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stepper.scad
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stepper.scad
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/*
* A nema standard stepper motor module.
*
* Originally by Hans Häggström, 2010.
* Dual licenced under Creative Commons Attribution-Share Alike 3.0 and LGPL2 or later
*/
include <units.scad>
include <materials.scad>
// Demo, uncomment to show:
//nema_demo();
module nema_demo(){
for (size = [NemaShort, NemaMedium, NemaLong]) {
translate([-100,size*100,0]) motor(Nema34, size, dualAxis=true);
translate([0,size*100,0]) motor(Nema23, size, dualAxis=true);
translate([100,size*100,0]) motor(Nema17, size, dualAxis=true);
translate([200,size*100,0]) motor(Nema14, size, dualAxis=true);
translate([300,size*100,0]) motor(Nema11, size, dualAxis=true);
translate([400,size*100,0]) motor(Nema08, size, dualAxis=true);
}
}
// Parameters:
NemaModel = 0;
NemaLengthShort = 1;
NemaLengthMedium = 2;
NemaLengthLong = 3;
NemaSideSize = 4;
NemaDistanceBetweenMountingHoles = 5;
NemaMountingHoleDiameter = 6;
NemaMountingHoleDepth = 7;
NemaMountingHoleLip = 8;
NemaMountingHoleCutoutRadius = 9;
NemaEdgeRoundingRadius = 10;
NemaRoundExtrusionDiameter = 11;
NemaRoundExtrusionHeight = 12;
NemaAxleDiameter = 13;
NemaFrontAxleLength = 14;
NemaBackAxleLength = 15;
NemaAxleFlatDepth = 16;
NemaAxleFlatLengthFront = 17;
NemaAxleFlatLengthBack = 18;
NemaA = 1;
NemaB = 2;
NemaC = 3;
NemaShort = NemaA;
NemaMedium = NemaB;
NemaLong = NemaC;
// TODO: The small motors seem to be a bit too long, I picked the size specs from all over the place, is there some canonical reference?
Nema08 = [
[NemaModel, 8],
[NemaLengthShort, 33*mm],
[NemaLengthMedium, 43*mm],
[NemaLengthLong, 43*mm],
[NemaSideSize, 20*mm],
[NemaDistanceBetweenMountingHoles, 15.4*mm],
[NemaMountingHoleDiameter, 2*mm],
[NemaMountingHoleDepth, 1.75*mm],
[NemaMountingHoleLip, -1*mm],
[NemaMountingHoleCutoutRadius, 0*mm],
[NemaEdgeRoundingRadius, 2*mm],
[NemaRoundExtrusionDiameter, 16*mm],
[NemaRoundExtrusionHeight, 1.5*mm],
[NemaAxleDiameter, 4*mm],
[NemaFrontAxleLength, 13.5*mm],
[NemaBackAxleLength, 9.9*mm],
[NemaAxleFlatDepth, -1*mm],
[NemaAxleFlatLengthFront, 0*mm],
[NemaAxleFlatLengthBack, 0*mm]
];
Nema11 = [
[NemaModel, 11],
[NemaLengthShort, 32*mm],
[NemaLengthMedium, 40*mm],
[NemaLengthLong, 52*mm],
[NemaSideSize, 28*mm],
[NemaDistanceBetweenMountingHoles, 23*mm],
[NemaMountingHoleDiameter, 2.5*mm],
[NemaMountingHoleDepth, 2*mm],
[NemaMountingHoleLip, -1*mm],
[NemaMountingHoleCutoutRadius, 0*mm],
[NemaEdgeRoundingRadius, 2.5*mm],
[NemaRoundExtrusionDiameter, 22*mm],
[NemaRoundExtrusionHeight, 1.8*mm],
[NemaAxleDiameter, 5*mm],
[NemaFrontAxleLength, 13.7*mm],
[NemaBackAxleLength, 10*mm],
[NemaAxleFlatDepth, 0.5*mm],
[NemaAxleFlatLengthFront, 10*mm],
[NemaAxleFlatLengthBack, 9*mm]
];
Nema14 = [
[NemaModel, 14],
[NemaLengthShort, 26*mm],
[NemaLengthMedium, 28*mm],
[NemaLengthLong, 34*mm],
