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Boulder Engineering Studio Shopbot - LinuxCNC config notes
The BES Shopbot is based on a Shopbot PRS-Alpha 96x60. The Shopbot
Assembly Manual is here:
http://www.shopbotdocs.com/PRS-Assembly-Manual.html
The BES Shopbot is an XYZX gantry machine. All four joint motors are
steppers with encoder feedback.
The BES Shopbot uses a Mesa 5i23. It uses three daughter cards:
P2: 7i47 (12-channel RS-422 serial communication interface)
IO 000 (P2-01): StepGen #0, pin Step (Output)
IO 001 (P2-03): StepGen #0, pin Direction (Output)
IO 002 (P2-05): StepGen #1, pin Step (Output)
IO 003 (P2-07): StepGen #1, pin Direction (Output)
IO 004 (P2-09): Encoder #0, pin A (Input)
IO 005 (P2-11): Encoder #2, pin A (Input)
IO 006 (P2-13): Encoder #0, pin B (Input)
IO 007 (P2-15): Encoder #2, pin B (Input)
IO 008 (P2-17): Encoder #0, pin Index (Input)
IO 009 (P2-19): Encoder #2, pin Index (Input)
IO 010 (P2-21): Encoder #1, pin A (Input)
IO 011 (P2-23): Encoder #3, pin A (Input)
IO 012 (P2-25): Encoder #1, pin B (Input)
IO 013 (P2-27): Encoder #3, pin B (Input)
IO 014 (P2-29): Encoder #1, pin Index (Input)
IO 015 (P2-31): Encoder #3, pin Index (Input)
IO 016 (P2-33): StepGen #2, pin Step (Output)
IO 017 (P2-35): StepGen #2, pin Direction (Output)
IO 018 (P2-37): StepGen #3, pin Step (Output)
IO 019 (P2-39): StepGen #3, pin Direction (Output)
IO 020 (P2-41): PWMGen #0, pin Out0 (PWM or Up) (Output)
IO 021 (P2-43): PWMGen #0, pin Out1 (Dir or Down) (Output)
IO 022 (P2-45): PWMGen #1, pin Out0 (PWM or Up) (Output)
IO 023 (P2-47): PWMGen #1, pin Out1 (Dir or Down) (Output)
P3: 7i37 (isolated digital I/O)
| IO | Conn | Module | Use | 7i37 pin
+-----+----------------+-------------------------------------------------------------+-----------
| 024 | P3-01 | IOPort | x1 prox input (home, +limit, -limit, negated) | 1: in0
| 025 | P3-03 | IOPort | | 3: in1
| 026 | P3-05 | IOPort | y prox input (home, +limit, -limit, negated) | 5: in2
| 027 | P3-07 | IOPort | | 7: in3
| 028 | P3-09 | IOPort | z prox input (home, +limit, -limit, negated) | 9: in4
| 029 | P3-11 | IOPort | | 11: in5
| 030 | P3-13 | IOPort | x2 prox input (home, +limit, -limit, negated) | 13: in6
| 031 | P3-15 | IOPort | | 15: in7
| 032 | P3-17 | IOPort | (input is dead) | 17: in8
| 033 | P3-19 | IOPort | (input is dead) | 19: in9
| 034 | P3-21 | IOPort | (input is dead) | 21: in10
| 035 | P3-23 | IOPort | (input is dead) | 23: in11
| 036 | P3-25 | IOPort | (input is dead) | 25: in12
| 037 | P3-27 | IOPort | pendant estop input (no key switch) | 27: in13
| 038 | P3-29 | IOPort | pendant estop input with key switch | 29: in14
| 039 | P3-31 | IOPort | | 31: in15
| 040 | P3-33 | IOPort | | 33: out0
| 041 | P3-35 | IOPort | | 35: out1
| 042 | P3-37 | IOPort | | 37: out2
| 043 | P3-39 | IOPort | | 39: out3
| 044 | P3-41 | IOPort | motion motor contactor | 41: out4
| 045 | P3-43 | IOPort | | 43: out5
| 046 | P3-45 | IOPort | spindle motor contactor | 45: out6
| 047 | P3-47 | IOPort | | 47: out7
| | P3-49 | | | 49: +5
+-----+----------------+-------------------------------------------------------------+-----------
P4: 7i42 (over/under voltage protected break-out board)
| IO | Conn | Module | Use | 7i42 pin
+-----+----------------+-------------------------------------------------------------+-----------
| 048 | P4-01 | IOPort | | io0
| 049 | P4-03 | IOPort | | io1
