![Page 1: Fab Academy: Machine Design Ilan Moyer 4/7/2010mtm.cba.mit.edu/fabinabox/fabinabox.pdfIlan Moyer 4/7/2010. FAB-IN-A-BOX: WORKFLOW Eagle .PNG CAD.PY .RML.PY Virtual Machine Environment](https://reader030.vdocument.in/reader030/viewer/2022020302/5ad6e3987f8b9a9d5c8b6949/html5/thumbnails/1.jpg)
Fab Academy: Machine Design
Ilan Moyer4/7/2010
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FAB-IN-A-BOX: WORKFLOWEagle .PNG CAD.PY .RML
.PY
Virtual MachineEnvironment FABNET
StepperControl multifab
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MTM MULTIFABIlan Moyer and Maxim Lobovsky
![Page 4: Fab Academy: Machine Design Ilan Moyer 4/7/2010mtm.cba.mit.edu/fabinabox/fabinabox.pdfIlan Moyer 4/7/2010. FAB-IN-A-BOX: WORKFLOW Eagle .PNG CAD.PY .RML.PY Virtual Machine Environment](https://reader030.vdocument.in/reader030/viewer/2022020302/5ad6e3987f8b9a9d5c8b6949/html5/thumbnails/4.jpg)
XY STAGE Z FRAME
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X AXIS
Y AXIS
Shuttle/Tool
Holder
THE XY STAGE: KINEMATICS
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Four C-Chanel Extrusions
THE XY STAGE: STRUCTURE
Symmetric Bolt Pattern
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THE XY STAGE: MECHANISM
StepperMotorSynchronization Shaft
Drive Shaft
Drive Pulleys
Shuttle Bushings
Rollers
Idler Pulleys
Drive Belts
Belt Tensioner
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THE XY STAGE: MECHANISM
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THE Z AXIS: DRIVE MECHANISM
Stepper Motor
Guide Rail (x2)
Leadscrew
Helical Beam Coupler
Leadnut
Bushings
Thrust Bearing Assy
Tube
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THE Z AXIS: TABLE
Sub-Frame Sub-Table Mounting
Working Surface
Leveling
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TOOL-HEADS AND CAPABILITIES
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5 AXIS TRUNNION
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STRENGTHS WEAKNESSES
•Low Inertia -> High Acceleration
•Direct Drive -> High Speed
•200mm^3 Work Volume
•Fixed Table -> Tall 3D Prints
•Low Stiffness -> No Heavy Milling
•Low Basic Resolution: 0.0035” (~0.0015 with half stepping.)
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STEPPER MOTOR SELECTION
Lin Engineering 4209M-02P
Resistance = 2.35 OhmsInductance = 3.2 mHenries
Lin Engineering 4209L-03P
Resistance: 58 OhmsInductance: 82 mHenries
NOTE: t_rise is the time for motor current to reach 100%.
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DRIVE VOLTAGE SELECTIONCurrent Rise Time: 12V
Max Speed: 12V41% Power @ 400mm/s
Max Speed: 24V75% Power @ 400mm/s
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DRIVE ELECTRONICS
Allegro A3967 Allegro A3982
- 8 uSteps/Step- 750mA/Phase
- 2 uSteps/Step- 2A/Phase
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THE NETWORK
Stepper Motor Control DC Motor Control RC Servo Control
Virtual Machine Environment NETWORK + POWER
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GENERAL PACKET FORMAT
[[UNICAST|MULTICAST]
[SOURCE IP][SOURCE PORT]
[DEST. IP][DEST PORT]
[LENGTH]
[----PAYLOAD----][CRC CHECKSUM]
]
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MOTION CONTROL
Virtual Machine Object
Control Firmware
http://mtm.cba.mit.edu/fabinabox/vm/076-001e.py
WWW
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MOTION CONTROL
VM Environment on PC MICRO-CONTROLLER
MOTION CONTROL CODE
MACHINEDESCRIPTION
VM Object Firmware
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FIRMWARE
•PACKET HANDLING
•BRESENHAM LINE ALGORITHM
•CIRCULAR QUEUE
•ANTI-BACKLASH
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BRESENHAM LINE ALGORITHM
RULE #1: Always step along major axis.RULE #2: Step in minor axis if error > 0.5 steps.
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BRESENHAM ALGORIGTHM... THE TRICK:
How do you know when the error is > 0.5?Don’t you need to know the slope?
Y STEPS
X STEPSALWAYS STEP IN X AXIS.SLOPE = (Y STEPS) / (X STEPS)ERROR = (Y STEPS)ACCUMULATE ERROR EACH X STEP.WHEN ERROR > 0.5(X STEPS), TAKE A STEP IN Y.OR, WHEN 2 x ERROR > X STEPS.
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VIRTUAL MAJOR AXISFOR DISTRIBUTED MOTION CONTROL
VIRTUAL STEPS = 8 = MAXIMUM STEPS
X STEPS = 8
Y STEPS = 3
Z STEPS = 1
2-AXISCONTROLLER
1-AXISCONTROLLER
mtm.move(8,3,1)
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CIRCULAR BUFFER: ACCOUNTS FOR RAPID SERIES OF MOVES, SUCH AS WHEN GOING AROUND AN ARC.
CO
MM
AN
D W
IDT
H
Read Pointer
Write PointerSL
OT
0
SLO
T 1
SLO
T 2
SLO
T 3
SLO
T 4
SLO
T 5
SLO
T 6
SLO
T 7
SLO
T 8
SLO
T 9
SLO
T10
SLO
T 1
1
SLO
T 1
2
SLO
T 1
3
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3 AXIS MOTION CONTROLmtm.move(x,y,z,rate)
VMEMachine Hardware Description
i.e. step angle, linear reduction,control system topology, etc...
vmo.spin(x_steps, y_steps, z_steps, move_time)
PC-BASED FIRMWAREDoes complex calculations such as
floating point and division.VMO
[key, dir., max_steps, x_steps, y_steps, z_steps, counter_top]
MCU-BASED FIRMWAREDoes timing-critical calculations and
I/O control.MCU
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mtm.cba.mit.edu/fabinabox/