[NemaSideSize, 35.3*mm],
[NemaDistanceBetweenMountingHoles, 26*mm],
[NemaMountingHoleDiameter, 3*mm],
[NemaMountingHoleDepth, 3.5*mm],
[NemaMountingHoleLip, -1*mm],
[NemaMountingHoleCutoutRadius, 0*mm],
[NemaEdgeRoundingRadius, 5*mm],
[NemaRoundExtrusionDiameter, 22*mm],
[NemaRoundExtrusionHeight, 1.9*mm],
[NemaAxleDiameter, 5*mm],
[NemaFrontAxleLength, 18*mm],
[NemaBackAxleLength, 10*mm],
[NemaAxleFlatDepth, 0.5*mm],
[NemaAxleFlatLengthFront, 15*mm],
[NemaAxleFlatLengthBack, 9*mm]
];
Nema17 = [
[NemaModel, 17],
[NemaLengthShort, 33*mm],
[NemaLengthMedium, 39*mm],
[NemaLengthLong, 47*mm],
[NemaSideSize, 42.20*mm],
[NemaDistanceBetweenMountingHoles, 31.04*mm],
[NemaMountingHoleDiameter, 4*mm],
[NemaMountingHoleDepth, 4.5*mm],
[NemaMountingHoleLip, -1*mm],
[NemaMountingHoleCutoutRadius, 0*mm],
[NemaEdgeRoundingRadius, 7*mm],
[NemaRoundExtrusionDiameter, 22*mm],
[NemaRoundExtrusionHeight, 1.9*mm],
[NemaAxleDiameter, 5*mm],
[NemaFrontAxleLength, 18*mm],
[NemaBackAxleLength, 15*mm],
[NemaAxleFlatDepth, 0.5*mm],
[NemaAxleFlatLengthFront, 15*mm],
[NemaAxleFlatLengthBack, 14*mm]
];
Nema23 = [
[NemaModel, 23],
[NemaLengthShort, 39*mm],
[NemaLengthMedium, 54*mm],
[NemaLengthLong, 76*mm],
[NemaSideSize, 56.4*mm],
[NemaDistanceBetweenMountingHoles, 47.14*mm],
[NemaMountingHoleDiameter, 4.75*mm],
[NemaMountingHoleDepth, 5*mm],
[NemaMountingHoleLip, 4.95*mm],
[NemaMountingHoleCutoutRadius, 9.5*mm],
[NemaEdgeRoundingRadius, 2.5*mm],
[NemaRoundExtrusionDiameter, 38.10*mm],
[NemaRoundExtrusionHeight, 1.52*mm],
[NemaAxleDiameter, 6.36*mm],
[NemaFrontAxleLength, 18.80*mm],
[NemaBackAxleLength, 15.60*mm],
[NemaAxleFlatDepth, 0.5*mm],
[NemaAxleFlatLengthFront, 16*mm],
[NemaAxleFlatLengthBack, 14*mm]
];
Nema34 = [
[NemaModel, 34],
[NemaLengthShort, 66*mm],
[NemaLengthMedium, 96*mm],
[NemaLengthLong, 126*mm],
[NemaSideSize, 85*mm],
[NemaDistanceBetweenMountingHoles, 69.58*mm],
[NemaMountingHoleDiameter, 6.5*mm],
[NemaMountingHoleDepth, 5.5*mm],
[NemaMountingHoleLip, 5*mm],
[NemaMountingHoleCutoutRadius, 17*mm],
[NemaEdgeRoundingRadius, 3*mm],
[NemaRoundExtrusionDiameter, 73.03*mm],
[NemaRoundExtrusionHeight, 1.9*mm],
[NemaAxleDiameter, 0.5*inch],
[NemaFrontAxleLength, 37*mm],
[NemaBackAxleLength, 34*mm],
[NemaAxleFlatDepth, 1.20*mm],
[NemaAxleFlatLengthFront, 25*mm],
[NemaAxleFlatLengthBack, 25*mm]
];
function motorWidth(model=Nema23) = lookup(NemaSideSize, model);
function motorLength(model=Nema23, size=NemaMedium) = lookup(size, model);
module motor(model=Nema23, size=NemaMedium, dualAxis=false, pos=[0,0,0], orientation = [0,0,0]) {
length = lookup(size, model);
echo(str(" Motor: Nema",lookup(NemaModel, model),", length= ",length,"mm, dual axis=",dualAxis));
stepperBlack = BlackPaint;
stepperAluminum = Aluminum;
side = lookup(NemaSideSize, model);
cutR = lookup(NemaMountingHoleCutoutRadius, model);
lip = lookup(NemaMountingHoleLip, model);
holeDepth = lookup(NemaMountingHoleDepth, model);
