Quickly becoming one of my favorite youtube channels

So excited about this. Been looking at these for a while for my next cnc machine, but didn't really know how to integrate them. Thanks.

I was so amazed that the servo motor can do that accurate movement. I thought it was a stepper. It should have a very fine rotary encoder that records rotational angle of servo. Very interesting video.

Hey John, hard stops are one of the best ways to home and the method is commonly used by just about every motor manufacturer. Generally it works either by sensing an increased current draw over a threshold or position error threshold (actual vs commanded position). The downfalls are windup inaccuracy in your coupling and end stops on your slide. As things age, your position will drift. Also, it will home against ANY hard stop including something in the way and give you a false position. You probably wouldn't run into that issue though. Either way, I think this solution is much better than a plain stepper :)

I can't wait to see the DIY plasma. I'll be making one right along with you.

I bought 3 of these along with the cables. These are awesome motors. The tuning was super easy and my little cnc table is singing. No stepper noise as is so common. All I hear is the 2.2kw spindle running. Machine is virtually silent. I built the machine to machine coins specifically and I couldn't be happier with the Clearpath motors. In a word, awesome! Thinking I'd like to retrofit some on to my Tormach!

Absolutely AWESOME!!! A long, long time ago, I recommended Servos. That's the exact ones, I had in mind ;-) Great job :-)

Awesome, just awesome. I need some for our kit CNC machines! Best Matt

The servo motor is moving to the limit as a hard stop most likely, so when the torque monitoring detects a substantial raise in torque it know to stop, it's like a block skip mode in probing. Once the increased load is detected the servo motor goes to a pulse marker (0 or 180) and then you probably can define an encoder position to go to a commanded home position. This works as long as your "limit" (hard stop) is somewhat repeatable. On higher end system you can give it a window relative to the home position so you know if there is a chip, or something obstructing the hard stop. Also your math on the speed could have been much simplified by converting your 10 pitch to inch and then multiplying that by the RPM of the motor. .3937X3500=1377.95 ipm. Good video!

I'm just in the process of dumping my home built router mill. Clear paths are the motors of choice. I'm going for broke with the addition of a custom motion controller too!

Hey John, really nice project! I'm looking forward for the DIY Plasma CNC. A quick question, how many wires this servo need? You said it has a "feedback info" right? Is this servo using the same "data" (PWM) as others simple servos?

I recently had a 4x8 cnc router built and had the company upgrade me to servos over stepper motors, Super excited, machines coming today!!!

@Hirudin

7 жыл бұрын

Siiiiiiiick! :)

I was toying around with the idea of swapping the motors on the slant bed to a beefy version of these to get rapids up... Glad to see you are having some fun though! I've been so bogged down with "paying" jobs that I haven't had a chance to play much lately. Maybe it's time to take your advice and take a darned break! Best wishes, sir. TZ

Hey John, Wonderful video, but I was a a bit sad that you didn't showcase the slide table a bit more. Did you custom make it or was it just a purchase? I don't recall seeing it in one of your previous videos.

Love my Clearpath servos too.. Running them on a CNC Routerparts Pro9648

Whaaaat, I cant imagine I introduced you to these things but I did leave you a comment about them a couple weeks ago, I'd love to see them retrofitted into your little Tormach slant bed, it would become a completely different machine.

Glad you liked the Clear path steppers! :-)

very cool, I use to work in robotics (semiconductor) and we had homing sequences and home offset. Takes me back. :)

Thanks for the video John. Teknic are a great company to deal with.

These are awesome!! Could I use something like this to convert my lathe to CNC ? Or my Bridgeport ?

Very Cool! Financially out of reach for me though so I'm sticking to steppers for now because I have them and my machine is not even built yet.

awesome. We have these on our MK7 reloading automation system. They are very good. Very precise.

Hey John! Can't wait for more on these ClearPaths! What model of Noga holder are you using? That's about the size i'm looking for.

Do you have a link for the Bell Everman linear stage that you are using please? It looks perfect for our next design project :)

Hey John, I seen there videos and all I can say is wow. Here's a thought you should get three of the nema 34 sized servos and put in the tormach

It's awesome that you get as excited about this shit as I do. lol, trying to do the same thing and start my own fab shop in the long run. Gonna start off building a small CNC mill. I already have a ton of tools, did have a welder, but what happened to it is another story. Would love to be able to message you and ask questions along the way; is that an option?

some servos use counts/second in order to home. Great video, very interested in these new servos now.

