Les photos prise durant les 4 jours de projet
Geekoid
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<li class="level2"><div class="li"><a href="#description">Description</a></div></li>
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<li class="level1"><div class="li"> Porteur du projet : <a href="https://reso-nance.org/wiki/user/resonance" class="wikilink1" title="user:resonance">resonance</a> & julien maire</div>
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</li>
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<li class="level1"><div class="li"> Date : 16/03/2017/ - …</div>
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<li class="level1"><div class="li"> Licence : <a href="http://creativecommons.org/licenses/by-sa/3.0/legalcode" class="urlextern" target="_blank " title="http://creativecommons.org/licenses/by-sa/3.0/legalcode" rel="nofollow noopener">CC-by-sa-3.0</a></div>
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</li>
|
||||
<li class="level1"><div class="li"> Description : Passer en GRBL une fraiseuse numérique Charlyrobot CRA4</div>
|
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<h2 class="sectionedit2" id="description">Description</h2>
|
||||
<div class="level2">
|
||||
|
||||
<p>
|
||||
Passer en grbl une fraiseuse numérique Charlyrobot CRA4
|
||||
</p>
|
||||
|
||||
<p>
|
||||
Les Charlyrobot ont envahi les collèges dans les années 90, ce sont des
|
||||
machines robustes, mais leur logiciel est un peu archaïque.<br>
|
||||
|
||||
Nous décidons de remettre a jour une CRA4 récupérée à l'ESADMM
|
||||
(Beaux-Arts de Marseille) en changeant l'électronique par une Arduino
|
||||
qui permettra une gestion en Grbl avec des logiciels comme <a href="https://reso-nance.org/wiki/logiciels/universal_gcode_sender/accueil" class="wikilink1" title="logiciels:universal_gcode_sender:accueil">Universal Gcode sender</a>.
|
||||
</p>
|
||||
|
||||
<p>
|
||||
<a href="https://reso-nance.org/wiki/_detail/projets/charly_robot_grbl/accueil/ecran677.png?id=projets%3Acharly_robot_grbl%3Aaccueil" class="media" title="projets:charly_robot_grbl:accueil:ecran677.png"><img src="Charlyrobot%20GRBL%20-%20Wiki%20de%20Reso-nance%20Num%C3%A9rique_files/ecran677_002.png" class="media img-responsive" title="charly robot grbl" alt="charly robot grbl" width="200"></a>
|
||||
</p>
|
||||
|
||||
<p>
|
||||
<strong>Inspiration :</strong>
|
||||
<a href="http://www.usinages.com/threads/retrofit-charlyrobot.42233/print" class="urlextern" target="_blank " title="http://www.usinages.com/threads/retrofit-charlyrobot.42233/print" rel="nofollow noopener">http://www.usinages.com/threads/retrofit-charlyrobot.42233/print</a>
|
||||
</p>
|
||||
|
||||
<p>
|
||||
Nous n'allons certainement pas garder :
|
||||
</p>
|
||||
<ul>
|
||||
<li class="level1"><div class="li"> le verrouillage du capot</div>
|
||||
</li>
|
||||
<li class="level1"><div class="li"> certains boutons à l'avant de la machine</div>
|
||||
</li>
|
||||
</ul>
|
||||
|
||||
</div>
|
||||
|
||||
<h2 class="sectionedit3" id="materiaux">Matériaux</h2>
|
||||
<div class="level2">
|
||||
<ul>
|
||||
<li class="level1"><div class="li"> 1 Arduino (uno)</div>
|
||||
</li>
|
||||
<li class="level1"><div class="li"> 1 cnc shield</div>
|
||||
</li>
|
||||
<li class="level1"><div class="li"> 3 drivers moteur DM420A</div>
|
||||
</li>
|
||||
<li class="level1"><div class="li"> du cable électrique</div>
|
||||
</li>
|
||||
</ul>
|
||||
|
||||
</div>
|
||||
|
||||
<h2 class="sectionedit4" id="notes">Notes</h2>
|
||||
<div class="level2">
|
||||
<ul>
|
||||
<li class="level1"><div class="li"> Les steppers ont 8 fils , 4 paire de deux. (il y en a une paire rouge (1e bobine) et une paire marron (2e bobine).</div>
|
||||
</li>
|
||||
