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-====== 6.4.1 BLOX with Linear Actuators ======+====== 6.4.2 BLOX with Linear Actuators ======
  
 BLOX can be used with all the OpenBuilds Linear Actuators available at [[https://openbuildspartstore.com/linear-actuators-kits/|OpenBuilds Partstore: Linear Actuators]] as well as 2-axes motion platforms like the [[https://openbuildspartstore.com/acro/|ACRO]] BLOX can be used with all the OpenBuilds Linear Actuators available at [[https://openbuildspartstore.com/linear-actuators-kits/|OpenBuilds Partstore: Linear Actuators]] as well as 2-axes motion platforms like the [[https://openbuildspartstore.com/acro/|ACRO]]
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 ---- ----
  
-===== 6.4.1.1 Initialization for Actuators =====+===== 6.4.2.1 Wiring ===== 
 + 
 +See [[:docs:blox:connect-stepper-motors|Wiring BLOX: Stepper Motors]] 
 + 
 +---- 
 + 
 +===== 6.4.2.2 Initialization for Actuators =====
  
 Before you can use an actuator, you need to set it up so the controller knows how to control it correctly. Make use of the Initialization Blocks to configure them for use with the BLOX: Before you can use an actuator, you need to set it up so the controller knows how to control it correctly. Make use of the Initialization Blocks to configure them for use with the BLOX:
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 Use the table below to find some default values to use for Current settings, Steps-per-mm and Acceleration Use the table below to find some default values to use for Current settings, Steps-per-mm and Acceleration
  
