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![]() Arduino·Î ¸¸µå´Â myStepper ÂüÁ¶ : http://xavierstechno.blogspot.kr/2012/02/easy-driver-with-arduino.html CNC´Â Àμâ±âÆÇ(PCB) Àý»è(Milling), ±×¸² ±×¸®±â(Drawing), Çʸ§ ÀÚ¸£±â(Cutting), ±¸¸Û °¡°ø(Drilling), ±Ý¼ÓÀÇ Àý´Ü(Routing), ÁÖ»ç±â·Î ¾×üµµÆ÷(Dispensing), Á¶°¢(engraving), ºÎǰÀÇ ÀÚµ¿°ø±Þ ¹× Á¶¸³À» ÇÒ ¼ö ÀÖ´Ù. ÀåÄ¡ ¿¹: Mini CNC engraving machine CNC-3040-DJ : USD 630 (ÇØ¿Ü ¹è¼Ûºñ Æ÷ÇÔ) CNC ±â±¸¸¦ 3D·Î ¼³°èÇß´Ù. ![]() Arduino Uno·Î 3°³ÀÇ Stepping Motor¸¦ Á¦¾îÇÑ´Ù. Çϵå¿þ¾î´Â ÇѰ³ÀÇ ÃàÀ¸·Î ½ÃÇèÇÑ´Ù. 1Àå : ÃÖ´ë Stepper ¼Óµµ Stepper¿¡¼ ±¸µ¿ÇÒ ¼ö ÀÖ´Â ÃÖ°í ¼Óµµ¸¦ ¾Ë¾Æ¾ß ÇÑ´Ù. ½ºÅܸðÅÍ-°è»ê±â : http://www.daycounter.com/Calculators/Stepper-Motor-Calculator.phtml ¸ÕÀú stepper ¸ðÅÍÀÇ ±Ô°ÝÀ» ¾Ë¾Æ¾ß ÇÑ´Ù. - ¸ðÅÍ Àü¿øÀÇ ±¸µ¿ Àü¾ÐÀº 12V - ±Ç¼±ÀÇ Inductance´Â 46mH ÀÌÁö¸¸ 50 mH·Î ÀÔ·Â - 1ȸÀüÀÇ ¼öÅÜ ¼ö : ½ºÅÜ °¢µµ°¡ 1.8µµ À̸é 360µµ / 1.8µµ = 200 ½ºÅÜ/ȸÀü - ±¸µ¿ Àü·ù : ¸ðÅÍÀÇ ±Ô°ÝÀº 0.33A Áï 330mA ÀÌÁö¸¸ 135 mA¸¦ ÀÔ·Â 135mA¸¦ ÀÔ·ÂÇÑ °ÍÀº ±¸µ¿ ±âÆÇÀÇ °¡º¯ÀúÇ×À¸·Î ¸ðÅÍÀÇ ÃÖ´ë Àü·ù¸¦ ½±°Ô ¼³Á¤ÇÒ ¼ö Àֱ⠶§¹®ÀÌ´Ù. Áß°£ÀÇ Compute ´ÜÃ߸¦ ´©¸£¸é ´ÙÀ½°ú °°ÀÌ °è»êµÈ´Ù. 1 ½ºÅÜÀÇ ½Ã°£ T´Â 50 * 0.135 * 2 / 12 = 1.125 msÀÌ´Ù. ±âº» 8 ½ºÅÜÀ̹ǷΠT = 1.125ms / 8 = 0.140 ms = 140 us ¼Ò½º¿¡¼ Timer2´Â 128·Î ºÐÁÖÇϹǷΠ±¸µ¿ÆÞ½ºÀÇ ½Ã°£Àº 128 / 16000000 Hz = 0.000008 s-1 = 8 us-1 ArduionÀÇ ¹ßÁø Á֯ļö´Â 16 MHz ÀÌ´Ù. Timer2¸¦ 8usÀ¸·Î ÀÛµ¿½ÃŰ·Á´Â °ªÀº 140us /8us = 17.5 count À̳ª. Timer2´Â ¸Å 8us * 18 count = 144 us·Î ÀÛµ¿ÇÏ°Ô µÈ´Ù. ½ºÅܸðÅÍÀÇ 1 ȸÀü½Ã°£Àº 144us * 1600 