<li class="level1"><div class="li"> Les end stops sont des fils jaunes vifs (certains sont bariolés), en paire avec les fils rouges (+ dans l'ancienne config).</div>
|
||||
</li>
|
||||
<li class="level1"><div class="li"> Le palpeur semble être un fil gris clair.</div>
|
||||
</li>
|
||||
<li class="level1"><div class="li"> L'alimentation d'origine délivre 32.5v</div>
|
||||
</li>
|
||||
</ul>
|
||||
|
||||
</div>
|
||||
|
||||
<h3 class="sectionedit5" id="code_test_drivers_pas_a_pas">Code test drivers pas à pas :</h3>
|
||||
<div class="level3">
|
||||
|
||||
<p>
|
||||
Nous allons tester les moteurs et drivers un par un avec ce code test :
|
||||
</p>
|
||||
|
||||
<p>
|
||||
<a href="https://reso-nance.org/wiki/_detail/projets/charly_robot_grbl/ecran679.png?id=projets%3Acharly_robot_grbl%3Aaccueil" class="media" title="projets:charly_robot_grbl:ecran679.png"><img src="Charlyrobot%20GRBL%20-%20Wiki%20de%20Reso-nance%20Num%C3%A9rique_files/ecran679_002.png" class="media img-responsive" alt=""></a>
|
||||
</p>
|
||||
|
||||
<p>
|
||||
ps : nous règlons les DIPSWITCHs :
|
||||
</p>
|
||||
<ul>
|
||||
<li class="level1"><div class="li"> pour un maximum de courant : SW1,SW2,SW3 = OFF OFF OFF, SW4 = ON </div>
|
||||
</li>
|
||||
<li class="level1"><div class="li"> pour une résolution au 1/16e de pas : SW5 SW6 SW7 = ON ON OFF</div>
|
||||
</li>
|
||||
</ul>
|
||||
<pre class="code c"><span class="co1">//Relier les entrées du driver à l'Arduino</span>
|
||||
<span class="kw4">int</span> dirPin <span class="sy0">=</span> <span class="nu0">2</span><span class="sy0">;</span>
|
||||
<span class="kw4">int</span> pulPin <span class="sy0">=</span> <span class="nu0">3</span><span class="sy0">;</span>
|
||||
<span class="kw4">int</span> enblPin <span class="sy0">=</span> <span class="nu0">4</span><span class="sy0">;</span>
|
||||
|
||||
<span class="kw4">void</span> setup<span class="br0">(</span><span class="br0">)</span><span class="br0">{</span>
|
||||
pinMode<span class="br0">(</span>dirPin<span class="sy0">,</span> OUTPUT<span class="br0">)</span><span class="sy0">;</span>
|
||||
pinMode<span class="br0">(</span>pulPin<span class="sy0">,</span> OUTPUT<span class="br0">)</span><span class="sy0">;</span>
|
||||
pinMode<span class="br0">(</span>enblPin<span class="sy0">,</span> OUTPUT<span class="br0">)</span><span class="sy0">;</span>
|
||||
digitalWrite<span class="br0">(</span>enblPin<span class="sy0">,</span> HIGH<span class="br0">)</span><span class="sy0">;</span>
|
||||
<span class="br0">}</span>
|
||||
|
||||
<span class="kw4">void</span> loop<span class="br0">(</span><span class="br0">)</span><span class="br0">{</span>
|
||||
slide<span class="br0">(</span><span class="st0">'L'</span><span class="sy0">,</span> <span class="nu0">500</span><span class="sy0">,</span> <span class="nu0">500</span><span class="br0">)</span><span class="sy0">;</span> <span class="co1">//go Left for 500 steps at speed 500, (the lower the number is the faster the motor will go)</span>
|
||||
delay<span class="br0">(</span><span class="nu0">2000</span><span class="br0">)</span><span class="sy0">;</span>
|
||||
slide<span class="br0">(</span><span class="st0">'R'</span><span class="sy0">,</span> <span class="nu0">500</span><span class="sy0">,</span> <span class="nu0">500</span><span class="br0">)</span><span class="sy0">;</span> <span class="co1">//go Right for 500 steps at speed 500</span>
|
||||
delay<span class="br0">(</span><span class="nu0">2000</span><span class="br0">)</span><span class="sy0">;</span>
|
||||
<span class="br0">}</span>
|
||||
|
||||
<span class="kw4">void</span> slide<span class="br0">(</span><span class="kw4">int</span> dir<span class="sy0">,</span> <span class="kw4">int</span> steps<span class="sy0">,</span> <span class="kw4">int</span> sspeed<span class="br0">)</span><span class="br0">{</span>
|
||||