-^Linear Actuators^Details  ^Initialization Blocks| +^  Linear Actuators  ^  Details  ^  Initialization Blocks  | 
-|  **[[https://openbuildspartstore.com/v-slot-mini-v-linear-actuator-bundle/|V-Slot® Mini V Actuator]]  ** \\ {{:docs:linear-actuators:actuator1.png}}  |Belt Driven \\ GT2-2M Timing Belts \\ 30T Pulley \\ NEMA 17 Motor | **Steps per millimeter:** 53.33 \\ **Recommended Acceleration:** +-900mm/sec² \\ **Recommended Feedrate:** 0-250mm/sec \\ **Recommended Stepper Current:** 1.0A | +|  **[[https://openbuildspartstore.com/v-slot-mini-v-linear-actuator-bundle/|V-Slot® Mini V Actuator]]  ** \\ {{:docs:linear-actuators:actuator1.png}}  |Belt Driven \\ GT2-2M Timing Belts \\ 30T Pulley \\ NEMA 17 Motor|**Steps per millimeter:** 53.33 \\ **Recommended Acceleration:** +-900mm/sec² \\ **Recommended Feedrate:** 0-250mm/sec \\ **Recommended Stepper Current:** 1.0A| 
-|  **[[https://openbuildspartstore.com/v-slot-nema-17-linear-actuator-bundle-belt-driven/|V-Slot® NEMA 17 Belt Actuator]]  ** \\ {{:docs:linear-actuators:actuator2.png}}  |Belt Driven \\ GT2-2M Timing Belts \\ 30T Pulley \\ NEMA 17 Motor | **Steps per millimeter:** 53.33 \\ **Recommended Acceleration:** +-900mm/sec² \\ **Recommended Feedrate:** 0-250mm/sec \\ **Recommended Stepper Current:** 1.0A | +|  **[[https://openbuildspartstore.com/v-slot-nema-17-linear-actuator-bundle-belt-driven/|V-Slot® NEMA 17 Belt Actuator]]  ** \\ {{:docs:linear-actuators:actuator2.png}}  |Belt Driven \\ GT2-2M Timing Belts \\ 30T Pulley \\ NEMA 17 Motor|**Steps per millimeter:** 53.33 \\ **Recommended Acceleration:** +-900mm/sec² \\ **Recommended Feedrate:** 0-250mm/sec \\ **Recommended Stepper Current:** 1.0A| 
-|  **[[https://openbuildspartstore.com/nema-17-belt-and-pinion-bundle/|Belt and Pinion NEMA 17 Actuator]]  ** \\ {{:docs:linear-actuators:actuator4.png}}  |Belt Driven \\ GT2-2M Timing Belts \\ 30T Pulley \\ NEMA 17 Motor | **Steps per millimeter:** 53.33 \\ **Recommended Acceleration:** +-900mm/sec² \\ **Recommended Feedrate:** 0-500mm/sec \\ **Recommended Stepper Current:** 1.0A | +|  **[[https://openbuildspartstore.com/nema-17-belt-and-pinion-bundle/|Belt and Pinion NEMA 17 Actuator]]  ** \\ {{:docs:linear-actuators:actuator4.png}}  |Belt Driven \\ GT2-2M Timing Belts \\ 30T Pulley \\ NEMA 17 Motor|**Steps per millimeter:** 53.33 \\ **Recommended Acceleration:** +-900mm/sec² \\ **Recommended Feedrate:** 0-500mm/sec \\ **Recommended Stepper Current:** 1.0A| 
-|  **[[https://openbuildspartstore.com/nema-23-belt-pinion-actuator-bundle/|Belt and Pinion NEMA 23 Actuator]]  ** \\ {{:docs:linear-actuators:actuator5.png}}  |Belt Driven \\ 3GT-2M Timing Belts \\ 20T Pulley \\ NEMA23 Motor | **Steps per millimeter:** 53.33 \\ **Recommended Acceleration:** +-900mm/sec² \\ **Recommended Feedrate:** 0-500mm/sec \\ **Recommended Stepper Current:** 2.2A | +|  **[[https://openbuildspartstore.com/nema-23-belt-pinion-actuator-bundle/|Belt and Pinion NEMA 23 Actuator]]  ** \\ {{:docs:linear-actuators:actuator5.png}}  |Belt Driven \\ 3GT-2M Timing Belts \\ 20T Pulley \\ NEMA23 Motor|**Steps per millimeter:** 53.33 \\ **Recommended Acceleration:** +-900mm/sec² \\ **Recommended Feedrate:** 0-500mm/sec \\ **Recommended Stepper Current:** 2.2A| 
