Archive for the 'CNC' Category

PSoC 5 Daughter Card for XCC

I finished a PSoC 5 daughter card design for X-Controller-Controller project.  10 boards should arrive in about a week. This will clean up all the wiring from the breadboard testing I have been doing. My goal is to have a clean development platform for me and possibly others to work with.

The design has the following features.

  • Mounts CY8CKIT-059 dev board directly
  • Mates directly to the X-controller-Controller
  • Independent control of 4 axes.
  • Connector for X-Controller button panel
  • Connector for  X-Controller power supply PCB
  • Connector for a Serial LCD panel (Itead Studio Nextion style)
  • PSoC controlled stepper motor current.
  • PCoC controlled idle current.

Here is an image of the CYC8CKIT-059 development board.  The CPU is a PSoC 5LP.  The price is only about $10.  It comes with a built in programmer, debugger, and USB/UART. This can be snapped off.  To fit into the X-Controller, I snap off the programmer and mount it in another location.  The connections are made on the PCB.  I plan to use stackable headers so all of the pins are still easily accessible.

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Step Pulse Extender – PSoC Style

The TB6600 stepper drivers I have in the X-Controller have a “Torque” feature.  You set the motor current with a reference voltage and the torque feature allows you to easily switch between that current and 1/3 third of it. This is typically used for an idle current reduction feature at the system level.

tq_schm

Why Idle Reduction?

Stepper motors have a lot of hold torque, but that torque quickly falls off with speed.   Therefore you typically size a stepper motor and set the current for your maximum cut or rapid speed.  This means your motors will have excess torque when idle and will tend to run hottest at idle.  You basically the the current as high as possible until the motors get too hot.  If you could reduce the current at idle, you would reduce the temperature and could set the current higher than normal when spinning.

This is great, but the machine will never be in idle during a long job.  At least one of the motors should always be running. If you could figure out when each individual motor was idle, you handle each motor independently.  That is not easy in firmware, but there are tricks to do it in hardware.  You could tie the feature to the step pulse.  Whenever the step pulse is active, the full torque could be active.  That has two problems. The step pulse is extremely short, in the range of a few microseconds.  The other is you might want the current high for a a short bit after the motor goes idle just to make sure the machine is stable in the new position.

The trick is to use the step pulse, but extend it to the desired duration.  It should stay on through all the step pulses and extend the last pulse.

Discrete Hardware Solution

The X-Controller uses a discrete logic chip to do this. It uses a retriggerable monostable vibrator (74HC123D).  The R/C circuit on the right of the schematic snippet sets the duration. It works great, but this adds a lot of parts and things are locked down and not easily adjustable. If you needed to override this function, you have to break out the soldering iron.

PSoC Solution

With PSoC, when you hear “discrete logic” you should know there is probably a good way to do it on the chip. In this case I designed a custom component using verilog.

The verilog code is quite simple.  The best part is none of this is done on the CPU, so there is no impact on the motion control performance. What the video to see the details.

 

X-Controller-Controller (X-Controller minus controller)

MakeMag_0527

I am very happy with the X-Controller.  It packs everything you need to run Grbl into a clean little package.  It is super easy to hook up and move between machines. With that said, I had a quite a bit different idea in mind when I began the design.

The X-Controller was designed to be the motion controller for the X-Carve. The “X” in X-Carve was meant to signify that it was sold through a configurator and there were a lot of options. The X-controller was going to follow the same concept. It would support Grbl, Beaglebone Machinekit, Smoothy, and others. Additionally, alternate stepper driver PCBs might be developed.

To enable the configurability, the stepper driver section would be separated from the controller section. Every feature the stepper drivers supported would be available to the controller. The plug in controller PCB would control the features via firmware or jumpers and pots, depending on the power of the controller. The current X-controller has 4 stepper drivers, but (2) are wired together. In the split concept the controller card would decide how that was done.

At the time Easel was starting to get some real traction and Easel only supports the Grbl protocol. We decided that it was best to pick the easiest solution for our customers and make the X-Controller Grbl only.

