Ed Nisley's Blog: Shop notes, electronics, firmware, machinery, 3D printing, laser cuttery, and curiosities. Contents: 100% human thinking, 0% AI slop.
The three removable build plates came from the same sheet of aluminum, albeit with different histories and somewhat different construction details, so they’re pretty much the same thickness. After leveling the sub-platform, I built three objects in one session with a single maximum Z height setting in start.gcode to see how things changed.
These measurements are from the Outline extrusion around the objects, with the number of data points (units of 0.01 mm) depending on the actual length of the side. Of course, I should have built three identical objects, but there’s only so much I’m willing to do for Science…
A 45 mm Companion Cube on Plate 1:
30
26
31
27
32
29
27
30
A pair of slightly tweaked nophead Polyhole test plates on Plate 2:
45
38
47
38
47
45
48
48
49
51
A completely failed 3D Knot (too large = too much overhang) with a very small Outline on Plate 3:
46
48
49
50
Things went quite literally downhill after the first object, but only by 0.2 mm. Unfortunately, a 0.50 mm first-layer height (when you expect 0.33 mm) is entirely enough to prevent adhesion to the ABS build surface and ruin at least the first few layers.
On the good side, the platform remains level within 0.05 mm, which is down around my measurement resolution.
Installing the X Rod Follower required realigning the aluminum sub-plate to get a level build platform. I got a crude initial setting by standing a 3 mm nut on edge under each adjusting bolt, then lowering the platform until it just touched each nut. Doing that procedure again with the height set to 119.5 mm produced these values:
1.6
1.3
1
1.3
1.1
0.9
0.9
0.8
0.7
I removed the silicone wiper to keep the Thermal Core insulation from landing atop it during the probing. A single wipe at the beginning is a Good Thing, but the wiper is just too tall.
The rear left corner seems to be too low by about 0.7 mm, which is a bit more than one turn of the M3×0.5 bolt. Remember: larger numbers = lower platform, so you loosen the bolt to raise the platform. I almost got that right the first time. After doing that:
1.1
0.9
0.8
1
1
0.9
0.9
0.9
0.8
A final quarter-turn got the platform to this happy state:
0.9
0.8
0.9
0.9
0.9
0.9
0.9
0.9
0.9
That’s just the sub-platform at room temperature, but it looks pretty good. The platform returns to the same position after pushing it down against the springs, so that seem stable enough.
The next step is to run up the temperature and build something.
Various numbers that I’ve either measured or collected, scraped into one untidy heap, with the intent of figuring out the stepper motor torques. One significant figure will be entirely enough for what we’re doing; kg & g are really kg-force and g-force; you know what I mean.
Weights
X stage wood structure = 120 g
Aluminum build plate = 100 g
XY stage with plates & c =1.1 kg
Forces
Guide rod in two bushings = nil
X stage with four bushings = 0.8 lb = 0.4 kg
X stage with X rod follower = nil
X stage with X follower and motor = 1 lb = 0.5 kg
Y stage = 2 ounces = nil
Y stage with motor = 1.5 kg static, 1 kg moving
Distances
The ReplicatorG/machines/thingomatic.xml file lists the X and Y pulleys as 10.82 mm diameter. I measure 12.5 mm over the belt and the belt is 0.78 mm thick, sooo that makes it 10.9 at the pulley surface (which I can’t get to without taking everything apart again). Let’s call them 11 mm.
X and Y = 47.069852 step/mm. Let’s call that 47 step/mm → 0.021 mm/step
Z = 200 step/mm → 0.005 mm/step
[Update: see nophead’s comment for the right way to compute the X & Y distances. The answer is 47.0588 step/mm = 0.02125 mm/step, which is 0.1% off what I’d been using.]
The XML file lists the MK6 extruder at 50.235478806907409 step/mm. Measuring the results on my geared extruder, using the same filament drive doodad as they do, works out to 48.2 step/mm and 1456 step/rev.