-|  **[[https://openbuildspartstore.com/v-slot-nema-23-linear-actuator-belt-driven/|V-Slot® NEMA 23 Belt Actuator]]  ** \\ {{:docs:linear-actuators:actuator3.png}}  |Belt Driven \\ 3GT-2M Timing Belts \\ 20T Pulley \\ NEMA23 Motor | **Steps per millimeter:** 53.33 \\ **Recommended Acceleration:** +-900mm/sec² \\ **Recommended Feedrate:** 0-500mm/sec \\ **Recommended Stepper Current:** 1.5A | +|  **[[https://openbuildspartstore.com/v-slot-nema-23-linear-actuator-belt-driven/|V-Slot® NEMA 23 Belt Actuator]]  ** \\ {{:docs:linear-actuators:actuator3.png}}  |Belt Driven \\ 3GT-2M Timing Belts \\ 20T Pulley \\ NEMA23 Motor|**Steps per millimeter:** 53.33 \\ **Recommended Acceleration:** +-900mm/sec² \\ **Recommended Feedrate:** 0-500mm/sec \\ **Recommended Stepper Current:** 1.5A| 
-|  **[[https://openbuildspartstore.com/v-slot-nema-17-linear-actuator-bundle-lead-screw/|V-Slot® NEMA 17 Lead Screw Actuator]]  ** \\ {{:docs:linear-actuators:actuator6.png}}  |Lead Screw Driven \\ TR8*8-2P (4 starts) Leadscrew \\ NEMA 17 Motor | **Steps per millimeter:** 400 \\ **Recommended Acceleration:** +-300mm/sec² \\ **Recommended Feedrate:** 0-100mm/sec \\ **Recommended Stepper Current:** 1.2A | +|  **[[https://openbuildspartstore.com/v-slot-nema-17-linear-actuator-bundle-lead-screw/|V-Slot® NEMA 17 Lead Screw Actuator]]  ** \\ {{:docs:linear-actuators:actuator6.png}}  |Lead Screw Driven \\ TR8*8-2P (4 starts) Leadscrew \\ NEMA 17 Motor|**Steps per millimeter:** 400 \\ **Recommended Acceleration:** +-300mm/sec² \\ **Recommended Feedrate:** 0-100mm/sec \\ **Recommended Stepper Current:** 1.2A| 
-|  **[[https://openbuildspartstore.com/v-slot-nema-23-linear-actuator-bundle-lead-screw/|V-Slot® NEMA 23 Lead Screw Actuator]]  ** \\ {{:docs:linear-actuators:actuator7.png}}  |Lead Screw Driven \\ TR8*8-2P (4 starts) Leadscrew \\ NEMA 23 Motor | **Steps per millimeter:** 400 \\ **Recommended Acceleration:** +-500mm/sec² \\ **Recommended Feedrate:** 0-80mm/sec \\ **Recommended Stepper Current:** 1.5A | +|  **[[https://openbuildspartstore.com/v-slot-nema-23-linear-actuator-bundle-lead-screw/|V-Slot® NEMA 23 Lead Screw Actuator]]  ** \\ {{:docs:linear-actuators:actuator7.png}}  |Lead Screw Driven \\ TR8*8-2P (4 starts) Leadscrew \\ NEMA 23 Motor|**Steps per millimeter:** 400 \\ **Recommended Acceleration:** +-500mm/sec² \\ **Recommended Feedrate:** 0-80mm/sec \\ **Recommended Stepper Current:** 1.5A| 