Impressive! But how does it work with a load on the bed? E.g, 3kg ore more?

Can you please go over the components that make up a clearpath servo? I looked into them before I ended up with a stepper system. Basically what items do you need to connect to the Bob. Obviously the motor, the cables and cost of them are my main question. Thanks!

Who made the linear stage? I think you just helped me solve some several things I was concerned about with my surface grinder retrofit. Now if I can figure out the code to have the Total Distance to be adjusted by a simple potentiometer, so a simple turn of the knob will adjust how far the table will travel...

Can you possibly post your wiring diagram? I have a couple clearpath motors with arduino mega setup and having some issues running the simple example codes - your schematic might help me flush out whatever stupid mistake I've made. BTW - I'm using them together with encoders on my lathe handwheels to allow "manual" control of my CNC lathe conversion project.

Could I use such a clearpath servo for a CNC 4th axis that can both index and mill / turn metal?

Teardown please? I'm curious what encoder they use. Also repeatability is super easy! You really need to check jog accuracy.

Great video !

John, you beat me to getting into the ClearPath! Would be interesting the accuracy results with more mass on the table, but it should be great. Servo is closed loop, it goes where it is supposed to go without skipping steps (stepper). You also get the controller built-in, not like you have to buy a complete assortment of controllers for each stepper. ClearPath has some awesome video demos of passing linear stage movement going right through a rotating disk that has notches in it with a crazy tight fit to pass through, going forward and reverse directions at fast speeds on the linear stage. Incredible possibilities!

@RobiSydney

7 жыл бұрын

The ClearPath has it's own driver and computer to count pulses and position, not a controller (step generation -- g code translation) or Break Out Board. You still need to send it pulses ala a stepper driver. The built in driver keeps the servo in time to the pulses or errors out on exceeding spec. John also beat me to getting a clearpath. Dave Graton has also played with them.

@partisanguerrilla3167

7 жыл бұрын

Driver, yes, yet it can be it's own controller as you can pre-program it as a standalone unit, just not in g-code.

@antoniolucena7304

7 жыл бұрын

RobiSydney njjnn

Hey John, I recently went into a partnership with a local client that gave me this type of motor. Don't know if it's the exact same one you showed here, but I am currently building a housing to hold it so we can do some testing on my partners invention!!! Can't say much more other than that, but remember at the bash I mentioned that I could never learn "CNC" operations? Well guess what? I think WE might be in touch with you as this progresses!!! Thanks for the vote of confidence buddy.... Razor!

Hi I have 3 Clearpath that I add to my milling machine and I'd like your help to program it but I'm using Masso

John, have you ever heard of Keyence? I got to see a demonstration of their instant measuring machines today and it absolutely blew my mind.

I just got 3 of these for my bridgeport retrofit. I have seen some amazing things done with them. Largest downside is they don't have many options for higher torque. At the torque I needed, I will only get about 80IPM rapids. They are better for plasma/ routers / lighter weight DIY type machines. Still can't beat them for the money, and amazing performance.

@galencallahan6951

7 жыл бұрын

The highest torque I see on their site is 31in-lbs RMS. Same as the BOSS 9 servos they replaced on my machine. But 1800 peak RPM versus 6,000 rpm on the OEM. Not a huge deal, just again- means I get 80IPM rapids. However I digress, they are still amazing little units. Awesome performance, awesome cost. Just that slight downside. If you need torque, you sacrifice a lot of speed with them. I mean, If I wanted a servo that produced that much torque and that much RPM, I would have spent 10x what I did on the clearpaths.

Hi bro , i have 1 question about clearpath motor . Possible if i use clearpath for spindle chuk lathe ?

Hi john,, id like to use nema 34, what adruino should i use..

after my nema41 conversion and most parts taking 6 to 8 hour operations im curious about these now... what co troller would you use? the arduino via usb but connected to linuxcnc?

I purchased three of the nema 34 versions 1392 oz/in to convert my old j2 bridgeport over to cnc. There is a really nice controller to run these with called Masso by Hind Technology. Tons of IO points and it runs its own software and is capable of running 5 axis. Might want to check it out. I will post some video of the mill when I get the motor mounts finished up.

