-
Notifications
You must be signed in to change notification settings - Fork 2
/
README
395 lines (269 loc) · 13.9 KB
/
README
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
Boulder Engineering Studio Shopbot - LinuxCNC config notes
The BES Shopbot is based on a Shopbot PRS-Alpha 96x60. The Shopbot
Assembly Manual is here:
http://www.shopbotdocs.com/PRS-Assembly-Manual.html
The BES Shopbot is an XYZX gantry machine. All four joint motors are
steppers with encoder feedback.
The BES Shopbot uses a Mesa 5i23. It uses three daughter cards:
P2: 7i47 (12-channel RS-422 serial communication interface)
IO 000 (P2-01): StepGen #0, pin Step (Output)
IO 001 (P2-03): StepGen #0, pin Direction (Output)
IO 002 (P2-05): StepGen #1, pin Step (Output)
IO 003 (P2-07): StepGen #1, pin Direction (Output)
IO 004 (P2-09): Encoder #0, pin A (Input)
IO 005 (P2-11): Encoder #2, pin A (Input)
IO 006 (P2-13): Encoder #0, pin B (Input)
IO 007 (P2-15): Encoder #2, pin B (Input)
IO 008 (P2-17): Encoder #0, pin Index (Input)
IO 009 (P2-19): Encoder #2, pin Index (Input)
IO 010 (P2-21): Encoder #1, pin A (Input)
IO 011 (P2-23): Encoder #3, pin A (Input)
IO 012 (P2-25): Encoder #1, pin B (Input)
IO 013 (P2-27): Encoder #3, pin B (Input)
IO 014 (P2-29): Encoder #1, pin Index (Input)
IO 015 (P2-31): Encoder #3, pin Index (Input)
IO 016 (P2-33): StepGen #2, pin Step (Output)
IO 017 (P2-35): StepGen #2, pin Direction (Output)
IO 018 (P2-37): StepGen #3, pin Step (Output)
IO 019 (P2-39): StepGen #3, pin Direction (Output)
IO 020 (P2-41): PWMGen #0, pin Out0 (PWM or Up) (Output)
IO 021 (P2-43): PWMGen #0, pin Out1 (Dir or Down) (Output)
IO 022 (P2-45): PWMGen #1, pin Out0 (PWM or Up) (Output)
IO 023 (P2-47): PWMGen #1, pin Out1 (Dir or Down) (Output)
P3: 7i37 (isolated digital I/O)
| IO | Conn | Module | Use | 7i37 pin
+-----+----------------+-------------------------------------------------------------+-----------
| 024 | P3-01 | IOPort | x1 prox input (home, +limit, -limit, negated) | 1: in0
| 025 | P3-03 | IOPort | | 3: in1
| 026 | P3-05 | IOPort | y prox input (home, +limit, -limit, negated) | 5: in2
| 027 | P3-07 | IOPort | | 7: in3
| 028 | P3-09 | IOPort | z prox input (home, +limit, -limit, negated) | 9: in4
| 029 | P3-11 | IOPort | | 11: in5
| 030 | P3-13 | IOPort | x2 prox input (home, +limit, -limit, negated) | 13: in6
| 031 | P3-15 | IOPort | | 15: in7
| 032 | P3-17 | IOPort | (input is dead) | 17: in8
| 033 | P3-19 | IOPort | (input is dead) | 19: in9
| 034 | P3-21 | IOPort | (input is dead) | 21: in10
| 035 | P3-23 | IOPort | (input is dead) | 23: in11
| 036 | P3-25 | IOPort | (input is dead) | 25: in12
| 037 | P3-27 | IOPort | pendant estop input (no key switch) | 27: in13
| 038 | P3-29 | IOPort | pendant estop input with key switch | 29: in14
| 039 | P3-31 | IOPort | | 31: in15
| 040 | P3-33 | IOPort | | 33: out0
| 041 | P3-35 | IOPort | | 35: out1
| 042 | P3-37 | IOPort | | 37: out2
| 043 | P3-39 | IOPort | | 39: out3
| 044 | P3-41 | IOPort | motion motor contactor | 41: out4
| 045 | P3-43 | IOPort | | 43: out5
| 046 | P3-45 | IOPort | spindle motor contactor | 45: out6
| 047 | P3-47 | IOPort | | 47: out7
| | P3-49 | | | 49: +5
+-----+----------------+-------------------------------------------------------------+-----------
P4: 7i42 (over/under voltage protected break-out board)
| IO | Conn | Module | Use | 7i42 pin