<span class="kw1">if</span> <span class="br0">(</span>sspeed <span class="sy0"><</span> <span class="nu0">50</span><span class="br0">)</span> sspeed <span class="sy0">=</span> <span class="nu0">10</span><span class="sy0">;</span> <span class="co1">//keeps the speed above 10</span>
|
||||
<span class="kw1">if</span> <span class="br0">(</span>dir <span class="sy0">==</span> <span class="st0">'L'</span><span class="br0">)</span> digitalWrite<span class="br0">(</span>dirPin<span class="sy0">,</span> HIGH<span class="br0">)</span><span class="sy0">;</span>
|
||||
<span class="kw1">else</span> <span class="kw1">if</span> <span class="br0">(</span>dir <span class="sy0">==</span> <span class="st0">'R'</span><span class="br0">)</span> digitalWrite<span class="br0">(</span>dirPin<span class="sy0">,</span> LOW<span class="br0">)</span><span class="sy0">;</span>
|
||||
|
||||
<span class="kw1">while</span> <span class="br0">(</span>steps <span class="sy0">></span> <span class="nu0">0</span><span class="br0">)</span><span class="br0">{</span>
|
||||
digitalWrite<span class="br0">(</span>pulPin<span class="sy0">,</span> HIGH<span class="br0">)</span><span class="sy0">;</span>
|
||||
delayMicroseconds<span class="br0">(</span><span class="nu0">10</span><span class="br0">)</span><span class="sy0">;</span>
|
||||
digitalWrite<span class="br0">(</span>pulPin<span class="sy0">,</span> LOW<span class="br0">)</span><span class="sy0">;</span>
|
||||
delayMicroseconds<span class="br0">(</span><span class="nu0">10</span><span class="br0">)</span><span class="sy0">;</span>
|
||||
delayMicroseconds<span class="br0">(</span>sspeed<span class="br0">)</span><span class="sy0">;</span>
|
||||
steps<span class="sy0">--;</span>
|
||||
<span class="br0">}</span>
|
||||
<span class="br0">}</span></pre>
|
||||
|
||||
</div>
|
||||
|
||||
<h3 class="sectionedit6" id="configuration_grbl">Configuration GRBL</h3>
|
||||
<div class="level3">
|
||||
|
||||
<p>
|
||||
Nous devons configurer le grbl …
|
||||
<a href="https://github.com/grbl/grbl/wiki/Configuring-Grbl-v0.9" class="urlextern" target="_blank " title="https://github.com/grbl/grbl/wiki/Configuring-Grbl-v0.9" rel="nofollow noopener">https://github.com/grbl/grbl/wiki/Configuring-Grbl-v0.9</a>
|
||||
</p>
|
||||
<pre class="code">$0=10 (step pulse, usec)
|
||||
$1=255 (step idle delay, msec)
|
||||
$2=0 (step port invert mask:00000000)
|
||||
$3=0 (dir port invert mask:00000000)
|
||||
$4=1 (step enable invert, bool)
|
||||
$5=1 (limit pins invert, bool)
|
||||
$6=0 (probe pin invert, bool)
|
||||
$10=3 (status report mask:00000011)
|
||||
$11=0.010 (junction deviation, mm)
|
||||
$12=0.002 (arc tolerance, mm)
|
||||
$13=0 (report inches, bool)
|
||||
$20=0 (soft limits, bool)
|
||||
$21=0 (hard limits, bool)
|
||||
$22=0 (homing cycle, bool) // homing ne marche pas bien , donc desactivé pour le moment
|
||||
$23=4 (homing dir invert mask:00000001)
|
||||
$24=250.000 (homing feed, mm/min)
|
||||
$25=1500.000 (homing seek, mm/min)
|
||||
$26=250 (homing debounce, msec)
|
||||
$27=1.000 (homing pull-off, mm)
|
||||
$100=640.000 (x, step/mm)
|
||||
$101=640.000 (y, step/mm)
|
||||
$102=640.000 (z, step/mm)
|
||||
$110=3000.000 (x max rate, mm/min)
|
||||
$111=3000.000 (y max rate, mm/min)
|
||||
$112=500.000 (z max rate, mm/min)
|
||||
$120=100.000 (x accel, mm/sec^2)
|
||||
$121=100.000 (y accel, mm/sec^2)
|
||||
$122=40.000 (z accel, mm/sec^2)
|
||||
$130=320.000 (x max travel, mm)
|
||||
$131=220.000 (y max travel, mm)
|
||||
$132=80.000 (z max travel, mm)
|
||||
</pre>
|
||||
<div class="wrap_center wrap_important plugin_wrap" style="width: 80%;">
|
||||
<p>
|
||||
Si vous utilisé UGS le reglage de la vitesse de deplacement (Feedrate)
|
||||
manuelle est tres lente par defaut, il faut penser à la regler sinon
|
||||
vous penserez que ca ne marche pas !
