\r\n jdholbrook, It\'s great you are doing board layouts! May I suggest you re-do the through hole board so that it makes use of network resistors instead of requiring so many individual resistors? Cutting down on the parts count makes a difference. I love the mixed hole and SMD board!\r\n
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James hosts the single best wiki page about steppers for CNC hobbyists on the net: \r\nhttp://www.piclist.com/techref/io/steppers.htm Disagree? Tell him what\'s missing! ,o)
jdholbrook, It\'s great you are doing board layouts! May I suggest you re-do the through hole board so that it makes use of network resistors instead of requiring so many individual resistors? Cutting down on the parts count makes a difference. I love the mixed hole and SMD board!
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I\'ll take a look at the network resistor but it will be Monday before I can get back on it. \nI also liked the idea of the mixed board. \nI want to build three and set my 6040 up with servo drives.\r\n
\r\n New firmware and tuning program! \n \nA new feature has been added to the tuning software to be able to measure PID frequency (how many times per second the PID output is updated). \nAfter optimization of the firmware I was able to reach 8.3 kHz for PID frequency! pretty good! \nA good guide for tuning your servo (if you reached that point) is located here: A Simple Method for Servo Motor Tuning - National Instruments \n \nThe movement is very smooth both on high and low speeds if PID is tuned correctly! What you see there gets at max 12000 mm per minute. 15000 can be reached with a longer axe without increasing acceleration too much. So basically no problem to reach 3000RPM with the motor! \n \nhttps://www.youtube.com/watch?v=UXHusbP2Pcc \n \nMihai\r\n
\r\n So this is looking really good. I took a glance at the code again today and an idea struck me. I think I\'d be interested in taking this and replacing the brushless motor control stuff with regular DC motor code, and doing the same again and making a version with stepper motor output. Basically 3 versions of the same program. \nMy mill currently is being built with brushed DC motors. someday I know I\'d like to upgrade to brushless. The way I\'m building my servo control boards would also lend themselves to this idea, since I have a separate logic board and a driver board connected by just a 3 wires (enable, direction and PWM) A brushless version of my board would have 4 (enable, U,V and W). \n \nI think I may have a go at trying mikropascal again. I\'m curious to see how much its changed since version 2(the last time I looked at it).\r\n
So this is looking really good. I took a glance at the code again today and an idea struck me. I think I\'d be interested in taking this and replacing the brushless motor control stuff with regular DC motor code, and doing the same again and making a version with stepper motor output. Basically 3 versions of the same program. \r\nMy mill currently is being built with brushed DC motors. someday I know I\'d like to upgrade to brushless. The way I\'m building my servo control boards would also lend themselves to this idea, since I have a separate logic board and a driver board connected by just a 3 wires (enable, direction and PWM) A brushless version of my board would have 4 (enable, U,V and W). \r\n \r\nI think I may have a go at trying mikropascal again. I\'m curious to see how much its changed since version 2(the last time I looked at it).
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Indeed. Adding support for DC motors is very easy in this setup. You will practically use only 2 outputs. Maybe in a future version... \r\n \r\nMihai\r\n
\r\n Whipped up an SMD variant of the board. \r\nPower res and IRF are through hole. \r\n50x100mm \r\nForgot the resistor array. \r\n \r\n \r\nAttachment 266342\r\n
\r\n DONATION! \r\n \r\nHello everyone! \r\n \r\nI am donating a Servo Board as seen in the picture, without the ATMega644 and the IR2101s. It contains all other parts, including radiator. \r\nIt\'s an older design, it has the power resistor soldered below the board, has a different pinout for the encoder and step dir enable signals. \r\nThe board is functional, was tested and helped during development. \r\n \r\nI am asking only for the shipment money. \r\nI just want whomever takes it to use it, test it and so on... \r\n \r\nI\'m waiting for requests \r\n \r\nMihai\r\n
\r\n mihai, i just sent you a private message - did u deactivated PMs? \n \nim interested in your board for testing and hopefully serious cnc action, just have to get IR2101s which shouldn\'t be a problem at all.\r\n
mihai, i just sent you a private message - did u deactivated PMs? \n \nim interested in your board for testing and hopefully serious cnc action, just have to get IR2101s which shouldn\'t be a problem at all.