+-----+----------------+-------------------------------------------------------------+-----------
| 048 | P4-01 | IOPort | | io0
| 049 | P4-03 | IOPort | | io1
| 050 | P4-05 | IOPort | | io2
| 051 | P4-07 | IOPort | | io3
| 052 | P4-09 | IOPort | | io4
| 053 | P4-11 | IOPort | | io5
| 054 | P4-13 | IOPort | | io6
| 055 | P4-15 | IOPort | | io7
| 056 | P4-17 | IOPort | | io8
| 057 | P4-19 | IOPort | | io9
| 058 | P4-21 | IOPort | | io10
| 059 | P4-23 | IOPort | | io11
| 060 | P4-25 | IOPort | | io12
| 061 | P4-27 | IOPort | | io13
| 062 | P4-29 | IOPort | | io14
| 063 | P4-31 | IOPort | | io15
| 064 | P4-33 | IOPort | 1-phase contactor closed | io16
| 065 | P4-35 | IOPort | pendant green momentary button (not working) | io17
| 066 | P4-37 | IOPort | 3-phase contactor closed | io18
| 067 | P4-39 | IOPort | pendant blue momentary button (release=True, push=False) | io19
| 068 | P4-41 | IOPort | zero plate | io20
| 069 | P4-43 | IOPort | | io21
| 070 | P4-45 | IOPort | | io22
| 071 | P4-47 | IOPort | | io23
+-----+----------------+-------------------------------------------------------------+-----------
Steppers are labeled ASM98AA-T7.2
Stepper amps are labeled ASD30A-A
The stepper amps take 1625 steps/revolution of the stepper motor,
which means 1625*7.2 steps per revolution of the output shaft of the
transmission.
1 encoder line per step, so 4 encoder edges per step
2.5 teeth/cm on the rack
X, Y1, and Y2 have 30 teeth on the pinion gear
Z has 25 teeth on the pinion
Table
For the table, cut one ~33" x 8' strip of 3/4" ply, and bolt it to the left
(-X) side of the frame.
Spindle
to turn on spindle:
spindle key in engaged position in spindle interlock (on
control box)
push "Spindle Power" button on VCP
set spindle speed with S word, 4k-18k
M3
Each day, when first starting to use the spindle, run the
warmup-spindle program. Power on the machine and home it, then
switch to the MDI tab and run "o<warmup-spindle> call". This will
turn on the spindle and ramp the spind speed up from 4k rpm to 18k
rpm over 10 minutes.
The Mesa 5i23 hardware I/O card
will be loaded with firmware designation: SVST8_4
and has 72 I/O pins
Mesa 5i20 connector 2
pin# 0 (type HDW Encoder-B)
connected to signal:'x-encoder-b'
pin# 1 (type HDW Encoder-A)
connected to signal:'x-encoder-a'
pin# 2 (type HDW Encoder-B)
connected to signal:'a-encoder-b'
pin# 3 (type HDW Encoder-A)
connected to signal:'a-encoder-a'
pin# 4 (type HDW Encoder-I)
connected to signal:'x-encoder-i'
pin# 5 (type HDW Encoder-I)
connected to signal:'a-encoder-i'
pin# 6 (type HDW PWM Gen-P)
connected to signal:'x-pwm-pulse'
pin# 7 (type HDW PWM Gen-P)
connected to signal:'a-pwm-pulse'
pin# 8 (type HDW PWM Gen-D)
connected to signal:'x-pwm-dir'
pin# 9 (type HDW PWM Gen-D)
connected to signal:'a-pwm-dir'
pin# 10 (type HDW PWM Gen-E)
connected to signal:'x-pwm-enable'
pin# 11 (type HDW PWM Gen-E)
connected to signal:'a-pwm-enable'
pin# 12 (type HDW Encoder-B)
connected to signal:'y-encoder-b'
pin# 13 (type HDW Encoder-A)
connected to signal:'y-encoder-a'
pin# 14 (type HDW Encoder-B)
connected to signal:'z-encoder-b'
pin# 15 (type HDW Encoder-A)
connected to signal:'z-encoder-a'
pin# 16 (type HDW Encoder-I)
connected to signal:'y-encoder-i'
pin# 17 (type HDW Encoder-I)
connected to signal:'z-encoder-i'
pin# 18 (type HDW PWM Gen-P)
connected to signal:'y-pwm-pulse'
pin# 19 (type HDW PWM Gen-P)
connected to signal:'z-pwm-pulse'
pin# 20 (type HDW PWM Gen-D)