|
||||
</p>
|
||||
</div>
|
||||
<p>
|
||||
note : sur WIn 10 UGS platform ne marche pas… il faut utiliser le Classic <abbr title="Graphical User Interface">GUI</abbr> il semble…
|
||||
</p>
|
||||
|
||||
</div>
|
||||
|
||||
<h3 class="sectionedit9" id="code_allumage_fraiseuse_bouton_de_facade">Code allumage fraiseuse bouton de façade</h3>
|
||||
<div class="level3">
|
||||
|
||||
<p>
|
||||
Nous avons choisi d'ajouter une petite Arduino nano et un relai
|
||||
5V>220V pour contrôler avec les bouton de façade l'allumage de la
|
||||
défonceuse.
|
||||
Les boutons sont en pullUp, et le stop est inversé… de plus nous
|
||||
obtenons pas mal de bruit qui déclenche l'allumage intempestif de la
|
||||
fraiseuse …. du coup nous rajoutons <strong>des condensateurs</strong>
|
||||
antibruit en parallèle et un code arduino tarabiscoté pour attendre que
|
||||
les boutons soit amaintenu appuyé quelques centaines de millisecondes
|
||||
pour agir…
|
||||
</p>
|
||||
|
||||
<p>
|
||||
<img src="Charlyrobot%20GRBL%20-%20Wiki%20de%20Reso-nance%20Num%C3%A9rique_files/p1040631.jpg" class="mediacenter img-responsive" alt="" width="600">
|
||||
</p>
|
||||
<pre class="code c"><span class="kw4">float</span> Compteur <span class="sy0">=</span> <span class="nu0">0</span><span class="sy0">;</span>
|
||||
|
||||
<span class="kw4">int</span> StartBouton <span class="sy0">=</span> <span class="nu0">4</span><span class="sy0">;</span>
|
||||
<span class="kw4">int</span> StopBouton <span class="sy0">=</span> <span class="nu0">5</span><span class="sy0">;</span>
|
||||
<span class="kw4">int</span> RelayPin <span class="sy0">=</span> <span class="nu0">3</span><span class="sy0">;</span>
|
||||
|
||||
<span class="kw4">void</span> setup<span class="br0">(</span><span class="br0">)</span><span class="br0">{</span>
|
||||
pinMode<span class="br0">(</span>StartBouton<span class="sy0">,</span> INPUT_PULLUP<span class="br0">)</span><span class="sy0">;</span>
|
||||
pinMode<span class="br0">(</span>StopBouton<span class="sy0">,</span> INPUT_PULLUP<span class="br0">)</span><span class="sy0">;</span>
|
||||
pinMode<span class="br0">(</span>RelayPin<span class="sy0">,</span> OUTPUT<span class="br0">)</span><span class="sy0">;</span>
|
||||
<span class="co1">//Debug</span>
|
||||
Serial.<span class="me1">begin</span><span class="br0">(</span><span class="nu0">9600</span><span class="br0">)</span><span class="sy0">;</span>
|
||||
<span class="br0">}</span> <span class="co1">// close setup</span>
|
||||
|
||||
|
||||
<span class="kw4">void</span> loop<span class="br0">(</span><span class="br0">)</span> <span class="br0">{</span>
|
||||
<span class="kw1">while</span> <span class="br0">(</span>digitalRead<span class="br0">(</span>StartBouton<span class="br0">)</span> <span class="sy0">==</span> LOW <span class="br0">)</span><span class="br0">{</span>
|
||||
|
||||
delay<span class="br0">(</span><span class="nu0">100</span><span class="br0">)</span><span class="sy0">;</span> <span class="co1">//resolution</span>
|
||||
Compteur <span class="sy0">=</span> Compteur <span class="sy0">+</span> <span class="nu0">100</span><span class="sy0">;</span>
|
||||
|
||||
<span class="co1">//Afficher le temps allumé</span>
|
||||
Serial.<span class="me1">print</span><span class="br0">(</span><span class="st0">"ms_start = "</span><span class="br0">)</span><span class="sy0">;</span>
|
||||
Serial.<span class="me1">println</span><span class="br0">(</span>Compteur<span class="br0">)</span><span class="sy0">;</span>
|
||||
|
||||
<span class="kw1">if</span> <span class="br0">(</span>Compteur <span class="sy0">>=</span> <span class="nu0">600</span><span class="br0">)</span><span class="br0">{</span>
|
||||
digitalWrite<span class="br0">(</span>RelayPin<span class="sy0">,</span> HIGH<span class="br0">)</span><span class="sy0">;</span>
|
||||
Serial.<span class="me1">print</span><span class="br0">(</span><span class="st0">"START"</span><span class="br0">)</span><span class="sy0">;</span>
|
||||
<span class="br0">}</span>
|
||||
|
||||
<span class="br0">}</span> <span class="co1">//close while</span>
|
||||
|
||||
|
||||
<span class="co1">// attention le bouton stop est inversé !</span>
|
||||
<span class="kw1">while</span> <span class="br0">(</span>digitalRead<span class="br0">(</span>StopBouton<span class="br0">)</span> <span class="sy0">==</span> HIGH <span class="br0">)</span><span class="br0">{</span>