step/rev = 0.2304 sec/rev ÀÌ´Ù. ±×·¯¹Ç·Î 1 / 0.2304 sec/rev = 4.34 rev/sec ·Î ½ÇÁ¦ ¼Óµµ¿¡ ±ÙÁ¢ÇÑ´Ù. 1ÃÊ¿¡ 4.34 ȸÀüÀ» rpmÀ¸·Î ȯ»êÇϸé 4.34 rev * 60 sec = 260.4 = 260 rpm ÀÌ´Ù. ¸í·ÉÄÚµåÀÇ Áö¿¬À¸·Î 20us Á¤µµÀÇ Áö¿¬ ½Ã°£ÀÌ ¹ß»ýÇϱ⠶§¹®ÀÌ´Ù. ArduinoÀÇ IDE·Î ÀÌ °ªµéÀ» º¹»çÇØ¼, º¯¼ö microSteping, stepsPerRev, I, V, iMax¸¦ Á¤ÀÇÇÑ´Ù. ÀÌ ÇÁ·Î±×·¥Àº °¡¼Ó-°¨¼Ó ÀÛµ¿À» ÇÑ´Ù. º¯¼ö accelDuring´Â °¡¼Ó °ªÀ¸·Î ¹Ù²Ù¾î¾ß ÇÑ´Ù. ¿¹¸¦ µé¸é °¡¼Ó(accelates rate)Àº 10 ½ºÅÜÀ» À¯ÁöÇϰí Á¤¼ÓÀ¸·Î µÇ¾î¾ß ÇÑ´Ù. Á¤¼Ó¿¡¼ °¨¼Óµµ 10 ½ºÅÜÀ» À¯ÁöÇØ¾ß ÇÑ´Ù. ¸¸ÀÏ °¡¼Ó°ªÀ» ¿øÇÏÁö ¾ÊÀ¸¸é 0 À¸·Î ¼³Á¤ÇÑ´Ù. 2Àå : ArduinoÀÇ ÃÖ´ë Stepper Àü·ùÀÇ Á¶Àý µå¶óÀ̹ö´Â ½ºÅÂÇθðÅÍ ÄÚÀÏÀÇ ÃÖ´ë Àü·ù¸¦ Á¶ÀýÇÑ´Ù. - Å« Àü·ù´Â ¸¹Àº Èû(torque), ¸¹Àº ¹ß¿, ³·Àº ¼Óµµ, ¸¹Àº ¸ðÅÍ ÀâÀ½À» °®´Â´Ù. - ÀÛÀº Àü·ù´Â ÀûÀº Èû(torque), ³·Àº ¿Âµµ, ³ôÀº ¼Óµµ, ÀÛÀº ÀâÀ½À» °®´Â´Ù. 1. ÃÖ»óÀÇ ¼±ÅÃÀº ÇÊ¿ä·Î ÇÏ´Â ÈûÀ» Á¦°øÇÏ´Â ÇÑ ³·Àº Àü·ù·Î Á¶ÀýÇØ¾ß ÇÑ´Ù. 2. ½Ç¼Ó(Dropped) ½ºÅÜÀÌ ¾øÀ» ¶§ ±îÁö Àü·ù¸¦ Á¶±Ý¾¿ ¿Ã¸®¸é¼ ÈûÀ» Á¶ÀýÇÑ´Ù. ³ª´Â ¿À·ù¿Í µµÀüÀ¸·Î Çß¾ú´Ù. ÃæºÐÇÏÁö ¾ÊÀº Èû(torque)ÀÏ ¶§ À̰ÍÀ» °æÇèÇß´Ù. Àü·ù°¡ ³·À» ¶§ ¾î¶² ½ºÅÇÀº ³õÄ£´Ù. (½Ç¼Ó: ¼Óµµ¸¦ ³Ê¹« ºü¸£°Ô ¿Ã¸®¸é ¿ÀÈ÷·Á ¼Óµµ°¡ ¶³¾îÁø´Ù) ![]() Àü·ùÀÇ Á¶ÀýÀº °£´ÜÈ÷ °¡º¯ÀúÇ× 3À» µ¹¸°´Ù. ¹Ý½Ã°è ¹æÇâÀº Àü·ù¸¦ ³·Ãá´Ù. ½Ã°è¹æÇâÀº Àü·ù¸¦ ³ôÀδÙ. ÇöÀç ±âÆÇÀÇ ¹é»ö »ç°¢ÇüÀÎ °¡º¯ÀúÇ×ÀÇ Á¶Àý ¹æÇâÀÇ Àμâ´Â Àß ¸ø µÇ¾î ÀÖ´Ù. 1°³ÀÇ ½ºÅÂÆÛ ÄÚÀÏÀÇ ½ÇÁ¦ Àü·ù¸¦ ¾Ë·Á¸é, - Vref = DVMÀ¸·Î ½ÃÇèÁöÁ¡ 1°ú 2ÀÇ Àü¾ÐÀ» °¨½ÃÇÑ´Ù. - Rs = DVMÀ¸·Î 4¹ø°ú 5¹ø »çÀÌÀÇ ÀúÇ×À» °¨½ÃÇÑ´Ù. (0.75 ȤÀº 1.5 ohm ÀÌ´Ù) ´ÙÀ½ °ø½ÄÀ» Àû¿ëÇÑ´Ù : ÃÖ´ëÀü·ù = Imax = VREF/8Rs (AllegroÀÇ A3967 µ¥ÀÌÅÍ 5ÂÊ °¢ÄÚÀÏÀÇ ÃÖ´ëÀü·ù) A3967 µ¥ÀÌÅÍ : https://skydrive.live.com/redir?resid=F83D8BD801F5CEB9!174 ¿¹À» µé¸é, Vref = 1.7V À̰í, Rs = 1.5 ohm À̶ó¸é Imax = 1.7V /(8 * 1.5 ohm) = 0.141A = 141mA ÀÌ´Ù. Sleep°ú Enable Enable°ú SleepÀÇ Â÷ÀÌ - Enable ÇÉÀ» LOW·Î Çϸé A397ÀÇ ¸ðµç Ãâ·ÂÀÌ Çã¿ëµÈ´Ù. - Enable ÇÉÀ» HIGH·Î Çϸé A397ÀÇ ¸ðµç Ãâ·ÂÀÌ ±ÝÁöµÈ´Ù. ÀϹÝÀûÀÎ ÀÛµ¿¿¡¼ ½ºÅǵå¶óÀ̹ö´Â Ebable µÇ¾î ÀÖ´Ù. ½ºÅÇ µå¶óÀ̹ö°¡ Á¤ÁöµÇ¾ú´Ù ÇÏ´õ¶óµµ, ½ºÅǸðÅÍÀÇ À§Ä¡¸¦ °íÁ¤Çϱâ À§ÇØ Àü·ù¸¦ Èê·Á¾ß ÇÑ´Ù. ½ºÅÇ µå¶óÀ̹ö°¡ ±ÝÁöµÇ¸é, ½ºÅÇ ¸ðÅÍ´Â Àü·ù¸¦ ¹ÞÀ» ¼ö ¾ø°í, À§Ä¡´Â °íÁ¤µÇÁö ¾Ê´Â´Ù. (¼ÕÀ¸·Î ¿òÁ÷ÀÏ ¼ö ÀÖ´Ù) - ½ºÅÇ µå¶óÀ̹ö¸¦ Àç¿ì·Á¸é(Sleep), Sleep ÇÉÀ» LOW·Î ¸¸µç´Ù. ½ºÅÇ µå¶óÀ̹ö´Â ÀϹÝÀûÀÎ ÀÛµ¿ÀÏ ¶§, Sleep ÇÉÀº HIGH ÀÌ´Ù. A397 ÀÌ Sleep »óÅÂ(mode)¿¡¼, ³»ºÎȸ·Î¿¡ Æ÷ÇÔµÈ Ãâ·ÂÀº ±ÝÁöµÈ´Ù. A397 ĨÀÇ ¼ÒºñÀü·ÂÀ» ÁÙÀ̱â À§ÇØ, Sleep »óÅ¿¡¼ ±ú¾î³ª±â À§ÇØ ¾à 1msÀÌ ÇÊ¿äÇÏ´Ù. ÃÖÁ¾ÀûÀÎ Â÷ÀÌÁ¡Àº - Disabled »óÅ¿¡¼, ½ºÅÇ µå¶óÀ̹ö¸¸ ÈÞÁö »óÅÂÀÌ´Ù. - Sleep »óÅ¿¡¼, ½ºÅÇ µå¶óÀ̹ö¿Í A397 ĨÀº ¸ðµÎ ÈÞÁö »óÅÂÀÌ´Ù. ÈÞ½Ä »óÅ¿¡¼ ±ú¿ì·Á¸é 1msÀ» ±â´Ù·Á¾ß ÇÑ´Ù. ÀýÀüÀ» ÇÏ·Á¸é SleepÀ¸·Î Çϰí, ±×·¸Áö ¾ÊÀ¸¸é Disable·Î ÇÑ´Ù. Arduino CCNC ¼Ò½º 3Ãà ½ºÅÂÇθðÅÍ ±¸µ¿¿ë Arduino Æß¿þ¾î ¼Ò½º : ![]() 3Ãà ½ºÅÂÇθðÅÍ ±¸µ¿¿ë PC Processing ¼Ò½º : https://skydrive.live.com/redir?resid=F83D8BD801F5CEB9!162 3Àå : myCNC 2.0 ÂüÁ¶ : http://xavierstechno.blogspot.kr/2012/09/my-cnc-20-part-iii.html µ¿¿µ»ó : http://www.youtube.com/embed/TY2a3b9HZRY?feature=player_embedded Á¦ÀÛÇÑ myCNC¿¡¼ óÀ½À¸·Î ¿¬»è(Milled)ÇÏ¿© ¸¸µç ȸ·Î±âÆÇ(PCB). ![]() ![]() Å×À̺íÀÇ ³ôÀ̸¦ Á¶ÀýÇÑ´Ù. ¿ÀÂ÷´Â 0,2mm ÀÌ´Ù. Àß ÀÛµ¿Çϰí ÀÖ´Ù. Áö±Ýµµ »ç¿ëÇϰí ÀÖÁö¸¸, ³ª´Â ´õ ÁÁ°Ô ¸¸µé¾î¾ß ¸¸ ÇÑ´Ù. ![]() Arduino Shield °³¹ß(protoboard) ±âÆÇ : ÂüÁ¶ : http://xavierstechno.blogspot.com/2012/02/easy-driver-with-arduino.html ±âÆÇÀÇ ¼³°è´Â ¹«·á ¼ÒÇÁÆ® DipTrace¸¦ »ç¿ëÇß´Ù : http://www.diptrace.com/download.php ±âÆÇÀÇ ¹Ð¸µ°¡°ø ÆÄÀÏ DIP, PDF, SVG, GCode´Â ¿©±â¿¡¼ ãÀ» ¼ö ÀÖ´Ù. https://skydrive.live.com/redir?resid=F83D8BD801F5CEB9!187 GCode ÆÄÀÏÀ» ¸¸µé·Á¸é, ¸ÕÀú DipTrace ±âÆÇ ¹èÄ¡¸¦ Adobe Illustrator¿¡¼ pdf ÆÄÀÏ·Î ÀúÀåÇÑ´Ù. - ¸ðµç µ¿ÆÇ¿¬°á(path)¸¦ ¼±ÅÃÇÑ´Ù. - ±×¸®°í µ¿ÆÇ¿¬°á(Path)À» Ãâ·Â(Object) ÇÑ´Ù. - ¿Ü°û¼± °¡°øÆø(Outline Stroke Áï »ç¿ëÇÒ ¹Ð¸µµµ±¸ÀÇ ±½±â)À» ¼±ÅÃÇÑ´Ù. - µ¿ÆÇ¿¬°á(Path)ÀÇ ¾ÈÂÊÀº ä¿ìÁö ¾Ê´Â´Ù (No Fill) - °¡°øÆø(Stroke) - ¼±Æø(Weight) 0.01 mm, Caps´Â Projecting, ¸ð¼¸®(Corner)´Â Miter JoinÀ¸·Î ¼±ÅÃÇÑ´Ù. - µ¿ÆÇ¿¬°á(PathFinder)ÀÇ ´ÜÀ§(Unit)¸¦ ¼±ÅÃÇÑ´Ù. ÀÌÁ¦ InkSkapeÀÇ laserengraver º¸Á¶¼ÒÇÁÆ®(addin)·Î GCode¸¦ ¸¸µç´Ù. https://skydrive.live.com/redir?resid=F83D8BD801F5CEB9!190 ¸¶Áö¸·À¸·Î GCode¸¦ ¼öÀÛ¾÷À¸·Î ¼öÁ¤ÇÏ¿´´Ù. GCode ÆÄÀÏ¿¡¼ ±¸¸Û °¡°ø(drill holes)Àº DipTrace¿¡¼ ±âÆÇ¹èÄ¡(PCBLayout)À» 'Mach 2/3 Drill'À¸·Î Ãâ·ÂÇÑ´Ù. ¼öÁ¤µÈ ÆÄÀÏÀº ³ªÀÇ Ç¥ÁØÀ¸·Î °³Á¤(update) Çß´Ù. ¼³°èµÈ 3D Model ÆÄÀÏ ÂüÁ¶ : http://xavierstechno.blogspot.kr/2012/06/my-cnc.html ºÎǰµµ¸éÀÎ 3D ÆÄÀÏÀº ¿©±â¿¡¼ ¹ÞÀ» ¼ö ÀÖ´Ù. 3 Á¾·ùÀÇ ÆÄÀÏÀÌ ÀÖ´Ù. .DWFX : 'Autodesk Design Review'. .DWG : 'Autodesk 123D'. .STL '123D' or Blender or MeshLab ºÎǰÀ» 3D·Î º¼ ¼ö ÀÖ´Â ¹«·á ±³À°¿ë Autodesk