@1972landcruiser

7 жыл бұрын

John lambert awesome I'm subscribing I want to do the same

@mountainmanfab

7 жыл бұрын

how is the masso working for ya? was very interested because it was a stand alone option

@mowbetter2010

7 жыл бұрын

I have been busy working on my wood splitter. Wood season here in Ohio. I will post a video of it when I power it up and post it.

Hey John! What linear stage did you use?

John, I am looking at upgrading my stepper motors on my G0704 with these Clearpath servo motors, but one thing I cannot find info on is the brake holding for the clearpath motors. is there any way you can test the brake holding. Example my z axes is about 35-40 lbs will these motors hold that weight when the machine is in a static position or off?

I am sincerely grateful you are taking the time to share your effort. The Clear path Stepper motor is impressive, until your video i have never heard of it. i would like to make a xyz table for my plasma machine. Even with the quality components you have shared, it is a long way to comprehend the hardware. Arduino is controlling? but the software provided by the Clear path is being used? Linex for plasma instead of arduino code?

Where did you find the arduino libraries for the clearpath. I dont see them on Teknic's site. Could be that im not looking hard enough. Thanks.

can you use those servos with grbl software?

good motors. I paid for mine and love em.

can you add the link for the Linear stage you are using?

where i can buy in italy ...or Europa ? tks

isn't this SDSK version actually stepper motor that has an ecoder with closed-loop? that's how it looks like from torque graph. I think SDHP version is the real servo motor.

Holy Moley! That thing is fast.

A couple of notes - you can configure the percentage of total available torque used during the hard-stop homing sequence, We typically run them around 5% torque for homing, and use VERY hard stops (steel) to prevent any elasticity variable with rubber stop, such as temperature. Homing at only 5% torque protects every part of the machine against potential. jarring. Also, there are two distinct families of Clearpath motors - the MV series and the SD series. The MV motors are used for a variety of SIMPLE applications that would typically utilize a PLC to control and drive a SINGLE conventional stepper/servo motor. The advantage with the Clearpath MV is that you program it once using a USB cable and a laptop, after which it will reliably repeat that program forever, being triggered by simple analog switch inputs. So no dedicated computer/controller required. Changing the program does require using a laptop and USB, but in most cases you'll simply want to "set it and forget it". The SD series is primarily meant to replace stepper motors, and they provide greater accuracy, speed, and torque along with ZERO chance of dropped steps. They basically turn a stepper system into a servo system VERY economically. Caveat: the feedback loop is self-contained within the motor itself (built in tach & encoder), so there is no feedback loop out to your computer screen or DRO. However, in practice the low-end "DRO" feature of Mach3/4 (for example) is perfectly adequate due to the motors faithful reliability in executing the commanded moves. I have built and/or rebuilt many, many small shop machines, and since adopting Clearpath SD motors a few years ago I will NEVER use another stepper motor for any application I care about. They're just that good.

Hi John, Next time, please do some of your magic and enlarge the code. This is exceptionally tiny and I remember another time you've showed some coding (the Arduino Freezer Temperature Alarm), and that wasn't hard to read at all. And as always, thanks for posting. :-)

Hi John, I like your channel. I am working on a project with Teknic SDSK motors and I have a question regarding the HLFB. On your download you have the following: void setup(){ pinMode(2,OUTPUT); //DEBUG declare pin 2 as output. Abe, this shows when the arduino is in the ISR Serial.begin(9600); I don't have full control of my X axis actuator regarding position. I don't think the HLFB is working properly. Can you offer some assistance on how to connect "PIN 2" on the Arduino board. Should I be seeing a position feedback on the serial monitor? Right now I only see feedback as per below: Full Move... Move Done Return Move... Move Done Regards, Al Keep up the great work.

Is that a stepper motor with rotary encoder at backside -with heatsinks???.. what exactly is a servo?

