % 6) == 0) { yi[k+1] = x; xi[k] = rawAngle; Serial.print(" | | Real ang: "); Serial.print(x); Serial.print(" -> Servo ang: "); Serial.print(calibrationAngle); Serial.print(" Enc: "); Serial.println(rawAngle); k++; } if (i >= stp) { swing = false; } i++; } } swing = true; i = 0; while (swing == true) { // FIRST unsigned long currentMicros = micros(); if (currentMicros - previousMicros >= 10000) { // save the last time you blinked the LED previousMicros = currentMicros; x = x2[motor]; calibrationAngle = a[motor] * x + b[motor]; servoWrite(motorPin , calibrationAngle); rawAngle , motorPin = motorInfo(motor); if ((i % 3) == 0) { yi[k+1] = x; xi[k] = rawAngle; Serial.print(" | | Real ang: "); Serial.print(x); Serial.print(" -> Servo ang: "); Serial.print(calibrationAngle); Serial.print(" Enc: "); Serial.println(rawAngle); k++; } if (i >= stp) { swing = false; } i++; } } swing = true; i = 0; while (swing == true) { // moving unsigned long currentMicros = micros(); if (currentMicros - previousMicros >= 10000) { // save the last time you blinked the LED previousMicros = currentMicros; x = x2[motor] + float(i) * (x1[motor] - x2[motor]) / stp; calibrationAngle = a[motor] * x + b[motor]; servoWrite(motorPin , calibrationAngle); rawAngle , motorPin = motorInfo(motor); if ((i % 6) == 0) { yi[k+1] = x; xi[k] = rawAngle; Serial.print(" | | Real ang: "); Serial.print(x); Serial.print(" -> Servo ang: "); Serial.print(calibrationAngle); Serial.print(" Enc: "); Serial.println(rawAngle); k++; } if (i >= stp) { swing = false; } i++; } } swing = true; i = 0; while (swing == true) { // SECOND unsigned long currentMicros = micros(); if (currentMicros - previousMicros >= 10000) { // save the last time you blinked the LED previousMicros = currentMicros; x = x1[motor]; calibrationAngle = a[motor] * x + b[motor]; servoWrite(motorPin , calibrationAngle); rawAngle , motorPin = motorInfo(motor); if ((i % 3) == 0) { yi[k+1] = x; xi[k] = rawAngle; Serial.print(" | | Real ang: "); Serial.print(x); Serial.print(" -> Servo ang: "); Serial.print(calibrationAngle); Serial.print(" Enc: "); Serial.println(rawAngle); k++; } if (i >= stp) { swing = false; } i++; } } Serial.println(" | | Interpolation finished!"); /*-------Calculate linear interpolation of the encoder from 60 meassures done in swing------*/ double sx = 0; double sy = 0; double sx2 = 0; double sy2 = 0; double sxy = 0; double xmean = 0; double ymean = 0; int n = 300; for (int i = 0 ; i < n ; i++) { sx += xi[i+10]; sy += yi[i+10]; sx2 += xi[i+10] * xi[i+10]; sy2 += yi[i+10] * yi[i+10]; sxy += xi[i+10] * yi[i+10]; } ae[motor] = (n * sxy - sx * sy) / (n * sx2 - sx * sx); //sxy / sx2; // be[motor] = (sy - ae[motor] * sx) / n; //ymean - ae[motor] * xmean; Serial.println(" | | Moving back to ZERO position."); // turn the motor back to middle position swing = true; i = 0; while (swing == true) { unsigned long currentMicros = micros(); if (currentMicros - previousMicros >= 10000) { // save the last time you blinked the LED previousMicros = currentMicros; x = x1[motor] + float(i) * (90 - x1[motor]) / 60; calibrationAngle = a[motor] * x + b[motor]; servoWrite(motorPin , calibrationAngle); rawAngle , motorPin = motorInfo(motor); eang = ae[motor] * rawAngle + be[motor]; if ((i % 4) == 0) { Serial.print(" | | Servo ang: "); Serial.print(calibrationAngle); Serial.print(" -> Real ang: "); Serial.print(x); Serial.print(" -> Encoder ang: "); Serial.println(eang); } if (i >= 60) { swing = false; } i++; } } Serial.println("___|___|"); Serial.println(" | "); Serial.println("___"); Serial.println(" | Calibration finished satisfactory. Results data:"); Serial.print(" | HIGH lim: "); Serial.print(highLim[motor]); Serial.print(" LOW lim: "); Serial.println(lowLim[motor]); Serial.print(" | angle 1: "); Serial.print(ang1[motor]); Serial.print(" angle 2 "); Serial.println(ang2[motor]); Serial.print(" | Regression Motor a: "); Serial.print(a[motor], 