|
||||
|
||||
delay<span class="br0">(</span><span class="nu0">100</span><span class="br0">)</span><span class="sy0">;</span> <span class="co1">//resolution</span>
|
||||
Compteur <span class="sy0">=</span> Compteur <span class="sy0">+</span> <span class="nu0">100</span><span class="sy0">;</span>
|
||||
|
||||
<span class="co1">//Afficher le temps allumé</span>
|
||||
Serial.<span class="me1">print</span><span class="br0">(</span><span class="st0">"ms_stop = "</span><span class="br0">)</span><span class="sy0">;</span>
|
||||
Serial.<span class="me1">println</span><span class="br0">(</span>Compteur<span class="br0">)</span><span class="sy0">;</span>
|
||||
|
||||
<span class="kw1">if</span> <span class="br0">(</span>Compteur <span class="sy0">>=</span> <span class="nu0">300</span><span class="br0">)</span><span class="br0">{</span>
|
||||
digitalWrite<span class="br0">(</span>RelayPin<span class="sy0">,</span> LOW<span class="br0">)</span><span class="sy0">;</span>
|
||||
Serial.<span class="me1">print</span><span class="br0">(</span><span class="st0">"STOP"</span><span class="br0">)</span><span class="sy0">;</span>
|
||||
<span class="br0">}</span>
|
||||
|
||||
<span class="br0">}</span> <span class="co1">//close while</span>
|
||||
|
||||
<span class="co1">//reset compteur</span>
|
||||
Compteur <span class="sy0">=</span> <span class="nu0">0</span><span class="sy0">;</span>
|
||||
<span class="br0">}</span></pre>
|
||||
|
||||
</div>
|
||||
|
||||
<h4 id="photos">Photos</h4>
|
||||
<div class="level4">
|
||||
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5
Ressource/WikiReso-nance/Charlyrobot GRBL - Wiki de Reso-nance Numérique_files/bootstrap.css
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7
Ressource/WikiReso-nance/Charlyrobot GRBL - Wiki de Reso-nance Numérique_files/bootstrap.js
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20
Ressource/WikiReso-nance/Charlyrobot GRBL - Wiki de Reso-nance Numérique_files/jquery.js
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34
Ressource/configGRBL.txt
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@ -0,0 +1,34 @@
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$0=3
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$1=250
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$2=0
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$3=0
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$4=0
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$5=0
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$6=0
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$10=1
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$11=0.010
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$12=0.002
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$13=0
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$20=1
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$21=1
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$22=1
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$23=1
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$24=200.000
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$25=2000.000
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$26=250
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$27=1.000
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$30=1.000
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$31=0.000
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$32=0
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$100=640.000
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$101=640.000
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$102=640.000
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$110=3000.000
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$111=3000.000
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$112=3000.000
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$120=200.000
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$121=200.000
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$122=200.000
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$130=300.000
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$131=210.000
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$132=100.000
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