Hey John, awesome video as usual... for converting a LMS-3990 mini mill, i would like to use these clearpath sdsk motors you are talking about in this vid... i went onto the site and was trying to figure out which motors i need/would want... i then went back and clicked on your link... it went to the the 223 oz in motors ($257).... are these motors the ones you would recommend, for converting the 3 axis's on the 3990? if so, i will order them... also, im confused about what to use smoothstepper, or grbl, etc for cnc mill application... when using the clearpath motors, what other electronics/controller setup do you rec. to complete the setup (since im building a cnc mill)? i am trying to do this without spending more than i should for the capabilities of the mill, but do not want to limit it by using the wrong components. hope my questions do not aggravate you... i watch all your vids and you are one of the main reasons, i decided to jump in and do this...

@gtsdesigns

7 жыл бұрын

NYC CNC ok thank you for the response.. they look like nice motors... i will contact them directly

I don't know if you ever got around to the FEA of the clamp but I found a weak point. It turns out the threads just peel right back if tightened hard enough.

are this only for clearpath model sdsk only? can the code use on clearpath model cpm- mcpv? please help me

ongelooflijk accuraat!!

Is the linear rail also from teknic? If not who makes that?

The encoder in the servo should have an index mark or some other way of measuring the absolute angular position of the motor. The software would run the table up against the limit switch or hard stop, and then back up until it finds the index mark on the encoder. That way the limit switch or hard stop location only has to be on the same revolution of the motor and the home location will still be exactly the same.

I presume you know of Neo7CNC... makes his own CNC machines with Clearpath motors.

@artisandice

7 жыл бұрын

yup. really informative videos. super dry and really slow to get through, but they are very through. i actually used his videos to figure out how to wire up a clearpath motor.

2:10 My jaw dropped, that is high precision.

Hi John, cool stuff. Did you consider replacing the steppers in your oldest Tormach? Must have crossed your mind, right?

@arnljotseem8794

7 жыл бұрын

I have been looking into the ClearPath products now, and they are really cool and affordable. Especially when considering the built in controller and the torque they are producing in relatively small packages. My Schaublin 22 mill doesn't have power feed on the Y axis, oddly enough, so I'm considering a ClearPath for this now. Thanks for pointing me in that direction

You should test out the DMM servo

Hello, Im currently attempting to use these motors with an Arduino Mega. How could I utilize the same code with the mega? I had the motors working flawlessly with the Uno but when i tried to wire it to the Mega no responses. i noticed that the pins are different and tried to match those but had no luck. Any advice? Thanks!

Does anyone out there make a linear rail with accurate detents at 1 inch increments?

Do you have a link to the linear table?

@TeknicInc

7 жыл бұрын

Hi Rick. The stage is a Bell Everman SLS-B (Sealed Linear Stage Ballscrew) unit with a precision rolled ballscrew and dual bearing rails. There are optional seals to enclose and protect the entire actuator. Here is the link: bell-everman.com/sls

When are we going to see more about these clearpath motors?

@tonylorentzen

7 жыл бұрын

NYC CNC Sweet - can't wait. You should also check out the cheaper Mechaduino servos for smaller projects. They're currently out of stock, but I'm sure you'd be able to get your hands on one sooner if you contact them directly: hackaday.io/project/11224-mechaduino :-D

Its measuring current. Our products do the same kind of thing to measure an end stop

Wow, Is this something that would work with grbl as far as CNC is concerned?

@frankyw08

7 жыл бұрын

That would be awesome. I'd like to see a video of it running grbl.

Can you please show us how to connect your CLEARPATH motor to Arduinio please? This is more interesting for me! Thank you!

I would love some more newbie friendly videoes, some more detajled, more building like how to do, why to do, what use wether it is tools or stuff, more tutoriallike things would be extreemly awsome. Great video, i still dont know what to use a servo for at all :)

Can you use the Clearpath SD servos with GRBL?

@motorguy6512

7 жыл бұрын

If GRBL outputs Step and direction, it should work.

Ah how does the Arduino communicate with the clearpath motor? There doesn't appear to be a com line?

I looked at these and they’re much like the hybrids I’ve found with encoders. I’m sure they’re nice compared to standard steppers or hybrids. I decided that I may as well order ac closed servos instead and be done. The price difference was nominal for the size we needed on the larger mill.

@glennedward2201

6 жыл бұрын

I ended up ordering the 1.2kw 42 series 220v servos. They cost $1,000 for a 3axis setup. Didn’t appear clearpath had this size instead they had Nema 34 bodies and smaller and then than jumped to much larger industrial sized servos. Perhaps i had missed them in my search.