| 050 | P4-05 | IOPort | | io2
| 051 | P4-07 | IOPort | | io3
| 052 | P4-09 | IOPort | | io4
| 053 | P4-11 | IOPort | | io5
| 054 | P4-13 | IOPort | | io6
| 055 | P4-15 | IOPort | | io7
| 056 | P4-17 | IOPort | | io8
| 057 | P4-19 | IOPort | | io9
| 058 | P4-21 | IOPort | | io10
| 059 | P4-23 | IOPort | | io11
| 060 | P4-25 | IOPort | | io12
| 061 | P4-27 | IOPort | | io13
| 062 | P4-29 | IOPort | | io14
| 063 | P4-31 | IOPort | | io15
| 064 | P4-33 | IOPort | 1-phase contactor closed | io16
| 065 | P4-35 | IOPort | pendant green momentary button (not working) | io17
| 066 | P4-37 | IOPort | 3-phase contactor closed | io18
| 067 | P4-39 | IOPort | pendant blue momentary button (release=True, push=False) | io19
| 068 | P4-41 | IOPort | zero plate | io20
| 069 | P4-43 | IOPort | | io21
| 070 | P4-45 | IOPort | | io22
| 071 | P4-47 | IOPort | | io23
+-----+----------------+-------------------------------------------------------------+-----------
Steppers are labeled ASM98AA-T7.2
Stepper amps are labeled ASD30A-A
The stepper amps take 1625 steps/revolution of the stepper motor,
which means 1625*7.2 steps per revolution of the output shaft of the
transmission.
1 encoder line per step, so 4 encoder edges per step
2.5 teeth/cm on the rack
X, Y1, and Y2 have 30 teeth on the pinion gear
Z has 25 teeth on the pinion
Table
For the table, cut one ~33" x 8' strip of 3/4" ply, and bolt it to the left
(-X) side of the frame.
Spindle
to turn on spindle:
spindle key in engaged position in spindle interlock (on
control box)
push "Spindle Power" button on VCP
set spindle speed with S word, 4k-18k
M3
Each day, when first starting to use the spindle, run the
warmup-spindle program. Power on the machine and home it, then
switch to the MDI tab and run "o<warmup-spindle> call". This will
turn on the spindle and ramp the spind speed up from 4k rpm to 18k
rpm over 10 minutes.
The Mesa 5i23 hardware I/O card
will be loaded with firmware designation: SVST8_4
and has 72 I/O pins
Mesa 5i20 connector 2
pin# 0 (type HDW Encoder-B)
connected to signal:'x-encoder-b'
pin# 1 (type HDW Encoder-A)
connected to signal:'x-encoder-a'
pin# 2 (type HDW Encoder-B)
connected to signal:'a-encoder-b'
pin# 3 (type HDW Encoder-A)
connected to signal:'a-encoder-a'
pin# 4 (type HDW Encoder-I)
connected to signal:'x-encoder-i'
pin# 5 (type HDW Encoder-I)
connected to signal:'a-encoder-i'
pin# 6 (type HDW PWM Gen-P)
connected to signal:'x-pwm-pulse'
pin# 7 (type HDW PWM Gen-P)
connected to signal:'a-pwm-pulse'
pin# 8 (type HDW PWM Gen-D)
connected to signal:'x-pwm-dir'
pin# 9 (type HDW PWM Gen-D)
connected to signal:'a-pwm-dir'
pin# 10 (type HDW PWM Gen-E)
connected to signal:'x-pwm-enable'
pin# 11 (type HDW PWM Gen-E)
connected to signal:'a-pwm-enable'
pin# 12 (type HDW Encoder-B)
connected to signal:'y-encoder-b'
pin# 13 (type HDW Encoder-A)
connected to signal:'y-encoder-a'
pin# 14 (type HDW Encoder-B)
connected to signal:'z-encoder-b'
pin# 15 (type HDW Encoder-A)
connected to signal:'z-encoder-a'
pin# 16 (type HDW Encoder-I)
connected to signal:'y-encoder-i'
pin# 17 (type HDW Encoder-I)
connected to signal:'z-encoder-i'
pin# 18 (type HDW PWM Gen-P)
connected to signal:'y-pwm-pulse'
pin# 19 (type HDW PWM Gen-P)
connected to signal:'z-pwm-pulse'
pin# 20 (type HDW PWM Gen-D)
connected to signal:'y-pwm-dir'
pin# 21 (type HDW PWM Gen-D)
connected to signal:'z-pwm-dir'