The A3977 uses a pair of current-sense resistors (RS) to control the winding current. The REF trimpot sets a voltage level that the A3977 compares with the voltage (VREF) on the sense resistor, so the maximum current is directly proportional to the REF setting:
Max current = VREF / (8 * RS)
The MBI boards use 0.25 Ω resistors, so the equation reduces to
Max current = VREF / 2
So you can determine the maximum winding current by simply dividing the REF voltage in half.
However, keep in mind that the supply voltage and motor winding resistance also limit the current; additional voltage drops in the drivers and resistance in the wiring count against the maximum. The REF trimpot has no magic ability to force more current into the motor than Ohm’s Law will permit.
Having improved my Thing-O-Matic mechanics about as much as can be cough reasonably expected, the stepper motors driving the X and Y axes still seem to be running at about the limit of their ability. It’s time for some doodling on that subject; let’s start by collecting all the data in one spot.
The X and Y motors are, as far as I can tell, inherited directly from the MBI Cupcake CNC. They seem to be Kysan 42BYG034-4.78 (aka SKU 1123029) described on that Kysan store product page as:
Note that, unlike most NEMA 17 steppers, this puppy does not have a 5 mm shaft (unlike the electrically identical Kysan 42BYG034, which does). A 5 mm pulley is a poor fit on a 4.78 mm shaft and, conversely, you must drill / bore MBI pulleys to fit other steppers.
If one was to buy a replacement pulley with a 5 mm bore, the A 6D51M018DF0605 from SDP might do the trick. Or you could apply a 0.199 inch (#8) drill to the bore and save twenty bucks.
The Z stepper has an integrated 4-start leadscrew, so it’s not suitable for a drop-in replacement without some Quality Shop Time. That comment leads to that Kysan store product page for Kysan 17HD011-200N (aka SKU 1040104), with this data:
12V
0.4A
200MM LEAD SCREW
1.8 DEGREE
30 OHM
37MH
260mN.m HOLDING TORQUE
The Kysan Electronics product page has more data (although the proffered PDF datasheet is empty), including a low-res torque curve:
Thing-O-Matic Z Axis torque curve
The Z axis motor on my TOM is labeled “PN 1040103”, which leads to that Kysan Electronics product page for 17HD-8X150MM0.4A, with just a mechanical drawing. The electrical properties seem identical.
The MK6 Extruder (MBI assembly and setup doc there) stepper motor evidently arrives without ID, but that comment suggests it’s an Anaheim Automation 17Y402S-LW4-01 or something similar. That discussion indicates the motor has a 5 mm shaft, not the 6 mm that would match the standard MK5/MK6 filament drive gear, and that MBI did another custom order.
Following various links leads us to the data table there, wherein we find:
Coil resistance = 12 Ω
Coil inductance = 29 mH
Rated current = 850 mA
Rated voltage = 10.2 V
The torque curve:
Anaheim 17Y402S Torque Curve
One observation: these motors have extremely high winding resistance. That makes them suitable for low-speed H-bridge drivers without current control, not contemporary stepper drivers with chopper current control.
The prototype X Rod Follower turned out to be pretty good fit, after I filed a slot in the back for the belt clamp. The bearings wound up 1.5 mm too close to the centerline, but a pair of #4 washers on each post solved that problem. The tweaked OpenSCAD source below should produce a drop-in replacement.
X Axis follower in place
It’s important to center the bearings on the rod, because they’re designed to support only radial loads. In a normal application the bearings live in a slip-fit pocket that supports the entire outer race, but here an off-center point contact applies an axial force and misaligns the bearing races. They can’t handle axial forces at all: you (well, I) can easily feel the difference an axial millimeter makes.
With the follower in place, the force required to move the beltless X stage dropped from 0.75 pounds to zero: the stage slides back and forth across the entire length of the rods with a finger tap! The mechanical overconstraint on rods simply Went Away, pretty much as I expected.
[Update: In case it’s not obvious from the picture, you must remove both bronze bushings from the front of the X stage when you install this Follower. Leave the back pair in place.]