-|  **[[https://openbuildspartstore.com/c-beam-linear-actuator-bundle/|C-Beam Actuator]]  ** \\ {{:docs:linear-actuators:actuator8.png}}  |Lead Screw Driven \\ TR8*8-2P (4 starts) Leadscrew \\ NEMA 23 Motor | **Steps per millimeter:** 400 \\ **Recommended Acceleration:** +-500mm/sec² \\ **Recommended Feedrate:** 0-800mm/sec \\ **Recommended Stepper Current:** 1.7A | +|  **[[https://openbuildspartstore.com/c-beam-linear-actuator-bundle/|C-Beam Actuator]]  ** \\ {{:docs:linear-actuators:actuator8.png}}  |Lead Screw Driven \\ TR8*8-2P (4 starts) Leadscrew \\ NEMA 23 Motor|**Steps per millimeter:** 400 \\ **Recommended Acceleration:** +-500mm/sec² \\ **Recommended Feedrate:** 0-800mm/sec \\ **Recommended Stepper Current:** 1.7A| 
-|  **[[https://openbuildspartstore.com/c-beam-xlarge-linear-actuator-bundle/|C-Beam XLarge Actuator]]  ** \\ {{:docs:linear-actuators:actuator9.png}}  |Lead Screw Driven \\ TR8*8-2P (4 starts) Leadscrew \\ NEMA 23 Motor | **Steps per millimeter:** 400 \\ **Recommended Acceleration:** +-500mm/sec² \\ **Recommended Feedrate:** 0-80mm/sec \\ **Recommended Stepper Current:** 1.7A | +|  **[[https://openbuildspartstore.com/c-beam-xlarge-linear-actuator-bundle/|C-Beam XLarge Actuator]]  ** \\ {{:docs:linear-actuators:actuator9.png}}  |Lead Screw Driven \\ TR8*8-2P (4 starts) Leadscrew \\ NEMA 23 Motor|**Steps per millimeter:** 400 \\ **Recommended Acceleration:** +-500mm/sec² \\ **Recommended Feedrate:** 0-80mm/sec \\ **Recommended Stepper Current:** 1.7A| 
-|  **[[https://openbuildspartstore.com/c-beam-double-wide-gantry-actuator-bundle/|C-Beam Double Wide Actuator]]  ** \\ {{:docs:linear-actuators:actuator10.png}}  |Lead Screw Driven \\ TR8*8-2P (4 starts) Leadscrew \\ NEMA 23 Motor | **Steps per millimeter:** 400 \\ **Recommended Acceleration:** +-500mm/sec² \\ **Recommended Feedrate:** 0-80mm/sec \\ **Recommended Stepper Current:** 1.7A | +|  **[[https://openbuildspartstore.com/c-beam-double-wide-gantry-actuator-bundle/|C-Beam Double Wide Actuator]]  ** \\ {{:docs:linear-actuators:actuator10.png}}  |Lead Screw Driven \\ TR8*8-2P (4 starts) Leadscrew \\ NEMA 23 Motor|**Steps per millimeter:** 400 \\ **Recommended Acceleration:** +-500mm/sec² \\ **Recommended Feedrate:** 0-80mm/sec \\ **Recommended Stepper Current:** 1.7A| 
-|  **[[https://openbuildspartstore.com/c-beam-tension-xl-linear-actuator-bundle/|C-Beam Tension XLarge Actuator]]  ** \\ {{:docs:linear-actuators:actuator12.png}}  |Lead Screw Driven \\ TR8*8-2P (4 starts) Leadscrew \\ NEMA 23 Motor | **Steps per millimeter:** 400 \\ **Recommended Acceleration:** +-500mm/sec² \\ **Recommended Feedrate:** 0-80mm/second \\ **Recommended Stepper Current:** 1.7A |+|  **[[https://openbuildspartstore.com/c-beam-tension-xl-linear-actuator-bundle/|C-Beam Tension XLarge Actuator]]  ** \\ {{:docs:linear-actuators:actuator12.png}}  |Lead Screw Driven \\ TR8*8-2P (4 starts) Leadscrew \\ NEMA 23 Motor|**Steps per millimeter:** 400 \\ **Recommended Acceleration:** +-500mm/sec² \\ **Recommended Feedrate:** 0-80mm/second \\ **Recommended Stepper Current:** 1.7A|
  