5); Serial.print(" b: "); Serial.println(b[motor], 5); Serial.print(" | Regression Encoder a: "); Serial.print(ae[motor], 5); Serial.print(" b: "); Serial.println(be[motor], 5); Serial.println(" |"); Serial.println(" | ______________________________________________________________"); Serial.println(" | | |"); Serial.println(" | | This code won"t be able to save the updated parameters |"); Serial.println(" | | once the robot is shutted down. |"); Serial.println(" | | |"); Serial.println(" | | Please, write down the results |"); Serial.println(" | | and save them in the definition of each variable. |"); Serial.println(" | |_____________________________________________________________|"); Serial.println(" |"); Serial.println("___|"); Serial.println(" Select another motor."); Serial.print("SELECTED MOTOR: "); Serial.print(motorTag[motor]); Serial.print(". SELECTED RESOLUTION: "); Serial.println(res); } interp = false; secuence = false; } } SAFE = false; Serial.println("Calibration killed"); } // END OF CALIBRATION
I"ve actually used Arduino"s for a number of projects over the last few years (and PIC"s, but that"s another story) but never used stepper motors, so I"m keen to play with this and see what it will do.
Next step - check out the stepper software. Everything works expect the "Right" button. I have mapped the button values and I get Right - 0, Up - 100, Down - 257, Left - 409 and Select - 639. I have checked that all buttons read, and with different sketches the buttons work, but for some reason "Right" does"t work with the stepper sketch.
Garth, if you download from the DM link you will find three versions of the software in the zip file. The latest (I believe) is ver 2.3. If you open the sketch in the Arduino IDE the first line gives you the version number in confirmation.
Edit: ... or maybe even this one: http://www.model-engineer.co.uk/forums/postings.asp?th=122870 which was "spun-off" from it when the thread lost direction.
Hi i wonder if any one can help i have tried two Arduino Uno boards and two different DF Robot keypads and get the same result that the up and down left keypads go through the menu but pressing select makes no difference they just show the menus .I have downloaded the software on two different computers and get the same result.
while I was looking for a LCD / button shield to buy I found links to modify some of the shields to use PWM backlight control, hence the circuit diagrams in my album
Good evening thank you all for your help but you are talking a completely different language to one i understand on Johns diagram i can find the analog pin on the board i then i need a satnav my understanding of electronics is nil. I can follow a drawing the above means nothing at all.
I used a scrap riser to mill a custom knob with 17 flutes as an example, because most traditional manual rotary tables and dividing heads struggle with dividing prime numbers.
I needed two large holes in plates, 46mm and 40mm. I mounted the plates on the rotary table, set the indexer to continuous run and slowly lowered the cutting bit. This saved me from having to buy 2 different size hole saws that I might never use again.
In this tutorial, you will learn how to control a stepper motor with the TB6600 microstepping driver and Arduino. This driver is easy to use and can control large stepper motors like a 3 A NEMA 23.
I have included a wiring diagram and 3 example codes. In the first example, I will show you how you can use this stepper motor driver without an Arduino library. This example can be used to let the motor spin continuously. In the second example, we will look at how you can control the speed, number of revolutions, and spinning direction of the stepper motor. Finally, we will take a look at the AccelStepper library. This library is fairly easy to use and allows you to add acceleration and deceleration to the movement of the stepper motor.
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You can find more specifications in the table below. Note that the exact specifications and dimensions can differ slightly between manufacturers. Always take a look at the datasheet of your particular driver, before connecting power.
I recently took apart one of the TB6600 drivers I ordered and found out that it didn’t actually use a TB6600HG chip. Instead, it used a much smaller TB67S109AFTG chip, also made by Toshiba. The performance and specifications of these chips are similar, but the TB6600HG does have a higher peak current rating (up to 5 A) and it is just a much larger chip with better heatsinking overall.
Jim from embeddedtronicsblog did some testing on the TB67S109AFTG drivers and found that the stepper motors ran nicer than with the TB6600 drivers. So should you be going for a genuine TB6600 or the ‘upgrade’? I would say it depends on whether you really need the high current output or if you rather prefer up to 1/32 microstepping.
Note that the TB6600 is an analog driver. In recent years, digital drivers like the DM556 or DM542 have become much more affordable. Digital drivers usually give much better performance and quieter operation. They can be wired and controlled in the same way as the TB6600, so you can easily upgrade your system later.
When shopping for a TB6600 stepper motor driver, you will probably come across the slightly cheaper TB6560 driver as well. This driver can be controlled with the same code/wiring, but there are some key differences.
So the main differences are the higher maximum voltage, higher maximum current, and up to 1/32 microstepping. The TB6600 also has a better heatsink and a nicer overall form factor. If you want to control larger stepper motors or need a higher resolution, I recommend going with the TB6600.
Connecting the TB6600 stepper motor driver to an Arduino and stepper motor is fairly easy. The wiring diagram below shows you which connections you need to make.
You can change the TB6600 microstep settings by switching the dip switches on the driver on or off. See the table below for details. Make sure that the driver is not connected to power when you adjust the dip switches!
Please note that these settings are for the 1/32 microstepping drivers with the TB67S109AFTG chip. Almost all the TB6600 drivers you can buy nowadays use this chip. Typically you can also find a table with the microstep and current settings on the body of the driver.
Generally speaking, a smaller microstep setting will result in a smoother and quieter operation. It will however limit the top speed that you can achieve when controlling the stepper motor driver with an Arduino.
/* Example sketch to control a stepper motor with TB6600 stepper motor driver and Arduino without a library: continuous rotation. More info: https://www.makerguides.com */
In the setup() section of the code, all the motor control pins are declared as digital OUTPUT with the function pinMode(pin, mode). I also set the spinning direction of the stepper motor by setting the direction pin HIGH. For this we use the function digitalWrite(pin, value).
/* Example sketch to control a stepper motor with TB6600 stepper motor driver and Arduino without a library: number of revolutions, speed and direction. More info: https://www.makerguides.com */
Besides setting the stepper motor connections, I also defined a stepsPerRevolution constant. Because I set the driver to 1/8 microstepping mode I set it to 1600 steps per revolution (for a standard 200 steps per revolution stepper motor). Change this value if your setup is different.
To control the spinning direction of the stepper motor we set the DIR (direction) pin either HIGH or LOW. For this we use the function digitalWrite(). Depending on how you connected the stepper motor, setting the DIR pin high will let the motor turn CW or CCW.
In this example sketch, the for loops control the number of steps the stepper motor will take. The code within the for loop results in 1 (micro)step of the stepper motor. Because the code in the loop is executed 1600 times (stepsPerRevolution), this results in 1 revolution. In the last two loops, the code within the for loop is executed 8000 times, which results in 8000 (micro)steps or 5 revolutions.
Note that you can change the second term in the for loop to whatever number of steps you want. for(int i = 0; i < 800; i++) would result in 800 steps or half a revolution.
The AccelStepper library written by Mike McCauley is an awesome library to use for your project. One of the advantages is that it supports acceleration and deceleration, but it has a lot of other nice functions too.