Tried the Clearpath library and example code for Arduino -- nothing. Ran the motor just fine thru the MSP software and also, my own simple Arduino code with no acceleration, so my wiring of the motor is correct. Has anyone else had similar experience?

Clearpath please release a Nema 17 version!

what is the us for it dont get it?

The hard stop isn't important accuracy wise; when it hits the hard stop and reverses directions, its then looking for a specific encoder count. As such, it's accuracy depends entirely on the encoder count, along with any slop that occurs in the notion system beyond the encoder.

@rlockwood2

7 жыл бұрын

it is, coincidentally, the same method Fanuc has used for years for zero return on absolute encoder systems. In fact, it's also the system that's currently biting me in the ass on my lathe :)

I built a CNC with a 30" x 44" table and 8" z travel. All ClearPath motors Using Nema 34's on x-y and set to only %25 of total torque I accidentally had the y axis run into my fan I use to remove smoke when using the laser cutter. It's a beast of a machine so before I could run across the shop to hit stop it had already crushed the plastic fan housing like a beer can I hate to think of how much force I could get if I set the torque settings to %100 on these with the 5mm pitch 25mm ball screws. Plastic fan housing broken up into four pieces and yet not a bit of damage to the machine or even the engraving I was doing BTW I have repeatable on all three axis of +/- 7/10ths Mach 3 and Solidworks and Fusion 360 as well as SheetCam there's not much I cannot make even in aluminum with the 3 phase 3hp water cooled spindle Have less than $2500 invested as except for ball screws and bearings the entire machine is custom machined from 6061-T6 parts and some off the shelf heavy T slot extrusions for the table that I got off of Ebay BTW the ClearPath's are far faster than I can ever see needing

The servo homes by reading the power draw, When you run the stage against a "hard Stop" the motors amp draw go's up. The software see's this and knows its against something.

Who makes the linear slide you are using?

@QuadFramesUK

7 жыл бұрын

TW M looks like a bell-everman linear stage, not sure which one tho

Wish they made a Nema 17 version

I don't know much about clearpath specifically, maybe I'm off base here, but I doubt if they home based off torque on the rubber stop. If they did you would expect the zero point to drift as the rubber aged for one thing. I know with my mill the way it works is you have an ABI encoder on the motor, with A and B being your normal rotational measurement (they might go high to low in sequence 2000-8000 or more per turn on each line). Then the I line only changes once per turn at a specific point on the rotation. So a mill's homing sequence might be 1. Start homing sequence in the direction of the endstop 2. Run until it hits the endstop (this will be a soft stop, a switch that gets pushed but doesn't stop the mill or get in the way). 3. Continue homing until the index position comes around. This is the reason you get the accuracy. The endstop will often be a mechanical switch with a certain amount of inaccuracy in the exact point on it's travel that it triggers, but with this setup you only use it to know when you're on the last turn and then you use the index pulse to get your ultimate endstop position with whatever accuracy your encoders can do. For instance a 8000p/r (pulse per rev) (which is 8000*4 total positions since it interpolates between two lines giving 32k discrete positions) encoder direct drive to a 5mm pitch ballscrew would be 0.00015625mm. All that and your endstop only has to be somewhere in the last 5mm of travel.

@yadokingau

7 жыл бұрын

Now that I think of it a bit more, I'm probably off on a tanget a bit. What I said about homing for accuracy would all be correct, but it may be using the rubber stop and torque detection to replace a mechanical switch. Then homing as normal to the index pulse. I'm not sure when you would specifically need that, it would be one less component to wire in though.

Cool stuff. If you are building a CNC plasma cutter I would love for you to check out Linuxcnc and share some videos on that. After all, Pathpilot is linuxcnc so you would get the same quality of control. Its free, and paired up with a mesa card (under $100) like Tormach used would be awesome. I'm sure lots of DIY CNC builders would love to see that including myself :D

NIce!

ok it is accurate when it has no load or resistance on it but i doubt it it would be that accurate with resistance can you make a video about that?