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Hello Chris \n \nSure thing! I can send the board to you. I will make a package asap. Just send me your delivery address! \nI will ship it with regular mail, to be the cheapest possible! \n \nBest regards \n \nMihai \n \nPS: I can not send PM to you. The board says you do not have it activated.\r\n
\r\n X axis is ready! \n \nhttps://www.youtube.com/watch?v=jlnwZzAQRMw \n \nThe max speed you see there is 12 meters per minute. Pretty good! \nAll alu parts you see there are made by myself on my Chinese 3040! I would say they made some good devices for the money... \n \nEnjoy! \n \nMihai\r\n
\r\n Hello. \n \nI think the algorithm can be changed to handle steppers. Commutation speed is not a problem, you must only change the commutation table to handle 4 outputs. But the ATMEGA644 has only 6 PWM channels. You will need another 2 to make it work the way it is done now. Or you can use 4 pwm channels and 4 other outputs that can be used to change the Hi / Lo commutation of a half bridge. You must use PWM and obtain somekind of microstepping because otherways you will not be able to sync the 200 steps of the stepper with the PPR of the encoder. Except if you will use a 200 PPR encoder... \n \nMihai\r\n
\r\n I have the board. It works very well. Note that you will need an ICD. I bought the Jlink EDU to support the vendor, but if you are on a tight budget, I see counterfeits on Ebay for $12. I don\'t know how well they work, but the Jlink is outstanding, when compared to the AVR dragon that I\'m use to.\r\n
\r\n Thanks for the explanation. Something I am wondering about is how much actual advantage is provided by the vector control algorithm, which is the ideal for maximizing performance and minimizing power consumption. It adjusts the coil currents to keep the resultant force pushing perfectly in the rotation direction. Have you looked at it before?\r\n
Thanks for the explanation. Something I am wondering about is how much actual advantage is provided by the vector control algorithm, which is the ideal for maximizing performance and minimizing power consumption. It adjusts the coil currents to keep the resultant force pushing perfectly in the rotation direction. Have you looked at it before?
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I\'ve just looked at vector control. Motor Control AlgorithmsAC Motor Control Algorithms | Renesas Electronics Europe \nHowever form what I understand Vector controls requires calculation of Clark, Park and Park Inverse equations. This requires a very powerful MCU if you want to run at high speeds. Whit ATMega 644 I do not think it\'s possible. There are lot of sines and other math functions there... \n \nMihai\r\n
I\'ve just looked at vector control. \nHowever form what I understand Vector controls requires calculation of Clark, Park and Park Inverse equations. This requires a very powerful MCU if you want to run at high speeds. Whit ATMega 644 I do not think it\'s possible. There are lot of sines and other math functions there... \n \nMihai
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Sine and cosine can be done by table lookup. Because values repeat, a 90 entry sine table is all that is needed. According to ST, the calculations take 70% of the cpu time on a 25 Mhz stm32. It\'s likely pushing beyond the limits of the atmega.\r\n
\r\n Good work, I like how you wrote it in pascal . I had pascal for the Z80 TimexSinclair along time ago, then TurboPascal then Delphi. \nDo they make Mikropascal for pic processors ?\r\n
Good work, I like how you wrote it in pascal . I had pascal for the Z80 TimexSinclair along time ago, then TurboPascal then Delphi. \nDo they make Mikropascal for pic processors ?
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Yes MikroPascal is also available for PIC. I think their PIC version is also much mature and stable. I could not help and not look at Viper Servo motor products. I see no drive for AC and BLDC motors... Do you have something on your mind...??? \n \nMihai\r\n
Yes MikroPascal is also available for PIC. I think their PIC version is also much mature and stable. I could not help and not look at Viper Servo motor products. I see no drive for AC and BLDC motors... Do you have something on your mind...??? \r\nMihai
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Yes, i\'ve got one in the works for the 60 volts motors. I use the PIC 30F3011 with microchip C for most of it. But there isn\'t much of a market since the chinese have swamped the market with cheap AC servo drives and motors. The leadshine ac drive is pretty basic though and the tuning software is really bad. Mine uses the hall inputs though for now,. \r\n \r\nLarry\r\n
\r\n Hello again! \r\n \r\nHere is the latest firmware and Servo Tuning Software. A new parameter has been added, the anti windup Integral limit value. I feel it is a mistake to add a predefined constant for that, I think it\'s specific to motor. \r\nThose being said I am stopping development for this servo drives now. I will mount them on a machine soon and come back with impressions and maybe some other fixes after that. For now the drives fit my needs just fine. \r\n \r\nMihai\r\n
\r\n I think diy servo controllers in general, would be further developed by now if everybody would separately design the logic side and the power stage as two separate boards.\r\n