With the following sketch, you can add acceleration and deceleration to the movements of the stepper motor, without any complicated coding. In the following example, the motor will run back and forth with a speed of 1000 steps per second and an acceleration of 500 steps per second squared.
/* Example sketch to control a stepper motor with TB6600 stepper motor driver, AccelStepper library and Arduino: acceleration and deceleration. More info: https://www.makerguides.com */
The next step is to define the TB6600 to Arduino connections and the motor interface type. The motorinterface type must be set to 1 when using a step and direction driver. You can find the other interface types here.
In this case, I called the stepper motor ‘stepper’ but you can use other names as well, like ‘z_motor’ or ‘liftmotor’ etc. AccelStepper liftmotor = AccelStepper(motorInterfaceType, stepPin, dirPin);. The name that you give to the stepper motor will be used later to set the speed, position, and acceleration for that particular motor. You can create multiple instances of the AccelStepper class with different names and pins. This allows you to easily control 2 or more stepper motors at the same time.
In the setup(), besides the maximum speed, we need to define the acceleration/deceleration. For this we use the function setMaxSpeed() and setAcceleration().
In this article, I have shown you how to control a stepper motor with the TB6600 stepper motor driver and Arduino. I hope you found it useful and informative. If you did, please share it with a friend who also likes electronics and making things!
Pete, have a look at Magzter Gold magazine subscriptions. They seem to be an Indian outfit, and they have many world magazines available for electronic download, and their list includes Model Engineer and Model Engineers Workshop, together with hundreds of others. Some magazines need to be purchased individually but the afore mentioned are in a large number which are available for download for a monthly fee of around Au$10. That is if you read one only or a hundred or more it still costs just Au$10 per month or a yearly fee of maybe Au$70 or so, I forget the actual figure. The archived editions of the last 12 months is also available.
It is a bit of a fiddle, but you can save individual pages, as PDF files and then recombine them if you want to keep an article or project in perpetuity, and you can also share your facility with 5 IIRC family members. The magazines are available for download almost as soon as they are published, much before your local newsagent which is an added bonus too.
I was searching around on eBay and came across an interesting little trunnion table, link below. I had seen similar units, but they all used belt drive reductions, which from experience will not have enough reduction, and will likely be chatter with any real cutting, not to mention the belt is exposed. This unit however uses a harmonic drive to get a 50:1 reduction, with essentially zero detectable backlash. on top of that, it actually back drives the stepper motor. Harmonic drives are also sometimes called wave strain drives or flex spline drives. Anyways, the trunnion uses a couple of nema 23 steppers, and the holding torque is fantastic, even with a cheap stepper driver. For simplicity I"m using an arduino based controller that runs grbl 1.1f, and a couple of 5-30v inductive switches, links below. The controller can be controlled by sending gcode over the rx and tx pins, aka rs-232. The trunnion unit itself is very beefy for what it is, and has what look to be waterproof seals around all the bearings, so with a bit more sealing on the motors it can probably handle coolant usage.
I use fusion 360 for all of my CAM, and one of the big draws is it can do multiaxis toolpaths. The second biggest draw, for me at least, is the post processors can be edited. The third thing being the new machine simulation, I was able to use the haas provided model for the CM-1(we have an OM2 at work, but its the same mechanically), and modeled up the trunnion and configured it to behave correctly to simulate indexing.
I modified The pre-ngc 5 axis post and configured it to work with the way I have the trunnion mounted in the machine, then I also modified the output of a and b gcodes for indexing operations appear as shown below.
Im avoiding altering the grbl firmware for now, just editing parameters, so the gcodes the haas will be sending over serial will actually be X and Z codes for the A and B axiis. Ultimately its not necessary to change the firmware to accept a and b codes, however I want to make it right so its more readable, and there"s a few other things I want to change as well.
I"ve done some reading on the Haas DPRNT command, and its very limited. Only A-Z, and +, -, can be put out. The grbl controller has special commands the use the $ symbol, for example to home, or send out positional data over serial. If I edit the firmware I can probably change that and use standard gcodes instead like g28 and g102.