After installing and tensioning the drive belt, the stage still requires about 1 pound = 0.5 kg = 5 N to push along the rods, but now there’s no mechanical binding at any point along the way. That’s with the motor unplugged from the driver; you don’t want to count the effort required to light the LEDs!
Now, to reassemble and realign the rest of the build platform again.
The OpenSCAD source has only a few dimension numbers changed from the previous version, but here it is in one cut-n-paste lump:
[Update: You should use carmiac’s version, which prints better. The original code says “rear guide rod follower” but it turned out to fit better on the front of the X stage.]
// Thing-O-Matic X Stage front guide rod follower
// Ed Nisley - KE4ZNU - Mar 2011
include </home/ed/Thing-O-Matic/lib/MCAD/units.scad>
Build = false; // set true to generate buildable layout
$fn = 8; // default for holes
// Extrusion values
// Use 2 extra shells behind the perimeter
// ... and 3 solid shells on the top & bottom
ThreadThickness = 0.33;
ThreadWT = 1.75;
ThreadWidth = ThreadThickness * ThreadWT;
HoleWindage = ThreadWidth; // enlarge hole dia by extrusion width
Protrusion = 0.1; // extend holes beyond surfaces for visibility
// Bearing dimensions
BearingOD = (3/8) * inch; // I used a hard-inch bearing -- try a 603 or 693
BearingID = (1/8) * inch;
BearingThick = (5/32) * inch;
BearingBoltDia = 3.0; // allow this to shrink: drill & tap the threads!
BearingBoltRadius = BearingBoltDia/2;
BearingStemOD = BearingBoltDia + 6*ThreadWidth;
BearingStemRadius = BearingStemOD/2;
BearingStemLength = 2.0;
// X guide rod dimensions
RodDia = (3/8) * inch; // hard inch rod
RodRadius = RodDia/2;
RodLength = 75; // for display convenience
RodClearTop = 12.6; // clearance from HBP to rod
RodClearSide = 9.7; // ... idler to rod
RodClearBottom = 10.7; // ... rod to Y stage
RodClearCirc = 1.5; // ... around circumference
// Drive mounting piece (from ABP teardown)
DriveHolesX = 16.0; // on-center distance
DriveHolesZ = 9.0; // on-center distance
DriveHoleZOffset = -5.0; // below bottom of HBP platform
DriveHeight = 28.0;
DriveBoltDia = 3.0 + HoleWindage; // bolt dia to hold follower in place
DriveBoltRadius = DriveBoltDia/2;
DriveBoltHeadDia = 6.0 + HoleWindage;
DriveBoltHeadRadius = DriveBoltHeadDia/2;
DriveBoltWeb = 4.5; // leave this on block for 12 mm bolts
HBPNutDia = 4.0; // HBP mounting nut in middle of idler
HBPNutRadius = HBPNutDia/2;
HBPNutRecess = 0.5; // ... pocket for corner of nut
HBPNutZOffset = -10.0; // ... below bottom of HBP platform
BeltWidth = 7.0; // drive belt slots
BeltThick = 1.2; // ... backing only, without teeth
BeltZOffset = -22.5; // ... below bottom of HBP platform
// Bearing locations
Preload = 0.0; // positive to add pressure on lower bearing
TopZ = RodRadius + BearingOD/2;
BottomZ = Preload - TopZ;
// Follower dimensions
BlockWidth = 28.0; // along X axis, must clear bolts in idler
BlockHeight = RodDia + 2*BearingOD - Preload;
BlockThick = (RodClearSide + RodRadius) - BearingThick/2 - BearingStemLength;
BlockHeightPad = RodClearTop - BearingOD;
echo(str("Block Height: ",BlockHeight));