@chadkrause6574

7 жыл бұрын

They have an Encoder on them to ensure they get to their location. If they have constant velocity, the load shouldn't matter too much (within reason)

@Hirudin

7 жыл бұрын

There is always load. Accelerating and decelerating that much weight is load. Imagine that platform was sliding at your hand that quickly and you were charged with catching it!

Those are fast movements for travel, but what you didn't mention was the overshoot on the dial - a drawback of the PID control system they use. As a test can you do a diagonal cut through a long test piece with one axis driven by the Tormach and the other with the Clearpath. The test piece should have bands of varying thickness metal cuts to see how well the control loops keep thier linearity with rapid changes in torque.

@TeknicInc

7 жыл бұрын

Thank you for your comment Lee. I'm an applications engineer for Teknic and I wanted to follow up. That type of dial indicator is used for steady state measurements rather than dynamic measurement. What you are seeing is the overshoot of the dial as the stage strikes it. In other words, the energy of the stage striking the dial causes the dial mechanism to accelerate, and because it is undamped, it overshoots and rings. Any overshoot of the stage is likely to be in the range of about 0.0156mm, but probably even less than that. Overshoot due to the motor is easily less than 20 encoder counts, more typically 0-5 counts. For this linear stage, that translates to a distance of 0-0.0039mm. This value doesn't include any error in the mechanical system, but the Bell Everman stage is very high quality and will not have much error. I believe John is planning a future video showing how to use ClearPath's MSP software program as a diagnostic tool to show ClearPath's dynamic tracking accuracy. Also, your suggestion of making real-world cuts on a diagonal (or circles) is excellent and the best true indicator of overall system quality. Acrylic is a good material to use because it is very easy to see any errors. As an aside, ClearPath actually uses a PIV servo compensator with velocity, acceleration and jerk feedforward, with fuzzy-logic based inertial anti-wind-up, and vector torque control with sinewave commutation. With a good mechanical system, it will generally have near zero overshoot. I'd be happy to answer any questions you have. Feel free to give Teknic a call if you would like to learn more about ClearPath or our other products.

@Gaatech

7 жыл бұрын

Teknic Inc can we buy these in the UK or do we need to import from the USA

@stumpy1495

7 жыл бұрын

Apologies Teknic, I didn't get a notification of a reply until Gaatech also replied. While I appreciate that your system likely works exactly as you say 100% of the time under 95+% of the conditions thrown at it, I was trying to point out that in the other

@TeknicInc

7 жыл бұрын

Hi Gaatech- Teknic does not have a distributor in the UK, however, if you purchase from our website, we ship directly to the UK.

@TeknicInc

7 жыл бұрын

Hi Lee, Thank you for your comments (and for recommending ClearPath as an alternative in your design!). I agree with almost everything you wrote, in particular your final comment that in order to objectively determine performance of the overall system, tests should attempt to catch the corner cases or worst case operating conditions that are relevant to the machine and its design goals. The most demanding challenges for any motion system (stepper or servo) are rapid (i.e., high bandwidth) changes in torque demand, particularly if the demand comes from outside disturbances rather than the commanded motion. Your suggested tests would be challenging, and if handled well, indicative of a well-designed system. Our discussion here has mixed together issues of servo performance with those of overall system performance, and since there are many issues to consider when designing the overall machine (e.g., the mechanics, the environment, variations in load, the motion control system, etc.), it might make sense to just discuss the issues relevant to servo performance alone. In other words, the tests you described are good for evaluating overall system performance, but if we want to analyze what the servo’s contribution is, we should just measure ClearPath’s dynamic position tracking performance (i.e., comparing its commanded position versus the actual encoder position at each instant in time). And, ideally, we would do this with a worst-case situation like you describe. This would show how the servo performs with the attached mechanics and associated load conditions, but not show the error contribution from the mechanics or other sources. You are absolutely correct in saying that the tuning is, in effect, optimized for a set of expected operating conditions. The further that the actual conditions deviate from the tuning conditions, the less optimal the performance will be. Of course, this is true about all systems, including steppers. Because steppers are essentially open-loop, spring-mass systems, their tracking performance will change markedly as the load conditions change. This can be seen by putting an encoder on a stepper and comparing the commanded position to the actual. If the conditions change enough, the stepper will lose steps and then stall. The fact that they can’t be tuned (except when run as a servo), does not mean that their performance does not change with load conditions. A well-designed and tuned servo will generally tolerate a larger change in conditions before exhibiting significant changes in performance, but eventually, with extreme enough changes, the servo too will fail to operate satisfactorily. An important question with servos is, “How robust is the servo compensation algorithm to changes in load conditions?” ClearPath has a very sophisticated servo algorithm: the position/velocity compensator is a PIV structure with velocity, acceleration and jerk feedforward with several proprietary inertial anti-windup enhancements that allow very high inertial mismatches. Its torque compensator is a sinewave-commutated, D-Q space vector controller with cross-coupling terms for motor resistance and inductance, and Ke feedforward. (I realize that’s a lot of jargon for most people, but you sound like you have servo experience.) Hopefully, John will do a subsequent video that shows the ClearPath’s dynamic tracking performance using your suggested worst-case conditions. I think you would be impressed. Again, thank you for your informed and thoughtful comments!