pin# 22 (type HDW PWM Gen-E)
connected to signal:'y-pwm-enable'
pin# 23 (type HDW PWM Gen-E)
connected to signal:'z-pwm-enable'
Mesa 5i20 connector 3
pin# 0 (type GPIO Input)
connected to signal:'both-home-x'
pin# 1 (type GPIO Input)
connected to signal:'both-home-a'
pin# 2 (type GPIO Input)
connected to signal:'both-home-y'
pin# 3 (type GPIO Input)
connected to signal:'both-home-y'
pin# 4 (type GPIO Input)
connected to signal:'estop-ext'
pin# 5 (type GPIO Input)
connected to signal:'din-00'
pin# 6 (type GPIO Input)
connected to signal:'din-01'
pin# 7 (type HDW PWM Gen-P)
connected to signal:'unused-pwm'
pin# 8 (type GPIO Input)
connected to signal:'din-03'
pin# 9 (type HDW PWM Gen-D)
connected to signal:'unused-pwm'
pin# 10 (type GPIO Input)
connected to signal:'unused-input'
pin# 11 (type HDW PWM Gen-E)
connected to signal:'unused-pwm'
pin# 12 (type GPIO Input)
connected to signal:'unused-input'
pin# 13 (type GPIO Input)
connected to signal:'unused-input'
pin# 14 (type GPIO Input)
connected to signal:'unused-input'
pin# 15 (type GPIO Input)
connected to signal:'unused-input'
pin# 16 (type GPIO Output)
connected to signal:'unused-output'
pin# 17 (type GPIO Output)
connected to signal:'unused-output'
pin# 18 (type GPIO Output)
connected to signal:'unused-output'
pin# 19 (type GPIO Output)
connected to signal:'unused-output'
pin# 20 (type GPIO Output)
connected to signal:'unused-output'
pin# 21 (type GPIO Output)
connected to signal:'unused-output'
pin# 22 (type GPIO Output)
connected to signal:'unused-output'
pin# 23 (type GPIO Output)
connected to signal:'unused-output'
Mesa 5i20 connector 4
pin# 0 (type HDW Step Gen-A)
connected to signal:'unused-stepgen'
pin# 1 (type HDW Step Gen-B)
connected to signal:'unused-stepgen'
pin# 2 (type GPIO Input)
connected to signal:'unused-input'
pin# 3 (type GPIO Input)
connected to signal:'unused-input'
pin# 4 (type GPIO Input)
connected to signal:'unused-input'
pin# 5 (type GPIO Input)
connected to signal:'unused-input'
pin# 6 (type HDW Step Gen-A)
connected to signal:'unused-stepgen'
pin# 7 (type HDW Step Gen-B)
connected to signal:'unused-stepgen'
pin# 8 (type GPIO Input)
connected to signal:'unused-input'
pin# 9 (type GPIO Input)
connected to signal:'unused-input'
pin# 10 (type GPIO Input)
connected to signal:'unused-input'
pin# 11 (type GPIO Input)
connected to signal:'unused-input'
pin# 12 (type HDW Step Gen-A)
connected to signal:'unused-stepgen'
pin# 13 (type HDW Step Gen-B)
connected to signal:'unused-stepgen'
pin# 14 (type GPIO Input)
connected to signal:'unused-input'
pin# 15 (type GPIO Input)
connected to signal:'unused-input'
pin# 16 (type GPIO Output)
connected to signal:'unused-output'
pin# 17 (type GPIO Output)
connected to signal:'unused-output'
pin# 18 (type HDW Step Gen-A)
connected to signal:'unused-stepgen'
pin# 19 (type HDW Step Gen-B)
connected to signal:'unused-stepgen'
pin# 20 (type GPIO Output)
connected to signal:'unused-output'
pin# 21 (type GPIO Output)
connected to signal:'unused-output'
pin# 22 (type GPIO Output)
connected to signal:'unused-output'
pin# 23 (type GPIO Output)
connected to signal:'unused-output'
VFD:
Yaskawa V7-4X
There's an arduino in there...
Dan says: We are running in 2-wire mode (i think 5-33) and the
speed is controlled by "Frequency Reference via Puls Train Input"
(page 5-12).
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