These are very rough notes for the air hockey robot we're building. It will eventually be formatted into a proper writeup. Until then, buyer beware.
Capstan radius is 45mm. Stepper size is 1.8 deg. One step is 1.4136mm. Smoothieboard is setup for 80 steps/mm (0.0125 mm/step), so all values are multiplied by 113. Max feed rate of 30,000 mm/min is 0.5mm/sec, which translates to moving the mallet at 50m/s. We don't actually move that fast since it doesn't achieve the max feed rate on our short travels.
150 mm move command was about 53 inches, roughly 2.83 ratio; computed ratio is 2.87 based on 113 scale factor.
Home position (lower left corner) is:
- X 5.75 == 16.50
- Y 62.0 == 117.94
- Z 44.6 == 128.00
- E 42.5 == 121.97
Misumi 28mm slides
5mm tapped holes in table side rails. 3D printed gantry connectors.
5V and ground must be shared between the two encoders.
Pinout on motor side:
To talk to the motor controller: picocom -b 115200 --imap crcrlf /dev/tty.usbmodem1411
Configure the motor encoders for channels 1 and 2, clear the counters and report the count every 100 ms: ^EMOD 1 18 ^EMOD 2 34 !C 1 0 !C 2 0 #C ?C # 100