Axis

Today I've added links to github for the operating system, pcb tools and some other utilities for the project.

Lately this week I've installed the X and Y axis limit sensors. Each sensor is mounted into the supports of the linear guides. Said sensors have each two LED's indicators and work at 5 volts — this can be changed to any voltage, though.

Thera are a RAR archive with schematics and board files in Eagle format.

After almost two years, the basic structure of the project is finally finished  ― axes X and Y.
It is necessary to fix some details of the CAD files. Also, the list of materials has to be written as well. From now on, I will continue to develop the electronic controls of the motors and limit detectors.

As for the Z axis, it is not yet decided how to implement it and is still under study.

The Axis V1.0:

Y motor detail view from rear:

Y slider:

Base structure:

Y motors:

Y free pulley detail:

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X motor:

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X axis from bottom:

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Y slider detail:

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View of X axis from motor side:

That's all for now. Follow the project for more updates.

Y axis motor:

Y axis pulley:

X axis motor:

X axis pulley:

After a few months of inactivity, I continue with the Axis project.

Y axis:

• Change in the system of hooking the drive belt, which involves raising the motor, and the free pulley.
• Change in the support plate of the X axis

X axis:

• Remodeling complete, to work with the guides in vertical.
• Use the same philosophy as in the Y axis

Z axis:

• Replanting the system. To study.

In a few days the base structure and the Y axis will be completed.

Today I finished machining and mounting the Y-axis motor module. All measurements and tolerances seem correct. Anodizing is missing, but we'll leave it for later. In a few days I will have the entire structure.

At the moment I have finished the prototype 3-axis motion controller with a DE0-Nano board. The simulation was performed with Verilator, and the synthesis and programming with Quartus-II v13.1.
The model is written in system verilog. It includes several modules, the most important of which SCurveGenerator, LinearMotion and ALU, with a Look-Ahead carry.

The system generates the STP and DIR signals for three step motor controllers. As parameters requires JERK, and the definition of S ramp. The process starts when receiving the GO signal.

I forgot to mention that the number of axes can be configured using the NUM_AXIS parameter from 2 to 16

Soon more and better

Et voila!

Edge detection on a clear black & white image, using an "USB microscope cam".

Next:

• Detection of rectangles (Components) and circles (Fiducials).
• Compute centroid.
• Compute angle deviation for rectangles.
• Make real scale grid for calibration.

Brainstorm:

• Test type of ilumination (Red leds or white leds). Actually the microscope use 3 white leds.
• Use hardware system FPGA+CAM (DE0 Nano) or software system (OpenMV) as an independent detection module. Expensive but beautifull.