My experiments in Beaglebone and PSoC have been such tangled messes of wires. I always wished I had that disconnected stepper PCB. I finally decided to make one.

xcc1

The XCC Stepper Driver PCB uses the same Toshiba TB6600 drivers as the X-Controller. It fits in the X-controller just like a stock PCB, but it is quite a bit shorter.  The interface side of the PCB has (1) 2×5 right angle header connector for each axis. Brought out the the connector are…

  • Step
  • Direction
  • Torque  (high=full current, low=1/3 current)
  • Enable
  • Micro-stepping selection
  • VRef (sets the motor current)
  • Ground and VMot

xcc2

 

For this version, I put a current selection pot and micro step selection jumpers for each axis to simply testing.  These function should be on the controller board, so most of these will be built without those installed.   The PCB also needs 12VDC to 40VDC power for the motors.  Each driver has a small 5VDC supply built in, so an external source is not needed.

xcc3

Here is a snapshot of the schematic.  This is just 1 of the 4 identical sections.

 

schem

Here is snapshot of the layout. I was able to get everything on 2 layers.

layout

 

It fits into the X-Controller great.  I used a small piece of black acrylic to fit the gap due to the shorter length.  It is working perfectly.  I have been testing it with my PSoC port manually wired in.  A PSoC5 controller will probably be the first controller card I will have made.

xcc4

xcc5

 

 

 

Yet Another Way to do the Kinematics

image1

Paul Kaplan, originator of the Easel project, came up with another way to do the kinematics for the Line-us Clone. My method used intersecting circles. His method uses the Law of Cosines.

The Law of Cosines relates the lengths of the sides of a triangle to the cosine of one of its angles.

Triangle_with_notations_2.svg

lawofcosines

 

This can be used to find the angles of the servo arms.

(Click on the images if you want a larger view)

The Goal

goal

The goal is to find the two angles, A1 and A2, of the servo arms

Known Values

  • Px is the desired X location of the pen
  • Py is the desired Y location of the pen
  • L1 is the length of the upper servo arm (50mm)
  • L2 is the length of the end of the Pen Arm (50mm)

Step 1

Find the distance “D” of the pen to hub using the Pythagorean Theroem and the angle T1 using arctangent.

Px2 + Py2 = D2

rewritten … D = Sqrt(Px2 + Py2)

step1

 

T1 can be found using the arctangent or inverse tangent formula. Note: When programming use the atan2(x,y) function to preserve the quadtrant.

T1 = atan2(Py,Px)

Step 2

step2

 

Find T2 using the Law of Cosines

L12 + D2 – L22 = 2 * L1 * D *cos(T2)

rewritten …  T2 = acos( (L12 + D2 – L22) / (2 * L1 * D))

Step 3

step3

 

Find T3 using the Law of Cosines. We want the left one of the two T3 angles, but since the linkages form a parallelogram that same angle shows occurs in several places.  We will use the right one and the dimensions associated with it.

L12 + L22 – D2 = 2 * L1 * L3 * cos(T3)

rewritten … T3 = acos( (L12 + L22 – D2) / (2 * L1 * L2))

Step 4

step4

 

Determine A1 and A2 from the angles we figured out.

A1 = T1 + T2

A2 = A1 + T3

Conclusion

I think I will switch the code to use this method. I think I can optimize it better in C code. The speed of the code is important.  The faster it runs, the most times per second we can run it.  The more often we run it, the smoother it will run.

 

PSoC 5 Port Of the Grbl 1.1 CNC Controller

Image from Cypress

Image from Cypress

Grbl

Grbl Logo 250px

 

Grbl is a high performance CNC controller.  It is used on a lot of small scale CNC machines and is the motion control code behind a lot of 3D printers.  It was originally targeted at the Arduino 328p hardware (UNO). It is developed  by Sungeun “Sonny” Jeon. He is a good friend.  He is always very helpful and this port would not have been possible without the quality of his code and his advice.