 ---- ----
  
-===== 6.4.1.2 Initialization for XY Stages =====+===== 6.4.2.3 Initialization for XY Stages =====
  
 Before you can also be used as a 2-axis system. You need to set it up so the controller knows how to control it correctly. Make use of the Initialization Blocks to configure them for use with the BLOX: Before you can also be used as a 2-axis system. You need to set it up so the controller knows how to control it correctly. Make use of the Initialization Blocks to configure them for use with the BLOX:
Line 40: Line 46:
 Drag the "Set Stepper Motor max current to" and "Set up Linear Axis" blocks into the Initialize input of your BLOX Block, set it up for both axes Drag the "Set Stepper Motor max current to" and "Set up Linear Axis" blocks into the Initialize input of your BLOX Block, set it up for both axes
  
-{{:docs:blox:pasted:20240821-171005.png}}+{{:docs:blox:pasted:20240821-171256.png}}
  
 Use the table below to find some default values to use for Current settings, Steps-per-mm and Acceleration Use the table below to find some default values to use for Current settings, Steps-per-mm and Acceleration
  
-^2 Axis Actuators^Details^Initialization Blocks| +^  2 Axis Actuators  ^  Details  ^  Initialization Blocks  | 
-|  **[[https://openbuildspartstore.com/c-beam-xlarge-x-y-table-bundle/|C-Beam XLarge X/Y Table]]  **{{:docs:linear-actuators:actuator11.png?100}}  |Lead Screw Driven\\ TR8*8-2P (4 starts) Leadscrew\\ NEMA 23 Motor | **Steps per millimeter:** 400 \\ **Recommended Acceleration:** +-500mm/sec² \\ **Recommended Feedrate:** 0-80mm/sec \\ **Recommended Stepper Current:** 1.7A | +|  **[[https://openbuildspartstore.com/c-beam-xlarge-x-y-table-bundle/|C-Beam XLarge X/Y Table]]  **{{:docs:linear-actuators:actuator11.png?100}}  |Lead Screw Driven  TR8*8-2P (4 starts) Leadscrew \\ NEMA 23 Motor|**Steps per millimeter:** 400 \\ **Recommended Acceleration:** +-500mm/sec² \\ **Recommended Feedrate:** 0-80mm/sec \\ **Recommended Stepper Current:** 1.7A| 
-|  **[[https://openbuildspartstore.com/acro/|OpenBuilds ACRO System]]  ** \\ {{:docs:blox:pasted:20240819-124444.png?100}}  |Belt Driven \\ GT2-2M Timing Belts \\ 14T Pulley \\ NEMA 17 Motor | **Steps per millimeter:** 114.29 \\ **Recommended Acceleration:** +-1200mm/sec² \\ **Recommended Feedrate:** 0-500mm/sec \\ **Recommended Stepper Current:** 1.2A |+|  **[[https://openbuildspartstore.com/acro/|OpenBuilds ACRO System]]  ** \\ {{:docs:blox:pasted:20240819-124444.png?100}}  |Belt Driven \\ GT2-2M Timing Belts \\ 14T Pulley \\ NEMA 17 Motor|**Steps per millimeter:** 114.29 \\ **Recommended Acceleration:** +-1200mm/sec² \\ **Recommended Feedrate:** 0-500mm/sec \\ **Recommended Stepper Current:** 1.2A|
  
 ---- ----
 +
 +===== 6.4.2.4 Homing =====
 +
 +Its beneficial to add the "Home Stepper Motor" block to the initialization as well, that way later moves can make use of absolute positioning
 +
 +> TIP: Remember to install a Limit switch at the minimum (Zero-end) of travel
 +
 +During initialization, the controller will move the motors until it hits the homing switch. Then it will perform a pull off and finally set its internal coordinates to ZERO. You can then perform absolute moves relative to this zero point.
 +
 +^  Single Axis Homing  ^  2-Axes Homing  |
 +|{{:docs:blox:pasted:20240821-171322.png}}|{{:docs:blox:pasted:20240821-171732.png}}|
 +
 +----
 +
 +===== 6.4.2.5 Moving =====
 +
 +Use the "Move Stepper Motor" blocks to move the actuator(s). You can do Relative moves ("Forward" or "Reverse" by some distance from current location) or Absolute moves ("To" a specific position, relative to the Zero point set by homing). If you make use of the "Apply Analog Sensor Value" block and place the "Move Stepper Motor" block inside it, you can map the sensor value to the Motor as well.
 +
 +> The "Wait for move to complete" tickbox will force the code to wait for the actuator to reach its commanded position before continuing with the program. That is usually the option you need. With an analog sensor application you may want to untick it - that way as the sensor changes the value, the position of the actuator can be changed in near realtime to match, rather than waiting for the last move to complete first.
 +
 +^  Absolute Positioning example  ^  Relative positioning Example  ^  Position relative to sensor value  |
 +|{{:docs:blox:pasted:20240821-172203.png}}|{{:docs:blox:pasted:20240821-172227.png}}|{{:docs:blox:pasted:20240821-172304.png}}|
 +
 +----
 +
 +===== 6.4.2.6 Rotating =====
 +
 +You can also rotate the motor a number of partial and/or full rotations using the "Rotate Stepper Motor" block, in applications where the logic does not apply linearly, for example with a Stepper motor spinning Pan Head on a camera slider or similar
 +
 +Initialization:
 +
 +{{:docs:blox:pasted:20240827-122753.png}}
 +
 +Moving a rotational axis:
 +
 +{{:docs:blox:pasted:20240821-172734.png}}
 +
 +
  
  
docs/blox/examples-actuator.1724260349.txt.gz · Last modified: 2024/08/21 17:12 by admin

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