connected to signal:'y-pwm-dir'
pin# 21 (type HDW PWM Gen-D)
connected to signal:'z-pwm-dir'
pin# 22 (type HDW PWM Gen-E)
connected to signal:'y-pwm-enable'
pin# 23 (type HDW PWM Gen-E)
connected to signal:'z-pwm-enable'
Mesa 5i20 connector 3
pin# 0 (type GPIO Input)
connected to signal:'both-home-x'
pin# 1 (type GPIO Input)
connected to signal:'both-home-a'
pin# 2 (type GPIO Input)
connected to signal:'both-home-y'
pin# 3 (type GPIO Input)
connected to signal:'both-home-y'
pin# 4 (type GPIO Input)
connected to signal:'estop-ext'
pin# 5 (type GPIO Input)
connected to signal:'din-00'
pin# 6 (type GPIO Input)
connected to signal:'din-01'
pin# 7 (type HDW PWM Gen-P)
connected to signal:'unused-pwm'
pin# 8 (type GPIO Input)
connected to signal:'din-03'
pin# 9 (type HDW PWM Gen-D)
connected to signal:'unused-pwm'
pin# 10 (type GPIO Input)
connected to signal:'unused-input'
pin# 11 (type HDW PWM Gen-E)
connected to signal:'unused-pwm'
pin# 12 (type GPIO Input)
connected to signal:'unused-input'
pin# 13 (type GPIO Input)
connected to signal:'unused-input'
pin# 14 (type GPIO Input)
connected to signal:'unused-input'
pin# 15 (type GPIO Input)
connected to signal:'unused-input'
pin# 16 (type GPIO Output)
connected to signal:'unused-output'
pin# 17 (type GPIO Output)
connected to signal:'unused-output'
pin# 18 (type GPIO Output)
connected to signal:'unused-output'
pin# 19 (type GPIO Output)
connected to signal:'unused-output'
pin# 20 (type GPIO Output)
connected to signal:'unused-output'
pin# 21 (type GPIO Output)
connected to signal:'unused-output'
pin# 22 (type GPIO Output)
connected to signal:'unused-output'
pin# 23 (type GPIO Output)
connected to signal:'unused-output'
Mesa 5i20 connector 4
pin# 0 (type HDW Step Gen-A)
connected to signal:'unused-stepgen'
pin# 1 (type HDW Step Gen-B)
connected to signal:'unused-stepgen'
pin# 2 (type GPIO Input)
connected to signal:'unused-input'
pin# 3 (type GPIO Input)
connected to signal:'unused-input'
pin# 4 (type GPIO Input)
connected to signal:'unused-input'
pin# 5 (type GPIO Input)
connected to signal:'unused-input'
pin# 6 (type HDW Step Gen-A)
connected to signal:'unused-stepgen'
pin# 7 (type HDW Step Gen-B)
connected to signal:'unused-stepgen'
pin# 8 (type GPIO Input)
connected to signal:'unused-input'
pin# 9 (type GPIO Input)
connected to signal:'unused-input'
pin# 10 (type GPIO Input)
connected to signal:'unused-input'
pin# 11 (type GPIO Input)
connected to signal:'unused-input'
pin# 12 (type HDW Step Gen-A)
connected to signal:'unused-stepgen'
pin# 13 (type HDW Step Gen-B)
connected to signal:'unused-stepgen'
pin# 14 (type GPIO Input)
connected to signal:'unused-input'
pin# 15 (type GPIO Input)
connected to signal:'unused-input'
pin# 16 (type GPIO Output)
connected to signal:'unused-output'
pin# 17 (type GPIO Output)
connected to signal:'unused-output'
pin# 18 (type HDW Step Gen-A)
connected to signal:'unused-stepgen'
pin# 19 (type HDW Step Gen-B)
connected to signal:'unused-stepgen'
pin# 20 (type GPIO Output)
connected to signal:'unused-output'
pin# 21 (type GPIO Output)
connected to signal:'unused-output'
pin# 22 (type GPIO Output)
connected to signal:'unused-output'
pin# 23 (type GPIO Output)
connected to signal:'unused-output'
VFD:
Yaskawa V7-4X
There's an arduino in there...
Dan says: We are running in 2-wire mode (i think 5-33) and the
speed is controlled by "Frequency Reference via Puls Train Input"
(page 5-12).