\r\n Hello, \r\n \r\nJust found this thread. Good work!!! \r\nI would recommend to buy components (North America) in : \r\nElectronic Components from the Best - Future Electronics \r\nor \r\nAvnet Electronics Marketing - Electronic Components Distributor Services, Datasheet PDF Download, Part Number Search 4.5 Million + Components - Avnet Express \r\n \r\nDigikey and Mouser are expensive. \r\n \r\nIt doesn\'t make sense to buy controller board on the eBay and add it to hand-made PCB. Better to use one PCB board for all components. \r\n \r\nTo make a high quality PCB in few hours at home use : \r\nhttp://www.mgchemicals.com/products/...ed-600-series/ \r\nPrint PCB layout on LaserPrinter on trasparent film. Then expose 10min under UV (I use regular energy saving fluorescent bulbs) and develop in MG Chemical solutions. All information is available on /www.mgchemicals.com \r\n \r\nPower section layout is bad. Look at the attached tutorial from Mariss Freimanis for details. \r\n \r\nI will probably try to make this drive for myself to test my small motors. PCB has to be redone in very compact form using CMD components. \r\nOhhhh Need to recover my PCB design sills. Didn\'t touch Altium Designer and Eagle for more than 4 years. \r\n \r\nAnother option is design a board and place it with 4PCB or other manufactures. With >20 boards it can be a very reasonable cost which we can share. \r\n \r\nJust my 5 cents.\r\n
\r\n Looking at IRLU3110ZPbF as a power MOSFET. Parameters are very good, Total Gate Charge is only 42nC, it switches fast. Another option is old friends IRF540 or STP30NF20. The last one is a little bit better.\r\n
\r\n Hello dear machinists! \r\n \r\nI\'m very happy that the interest in this project grows. I did not stop development. I still have some upgrades to make to the firmware. I will post soon the changes. \r\n \r\nAs for the PCB you will have to excuse me. I\'m a software engineer, my electronic skills are at hobby level. I would be very happy to participate in a common fund for creating some PCBs at some professionals. \r\n \r\nI will let you know about progresS soon. \r\n \r\nMihai\r\n
\r\n I know you\'ve seen my PCB layout. \nI wanted to say that I\'m having 5 made to test. Should be here any day. \nI\'ve got the components ready as well as an application on my little CNC Router (6040 China model) \nHope to report soon with a review and lots of photos. \nIf it works out, I\'ll be happy to work toward getting more ordered at cost. \n \nAnxious to try the latest firmware upgrades. \n \nJames\r\n
\r\n Hello again! \n \nI\'ve made some additional optimizations in code and got the PID to work at 9.12 kHz! very good... \nAlso there is a new procedure in place allowing a 5 % decrease in power when motor is in stopped position making this way the vibrations induced by the integral windup ZERO!!! so there are no more unwanted vibrations when stopped. \nAlso there is no decrease in actuation performance, the servo response curve is near perfect, only 13% overshoot and 52 ms settling time for a 100 steps jump. \n \nI will come back with pictures and videos of my new router when a new encoder for the third axis will arrive. I accidentally connected it wrong and smoked it... shame on me... \n \nFor now the new firmware... \n \nMihai \n \nPS. I see a growing interest in this project. Rest assured, it will newer transform in a commercial one. But I am interested for a better design in the schematic and board. If someone could improve it, this could be a nice addition. Also it would be nice to separate the inputs for step / dir / enable with optocouplers and maybe even the encoder, given the advantages and the low price for such circuits.\r\n
do you test in code something like this to prevent anti windup \r\n \r\n \r\nIf(PWM_out \r\n{ \r\nprocess integral calculation \r\n}
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Yes, simple protection like this is also present. However if the motor refuses to stay in a certain position when power is not applied, because of the magnets inside, then we have a problem. Something had to be done to be able to stop. \r\nCheck the code. \r\n \r\nMihai\r\n
\r\n 3 servo drives working on my new router. Max speed you see is 10 meters / minute. \nSystem seems to be ok. After a hour long program zero position is kept, so no steps lost. \nEnjoy \n \nMihai \n \nhttps://www.youtube.com/watch?v=T7vj81t6yPk \n \nPS. Video is public now.\r\n
\r\n Hello Mihai, \n \nThat\'s great news. I can\'t wait to get mine working. \nI tried to watch the video but it says "Private". \nWould really like to see it. \n \nThanks \nJames\r\n
\r\n hi \ni want to make this but here atmega 644 is not available. but i can found atmega 2560. \nhelp me for this. \nalso available atmega 88 n 162. \nshabbir\r\n
hi \ni want to make this but here atmega 644 is not available. but i can found atmega 2560. \nhelp me for this. \nalso available atmega 88 n 162. \nshabbir
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I just looked over atmega 2560 datasheet. It has all the features needed. Lots of pwm outputs, adc, uart, external interrupts. You just have to change the pin out, maybe some additional initializations. \nYou can use 6 pwm outputs in 16 bit mode so in theory you can make the movement smoother. \n \nMihai\r\n
The max speed you see there is 12 meters per minute. Pretty good!
All alu parts you see there are made by myself on my Chinese 3040! I would say they made some good devices for the money...
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Originally Posted by James Newton\r\n 
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Need to recover my PCB design sills. Didn\'t touch Altium Designer and Eagle for more than 4 years. 