The other issue is the controller doesn"t have specific pin or button to home the axiis, for now I have an offline controller, and with it I can run programs from an sd card, i have a program to home the machine using the illegal $H command lol.
Link to buy on ebay, although I got mine through aliexpress for cheaper. CNC Rotary axis Harmonic Gearbox Dividing Head 5th 4th Axis 50:1 reduction ratio | eBay
It is an engineering truism that there is no perfect solution, just the best solution for the problem at hand. That holds particularly for servo motors and stepper motors. Both are broadly used in industry. Neither is a universal solution. When properly applied, however, both stepper motor and servo motor can provide effective, reliable power for a highly successful system. The decision tree for choosing between the two has many branches but the most important are speed, acceleration, and price target.
Stepper motors consist of a rotor with permanent magnets and a stationary stator that carries the windings. When current runs through the stator windings, it generates a magnetic flux distribution that interacts with the magnetic field distribution of the rotor to apply a turning force. Stepper motors feature very high pole counts, typically 50 or more. The stepper motor driver energizes each pole in sequence so that the rotor turns in a series of increments, or steps. Because of the very high pole count, the motion appears to be continuous.
Figure 1: Stepper motors deliver good performance at an economical price point for applications requiring low speed, acceleration, and accuracy. (Courtesy of Kollmorgen)
On the downside, stepper motors have speed limitations. They generally run best at 1200 RPM or lower. Although they generate high torque at zero speed, torque falls off as speed increases (see figure 2). A motor that generates 100 ounce inches at zero speed might only deliver 50 ounce inches at 500 RPM, for example, and just 10 ounce inches at 1000 RPM. In theory, a gearbox could be used to increase torque, but this is where the low speed of stepper motors becomes a problem. Adding a 10:1 gear reducer to a 1200 RPM stepper motor might boost the torque by an order of magnitude but it will also drop the speed to 120 RPM. If the motor is being used to drive a ball-screw actuator or similar, it probably will not deliver sufficient speed to satisfy the needs of the application.
Stepper motors also have performance limitations. You can think of a stepper motor as a spring-mass system. The motor needs to break friction to begin turning and move the load, at which point the rotor is not fully controlled. As a result, a command to advance by five steps may only result in the motor turning four steps – or six. If the drive commands a motor to advance 200 steps, however, it will do so to within just a few steps, which at that point represents an error of a few percent. Although we command stepper motors with a resolution of typically between 25,000 and 50,000 counts per revolution, because the motor is a spring-mass system under load, our typical resolution is 2000 to 6000 counts per revolution. Still, at these resolutions, even a 200-step move corresponds to a fraction of a degree.
Adding an encoder will enable the system to accurately track movement, but it will not be able to overcome the basic physics of the motor. For applications requiring improved positioning accuracy and resolution, servo motors provide a better solution.
Servo motors offer an undeniable performance advantage. In terms of repeatability, however, stepper motors can be quite competitive. This point brings up a common misconception about stepper motors, which is the myth of lost motion. As we discussed previously, the mass-spring nature of a stepper motor may result in a few lost steps. Because the drive is commanding the stepper to move to an angular location, lost steps are not carried over from rotation to rotation, however. Rotation to rotation, stepper motors are highly repeatable. Look for a more detailed discussion of this topic in a future blog post.
To summarize, stepper motors are good solutions for applications with low speed, low acceleration, and low accuracy requirements. Stepper motors also tend to be compact and inexpensive. This makes these motors a good fit for medical, biotech, security and defense, and semiconductor manufacturing applications. Servo motors are a better choice for systems requiring high speed, high acceleration, and high accuracy. The trade-off is a higher cost and complexity. Servo motors are typically used in packaging, converting, web processing, and similar applications.
When your application is forgiving but your budget is not, consider a stepper motor. If performance is the most important aspect, a servo motor will do the job but be prepared to pay more.
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