axleLengthFront = lookup(NemaFrontAxleLength, model);
axleLengthBack = lookup(NemaBackAxleLength, model);
axleRadius = lookup(NemaAxleDiameter, model) * 0.5;
extrSize = lookup(NemaRoundExtrusionHeight, model);
extrRad = lookup(NemaRoundExtrusionDiameter, model) * 0.5;
holeDist = lookup(NemaDistanceBetweenMountingHoles, model) * 0.5;
holeRadius = lookup(NemaMountingHoleDiameter, model) * 0.5;
mid = side / 2;
roundR = lookup(NemaEdgeRoundingRadius, model);
axleFlatDepth = lookup(NemaAxleFlatDepth, model);
axleFlatLengthFront = lookup(NemaAxleFlatLengthFront, model);
axleFlatLengthBack = lookup(NemaAxleFlatLengthBack, model);
color(stepperBlack){
translate(pos) rotate(orientation) {
translate([-mid, -mid, 0])
difference() {
cube(size=[side, side, length + extrSize]);
// Corner cutouts
if (lip > 0) {
translate([0, 0, lip]) cylinder(h=length, r=cutR);
translate([side, 0, lip]) cylinder(h=length, r=cutR);
translate([0, side, lip]) cylinder(h=length, r=cutR);
translate([side, side, lip]) cylinder(h=length, r=cutR);
}
// Rounded edges
if (roundR > 0) {
translate([mid+mid, mid+mid, length/2])
rotate([0,0,45])
cube(size=[roundR, roundR*2, 4+length + extrSize+2], center=true);
translate([mid-(mid), mid+(mid), length/2])
rotate([0,0,45])
cube(size=[roundR*2, roundR, 4+length + extrSize+2], center=true);
translate([mid+mid, mid-mid, length/2])
rotate([0,0,45])
cube(size=[roundR*2, roundR, 4+length + extrSize+2], center=true);
translate([mid-mid, mid-mid, length/2])
rotate([0,0,45])
cube(size=[roundR, roundR*2, 4+length + extrSize+2], center=true);
}
// Bolt holes
color(stepperAluminum, $fs=holeRadius/8) {
translate([mid+holeDist,mid+holeDist,-1*mm]) cylinder(h=holeDepth+1*mm+extrSize, r=holeRadius);
translate([mid-holeDist,mid+holeDist,-1*mm]) cylinder(h=holeDepth+1*mm+extrSize, r=holeRadius);
translate([mid+holeDist,mid-holeDist,-1*mm]) cylinder(h=holeDepth+1*mm+extrSize, r=holeRadius);
translate([mid-holeDist,mid-holeDist,-1*mm]) cylinder(h=holeDepth+1*mm+extrSize, r=holeRadius);
}
// Grinded flat
color(stepperAluminum) {
difference() {
translate([-1*mm, -1*mm, -1*mm])
cube(size=[side+2*mm, side+2*mm, extrSize + 1*mm]);
translate([side/2, side/2, -1*mm])
cylinder(h=extrSize + 1*mm, r=extrRad);
}
}
}
// Axle
translate([0, 0, extrSize-axleLengthFront]) color(stepperAluminum)
difference() {
cylinder(h=axleLengthFront + 1*mm , r=axleRadius, $fs=axleRadius/10);
// Flat
if (axleFlatDepth > 0)
translate([axleRadius - axleFlatDepth,-5*mm,-extrSize*mm -(axleLengthFront-axleFlatLengthFront)] ) cube(size=[5*mm, 10*mm, axleLengthFront]);
}
if (dualAxis) {
translate([0, 0, length+extrSize]) color(stepperAluminum)
difference() {
cylinder(h=axleLengthBack + 0*mm, r=axleRadius, $fs=axleRadius/10);
// Flat
if (axleFlatDepth > 0)
translate([axleRadius - axleFlatDepth,-5*mm,(axleLengthBack-axleFlatLengthBack)]) cube(size=[5*mm, 10*mm, axleLengthBack]);
}
}
}
}
}
module roundedBox(size, edgeRadius) {
cube(size);
}