Why its so loud moving ?

So is that slop in the dial or the bed? It clearly jumps to 10 on the dial before settling at 0.

@BigMjolnir

7 жыл бұрын

SoundsFantastic looks like preload on the indicator to me...about 9-10 thousandths. When it's reading 0 the platform is at the start position. When it moves away, the indicator tip isn't preloaded anymore, so it moves the 10 thousandths to follow the platform until it runs out of travel and the dial reads 10 or so. When the platform comes back, the indicator tip meets it, and is moved back to the starting location again...exactly (at least within a few ten thousandths of an inch, which is as much as this indicator can show). The preloading is used to make sure the indicator tip is actually touching the platform. -- Mike

@SoundsFantastic

7 жыл бұрын

BigMjolnir the needle goes past zero then comes back. That's not preload, more like overload. It seems to be slop in the dial, the base bumps the needle so fast it pushes it past dead stop then settles on zero.

@BigMjolnir

7 жыл бұрын

SoundsFantastic Yes. Momentum transfer causing bounce. If that's all it is, it's not a problem. You'd need a different instrument, or a high speed close up, to see if there's anything else going on. I'm sure there is if you looked closely enough...everything is elastic at some scale, but below some point it doesn't matter to the job being done. For John's purposes, it looks more than good enough. If he was doing realtime laser interferometry probably not...but at that scale there are lots of other sources of error he'd have to deal with. -- Mike

At 8:00, a more impressive test would be if you could simultaneously show the servo's velocity signal on an oscilloscope at the same time.

my cnc will going to use most powerfull clearpath servos. Problem is i don't have anything to cut frame :D Need cnc to make CNC :)

it would be awesome to make a 3d printer with it, no more skipping steps

how do you connect the arduino to the motor?

@jimsvideos7201

7 жыл бұрын

The usual manner is IO pins on the Arduino for step (i.e. move one step on each pulse) and direction (high for one, low for the other) run to the controller.

@RS2Racer91

7 жыл бұрын

Yeah I understand that, but I mean what is needed in between. Optocouplers, transistors or maybe just a wire.

@motorguy6512

7 жыл бұрын

It looks like the motor's inputs are already isolated so nothing is needed in between. Just connect the arduino output, and ground straight to the motor's input.

You bought them using money out of your pocket or is it sponsored?

Just a slight change in the code.. Avoid slow speeds of serial like 9600 Go for 115200 at least and higher, serial is just like huge delay in your code.

These are closed loop steppers, right?

@chadkrause6574

7 жыл бұрын

I believe they are full servos

@RobiSydney

7 жыл бұрын

There are many different styles of control available. We're mainly looking at step and direction pulse control ala a stepper, though ClearPath are true DC motor Servo's with it's own onboard computer, hbridge, position sensing. Data lines are nice Dir+ Dir- Step+ Step- ERR+ ERR- ENABLE+ ENABLE- so you can wire them common cathode or anode which is really nice! BOB's are usually Common Anode (+5v) and smoothieware, RAMPS, GRBL are common cathode (Grd)

@daka005

7 жыл бұрын

You can run every type of motor in closed loop as long as you add an encoder and the driver has the logic to control it. And yes, there are stepper with built in encoder and driver that works as the clearpaths. The big difference between servos and stepper are the holding torque and speed. A stepper has a much higher holding torque then a servo but the servo has higher torque at higher rpm.