echo(str("Block Height Pad: ",BlockHeightPad));
echo(str("Block Thick: ",BlockThick));
BottomPlateWidth = 10.0;
BottomPlateThick = 5.0;
BlockTop = RodRadius + RodClearTop;
BlockOffset = BlockThick/2 + BearingStemLength + BearingThick/2;
echo(str("Drive wall to rod center: ",BlockThick + BearingStemLength + BearingThick/2));
// Construct the follower block with
module Follower() {
difference() {
union() {
translate([0,BlockOffset,0])
difference() {
union(){
cube([BlockWidth,BlockThick,BlockHeight],center=true);
translate([0,0,(BlockHeight + BlockHeightPad)/2])
cube([BlockWidth,BlockThick,BlockHeightPad],center=true);
}
for(x=[-1,1]) for(z=[0,1])
translate([x*DriveHolesX/2,
Protrusion/2,
(BlockHeight/2 + BlockHeightPad + DriveHoleZOffset - z*DriveHolesZ)])
rotate([90,0,0])
cylinder(r=DriveBoltRadius,
h=(BlockThick + Protrusion),
center=true);
for(x=[-1,1]) for(z=[0,1])
translate([x*DriveHolesX/2,
(-(DriveBoltWeb + Protrusion)/2),
(BlockHeight/2 + BlockHeightPad + DriveHoleZOffset - z*DriveHolesZ)])
rotate([90,0,0])
cylinder(r=DriveBoltHeadRadius,
h=(BlockThick - DriveBoltWeb + Protrusion),
center=true);
translate([0,
((BlockThick - BeltThick + Protrusion)/2),
(BlockHeight/2 + BlockHeightPad + BeltZOffset)])
cube([(BlockWidth + 2*Protrusion),
(BeltThick + Protrusion),
BeltWidth],center=true);
}
translate([0,BearingStemLength/2 + BearingThick/2,TopZ])
rotate([90,0,0])
cylinder(r=BearingStemRadius,h=BearingStemLength,center=true,$fn=10);
translate([0,BearingStemLength/2 + BearingThick/2,BottomZ])
rotate([90,0,0])
cylinder(r=BearingStemRadius,h=BearingStemLength,center=true,$fn=10);
}
translate([0,(BlockOffset - BearingStemLength/2),TopZ])
rotate([90,0,0])
cylinder(r=BearingBoltRadius,
h=(BlockThick + BearingStemLength + 2*Protrusion),
center=true);
translate([0,(BlockOffset - BearingStemLength/2),BottomZ])
rotate([90,0,0])
cylinder(r=BearingBoltRadius,
h=(BlockThick + BearingStemLength + 2*Protrusion),
center=true);
translate([0,
(BlockThick + BearingStemLength + BearingThick/2 - (HBPNutRecess - Protrusion)/2),
(BlockHeightPad + BlockHeight/2 + HBPNutZOffset)])
rotate([90,0,0])
cylinder(r=HBPNutRadius,h=(HBPNutRecess + Protrusion),center=true);
rotate([0,90,0])
cylinder(r=(RodRadius + RodClearCirc),h=RodLength,center=true,$fn=32);
}
}
// Arrange things for construction
if (Build)
translate([0,(-BlockHeightPad/2),(BlockOffset + BlockThick/2)])
rotate([-90,0,0])
Follower();
// Arrange things for convenient inspection
if (!Build) {
Follower();
translate([0,0,TopZ])
rotate([90,0,0])
#cylinder(r=BearingOD/2,h=BearingThick,center=true,$fn=32);
translate([0,0,BottomZ])
rotate([90,0,0])
#cylinder(r=BearingOD/2,h=BearingThick,center=true,$fn=32);
rotate([0,90,0])
#cylinder(r=RodDia/2,h=RodLength,center=true,$fn=32);
}
Wouldn’t it be great if you could export all that stuff to a text file in a readable format? The CSV files come close, but they’re not really meant for human consumption.
Subject to revision, your mileage may vary, past performance is no indication of future yield, perfectly safe when used exactly as directed, shake before using, don’t touch that dial!
The Smell of Molten Projects in the Morning 