PSoC Mixed Signal Controller

I love working with the PSoC (Programmable System on Chip) family of micro controllers.  You can configure them on the fly with many analog and digital components.  The analog components are not basic ADCs and DACs, you have OpAmps, PGAs,  filters, MUXs and more.  The digital blocks includes basic logic gates, all the way up to FPGA like components you program yourself in Verilog..  There are over 200 ready to use components you can wire together on the chip.

I have always used them for small prototype projects, but wanted to test my skills by porting a major project like Grbl.  At the same time I wanted to take advantage of the features of the PSoC. The dev board I used was the CY8CKIT-059.  This has ARM Cortex M3 processor a lot of I/O and costs less than $10! It has a built in programmer and debugger.

OLYMPUS DIGITAL CAMERA

PSoC Advantages

Here is a comparison between the the ATMega 328p (Arduino UNO) and the PSOC5

PSoc 5

ATMega328p (UNO)

CPU

32 bit

(ARM Cortex M3)

8 bit

Speed

Up to 80MHz

16MHz Typ.

Flash (program size)

256k

32k

RAM

64k

2k

EEPROM

2k

1k

I/O

up to 62

14

Flexibility

Grbl’s flexibility allows you to tailor it to your hardware.  With a few limitations, you can move the pins around and change things like whether switches are active low or high.  This is all done using #define values in configuration files.  That is great, but the code gets a little messy every time you access hardware. It has to do a little logic gymnastics each time.

With PSoC you can do all of that in a visual schematic and pin wiring feature.  Here is a PDF of my schematic.  Have you ever swapped transmit and receive on a UART? In PSoC you can just swap the pins on the schematic.

Here is an example of the difference in firmware code.

Grbl on 328p

uint8_t limits_get_state()
{
 uint8_t limit_state = 0;
 uint8_t pin = (LIMIT_PIN & LIMIT_MASK);

 if (bit_isfalse(settings.flags,BITFLAG_INVERT_LIMIT_PINS)) { pin ^= LIMIT_MASK; }

 if (pin) {  
   uint8_t idx;
   for (idx=0; idx<N_AXIS; idx++) {
     if (pin & get_limit_pin_mask(idx)) { limit_state |= (1 << idx); }
   }
 }
 return(limit_state);
}

Grbl on PSoC

uint8_t limits_get_state(){  
 return Status_Limit_Read();
}

 

Special Hardware Usage

I used some special features to move functions out of code and onto the hardware.  One of them was the step pulse.  Stepper drivers typically require a pulse of a minimum length to take a step.  In normal hardware you have to raise the pin, then figure out a way to turn it off after a given period of time.  This is typically done via an interrupt.  It works fine, but the code is messy and interrupts can cause timing issues.  PSoC  control registers have a pulse feature that automates this. You attach a clock and the clock determines the length of the pulse.  The code sets it and the hardware clears it.  It looks like this on the schematic.

step_pulse

 

Another feature I used was hardware switch debouncing.  This can be done completely in hardware.  See the image below.  The clock sets the debounce time.  The debouncers are all fed into a status register where they are read  as a single value.  There are digital “nots” after the debouncers because my switches close to ground.  The firmware could invert the logic, but it is so much easier to read on the schematic. It then feeds an interrupt.

switch_debounce

 

If you would rather do this with an analog filter, you can design custom filters in the hardware.  You could fine tune the filter right from your keyboard.

 LCD

lcd

PSoC has a built in character LCD Component that makes using and LCD  very easy.  The code for the LCD is in the main loop and not an interrupt.  This allows the time critical  stuff to have higher priority.  I used an interrupt to just set a flag so the LCD does not update every time through the main loop.  I found the LCD to be an awesome debugging tool.  I could display stuff while the code is running.

lcd_update

 

I also used a hardware Quadrature Decoder for the LCD rotary knob. This works great to monitor the encoder in hardware.  I just need to read the value in the LCD update routine.  The clock feature on the QuadDec is a debouncer, which helped debounce my mechanical encoder.

encoder

Next Steps

I have been testing for a while and so far it is working great. I also have some plans to use the extra power on some cool projects.

Here is the code on GitHub

Here is a picture of my test setup.

0213172059_HDR