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Kyungyeon Park edited this page Dec 20, 2019 · 9 revisions

Wiki for Making Rail

Contents


Hardware Information

Type Version
Stepper Motor Nema 17(Torque: 1.68Nm)
Driver TB6600
Arduino Arduino Uno
Rail Length 120 cm

Stepper Motor

Type Info
Model 17HS4401G-PG518(Nema17)
Ratio 11:57
Recommended Voltage 12-24V
Rated current 1.6A
Step Angle(W/O Gearbox) 1.8°
Holding Torque 42Ncm

Driver

Type Info
Model TB6600
Recommended Voltage 9V-42V
Input current 0~5.0A
Power 160W
Output current 0.5A-4.0A
Subdivision 1/1, 1/2, 1/4, 1/8, 1/16, 1/32



How to connect Stepper motor, Driver, and Arduino

Connect Motor and Motor Driver

For this motor,

Color Type
Red B-
Blue B+
Green A-
Black A+

Connect Motor Driver and Arduino

Connect adaptor to motor drive

In my case, I use external power. So I connect (+) to VCC, and (-) to GND. It is DC, so BE CAREFUL to distinguish (+) and (-).

Step Angle = Motor Step Angle / Micro Step

Connect adaptor to Arduino

Arduino will burn if voltage is 24V, So use a different power than the motor driver. In my case, I use adapter(5V) for Arduino.(exclusive)

  • PLS+ = CLK+
  • PLS- = CLK-
  • DIR+ = CW+
  • DIR- = CW-
  • ENA+ = EN+
  • ENA- = EN-



Calculate step size

Rotary

Type Value
Stepper Motor · deg/step = 1.8º
· steps/rev = 360/1.8 = 200 (resolution)
Micro Stepping · pulse/step = 4
· pulse/rev = 800
Rotary Table · gear reduction = 11:57
· deg/rev = 360/(57/11)=69.4737
  • Steps per deg = 200 X 4 / 69.4737 = 11.515152
  • 1 cycle = 200 X 4 X (57 / 11) = 4,145.45454545

Linear

Type Value
Stepper Motor · deg/step = 1.8º
· steps/rev = 360/1.8 = 200
Micro Stepping · pulse/step = 4
· pulse/rev = 800
Gear Reduction · Multiplier = 57 / 11
Lead Screw · Lead = 5
  • Steps per inch = 200 X 4 X (57 / 11) * 5 = 20,727.272727



Making Rail

Make connector using 3D printer

First, you have to print these three connector for combine all the component

  • connector for motor, BK12 and profile
  • connector for opposite side of the motor(BF12) and profile
  • connector for bearing, ball screw, and profile

This is how these connector looks like.

  • connector for motor, BK12 and profile
  • connector for opposite side of the motor(BF12) and profile
  • connector for bearing, ball screw, and profile

This is explanation that how to connect connector and profile.

Make rader flate using 3D printer

Print radar_antenna_half1.stl, radar_antenna_half2.stl, radar_board_half1.stl, radar_board_half2.stl in here using 3D printer, connect radar_antenna_half1+radar_antenna_half2, and radar_board_half1+radar_board_half2 using soldering iron.

Final result is like this.

How to assemble the rail

  1. Connect connector for motor, BK12 and profile to profile and fasten to the profile with screws
  2. Connect motor and BK12 to connector for motor, BK12 and profile
  3. Connect coupler to the stepper motor
  4. Connect ball nut to ball screw
  5. Connect connector for bearing, ball screw, and profile to ball nut using screws
  6. Connect connector for bearing, ball screw, and profile and four bearings using screws
  7. Make four bearings goes to profile home well, and connect end of the ball screw to the coupler of the motor side
  8. Connect connector for opposite side of the motor(BF12) and profile to profile and connect BF12 to connector and other side of the ball screw

If you connect these connector to profile, it looks like this.




How to control stepper motor

Using this code and Arduino IDE, you can control stepper motor.

(It need to be editted this code to import with ROS)



What we did and what to do

We already did

  • Making rail
  • Control with arduino(moves 40 inches in 70 seconds)

Future work

  • Control stepper motor faster
  • Connect with ROS using Raspberry pi(Raspberry Pi + Arduino)

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