Software : http://students.autodesk.com/?nd=home ³ª´Â Android ¿Í iPhoneÀÇ ¹«·á ±³À°¿ë Autodesk Software AppÀ» ¹èÆ÷Çß´Ù. iPhone : http://usa.autodesk.com/adsk/servlet/pc/index?id=14640987&siteID=123112 Android : https://skydrive.live.com/#cid=F83D8BD801F5CEB9&id=F83D8BD801F5CEB9%21141 ·¹ÀÌÀú Àý´Ü ºÎǰ (Laser Cutted Parts) ·¹ÀÌÀú Àý´Ü°¡°ø Àç·á·Î 10, 5, 2mm µÎ²²(with)ÀÇ methacrylate (PMMA)¸¦ ¾²·Á°í Çß´Ù. SVG ÆÄÀÏ: https://skydrive.live.com/#cid=F83D8BD801F5CEB9&id=F83D8BD801F5CEB9%21167 lnkSpace ÆÄÀÏ: http://inkscape.org/ ½ºÅǸðÅÍ µå¶óÀ̹ö ȸ·Î A3967 Stepping Motor Driver ȸ·Îµµ : ![]() A3967ÀÇ 1¹ø ÇÉ¿¡´Â 1~5V¸¦ Àΰ¡Çϸç, 1V´Â 166mA, 3.3V´Â 650mA, 5V´Â 833mAÀÇ Ãâ·ÂÀü·ù¸¦ ¼³Á¤ÇÑ´Ù.
ÃÖ¼Ò Àü·ù´Â ºÎµå·¯¿î ¸¶ÀÌÅ©·Î ½ºÅÇÀ» Á¦°øÇÑ´Ù. ÃÖ´ë Àü·ù´Â ³ôÀº Torque¸¦ Á¦°øÇÑ´Ù. 24¹ø PFD ÇÉ¿¡ ¿¬°áµÈ R17À» Ãß°¡ÇÏ¸é °¡Àå ³ôÀº ¼Óµµ¼º´ÉÀÌ ³ª¿Â´Ù. (A3967 µ¥ÀÌÅ͸¦ º¸¶ó) ½ºÅǸðÅÍ µå¶óÀ̹ö Àü¿øÈ¸·Î SJ1Àº ¿¬°áµÇ¾î ÀÖ´Ù. JP4¿¡ 5V Àü¿øÀ» ¿¬°áÇÏ¿© »ç¿ëÇÒ °æ¿ì´Â SJ1À» ÀÚ¸¥´Ù. 8V ÀÌ»óÀ» »ç¿ëÇÏ·Á¸é JP1¿¡ ¿¬°áÇÑ´Ù. SJ2´Â Àß·Á ÀÖÀ¸¸ç JP4¿¡ 5V¸¦ °ø±ÞÇÑ´Ù. SJ2¸¦ ¿¬°áÇϸé 3.3V¸¦ VCC·Î JP4¿¡ °ø±ÞÇÑ´Ù. ÀÌÀÚ·á ¿Ü¿¡µµ Arduino¸¦ ÀÌ¿ëÇÑ CNC ¸¸µé±â´Â ¸¹ÀÌ ÀÖ´Ù Arduino CNC µ¿¿µ»ó : http://www.youtube.com/embed/E7ZclkT-EL0?feature=player_embedded ÀÌ ÇÁ·Î±×·¥Àº ¹«·á ¼ÒÇÁÆ®¿þ¾î·Î, ½Åü¿Í Àç»ê »óÀÇ ¾î¶² À§Çè°ú ¼ÕÇØ¸¦ º¸»óÇÏÁö ¾Ê½À´Ï´Ù. ÀÌ ÇÁ·Î±×·¥Àº GNU ¹«·á ¼ÒÇÁÆ®¿þ¾î ¹èÆ÷±ÔÁ¤À» µû¸¨´Ï´Ù. Free Software Foundation, Inc. 59 Temple Place, Suite 330, Boston, MA 02111-1307, USA ![]() |
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