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Building a new 6DIY

Discussion in 'DIY Motion Simulator Projects' started by Flymen, Aug 22, 2018.

  1. Flymen

    Flymen Flymen Gold Contributor

    Joined:
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    My Motion Simulator:
    DC motor, Arduino, 6DOF
    Hello , all of you, I am building a 6DIY and I don't have my license yet !!!! but soon !!
    Firts, I would like to say thank you to: SilentChill, pmvcda, Pierre Lalancette, sixdegreeofflight
    because these thanks to you that I embarked on this project of great challenge and as said: pmvcda, (my wife don't love you Silentchill ... haha) This is my first simulator and I hope to have your colaboration because I meet some difficulties .. I have completed a bench test kit to test every 6 DiY lineaires (see pic) and I would like your opinion. I will try to put every parts right here and link internet!!
    All goes well for the moment but I must get started in the programming of arduino uno ... thank you for your comment!
    • Like Like x 2
    Last edited: Sep 19, 2018
  2. Flymen

    Flymen Flymen Gold Contributor

    Joined:
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    My Motion Simulator:
    DC motor, Arduino, 6DOF
    Set up :
    1- Computer Alienware-Aurora-R7
    computer (1).jpg


    https://www.walmart.com/ip/Alienwar...9986&wl11=online&wl12=672989163&wl13=&veh=sem

    2- Oculus Rift
    oculus.jpg

    https://www.bestbuy.com/site/netgea...MD10002577-2320258205-4690911794-138240846200

    3- Racing Seat
    seat.jpg

    https://www.playseatstore.com/
    4-Steering G27
    steerig.jpg

    https://www.kijiji.ca/v-autres-jeux...27/1376371999?enableSearchNavigationFlag=true

    5- Simulator 6 DIY:
    a) Motor DC brushless 3 phases Kollmorgen Silverline with encoder .
    motor.jpg
    motor2.jpg


    https://www.ebay.com/itm/Kollmorgen...P-COMMUTATED-MODEL-H-344-H-0000-/173271004321

    B) Drive Advanced B30a8 ( http://servosystems.com/pdf/amc/b30a8.pdf )
    drive.jpg

    Sans titre.png
    https://www.ebay.com/p/AMC-B30A8-Brushless-Servo-Amplifier-20-80vdc/22012782025

    C) Ballscreew 1605/600 mm
    ballbearing.jpg

    https://fr.aliexpress.com/item/4-an....html?spm=a2g0w.search0204.0.0.74d066caxLodC9

    D) Encoder with the Motor DC
    Renco Encoders
    : RHS15D-1250-8MM-
    encoder2.jpg
    http://www.mykeyhole.com/optoresolver/resume/Designs/Renco_RHS15.pdf

    E)Power Supply 80v/15 amps

    -DC-80-Volts-15-Amp-1200-watt-transformateur-AC-DC-80.jpg_50x50.jpg
    https://fr.aliexpress.com/item/Swit...042.html?spm=a2g0s.9042311.0.0.40696c370NNDOI

    F) Joint Universel 12 mm

    12mm-Dia-Arbre-Moteur-Couplage-t-Universel.jpg_50x50 (1).jpg

    https://fr.aliexpress.com/item/12mm...657.html?spm=a2g0s.9042311.0.0.40696c370NNDOI

    G) Aluminium plate 7/16 , Extrude 50mm ,75mm and Rods 7/16 and 12mm.
    Aluminium tubing 600mm actuators

    extruder1.jpg extruder2.jpg rod (1).jpg

    http://www.acier-menard.com/( see price at this web link) aluplate.jpg

    H )Machining Tool =0$ by my sell !!!!
    usinage.jpg

    I) Arduino uno R3

    téléchargement.jpg
    https://store.arduino.cc/usa/arduino-uno-rev3

    J)( Tubing ) top lineair bearing and tubing !!! ( 30 od x 28 id x 600mm Carbon fiber )
    3-K-mm-5-mm.jpg_50x50.jpg
    https://fr.aliexpress.com/store/pro...l?spm=a2g0w.12010612.8148356.2.1db44c1fi4tQPn

    K) Top bearing lineair
    LMF6LUU-LMF60LUU-Longue-CCNC-ABEC1.jpg_50x50.jpg
    https://fr.aliexpress.com/item/LMF6...691e-4736-9f9b-4ebac42fbca3&priceBeautifyAB=0

    L) Plug AMP ( for power motor , encoder , feedback motor and limit switch)
    amp ma.jpg amp.jpg
    https://www.newark.com/amp-from-te-connectivity/206708-1/circular-connector-plug-size-13/dp/44F8388

    M) Grease MBU 15 ( lineaire bearing)
    kluber-nbu-15-isoflex-400g_LRG.jpg
    https://cnc-specialty-store.com/bea...MIybPduOCA3QIVk0wNCh2pwwuSEAAYASAAEgKT1vD_BwE

    N) Ball joint 3/8( top rod lineaire)
    ball joint.jpg
    https://www.vxb.com/CS12-12mm-L-Shape-Ball-Joint-Rod-End-Bearing-p/cs12.htm

    o) Relais 12 v ( emergency relais for limit switch 3 phases motor)
    relais 12v.jpg
    https://www.cdiscount.com/maison/r-relais+12vdc.html#_his_

    P) Braker 15 amps for power supply
    braker1.jpg
    https://poweredelectricsupply.com/p...lass-j-fuse-blocker-fuse-holder-w-ajt40-fuse/

    Attached Files:

    Last edited: Sep 18, 2018
  3. Flymen

    Flymen Flymen Gold Contributor

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    My Motion Simulator:
    DC motor, Arduino, 6DOF
    Photos :
    6A756EE1-0679-4FDB-B976-49281767B165.png
    110lbs test
    18C7846C-2505-4560-B3F3-6A00828F7A98.png 63F67984-74E4-45CA-9506-07817EFACAB8.jpeg [QUOT


    2A6A4D00-A867-4405-9B0A-2D73A8EE259C.jpeg
    6DA74389-D3BD-474C-A33B-1C4044827809.jpeg E=", post: 160747, "]Set up :


    [/QUOTE]
    • Like Like x 5
    Last edited: Sep 19, 2018
  4. pmvcda

    pmvcda Active Member

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    My Motion Simulator:
    6DOF
    Looks good.
    So, how are you connecting the Arduino to the AMC B30A8?

    (ALL THAT IS BELLOW, MIGHT BE COMPLETELY WRONG)

    From a quick reading, the AMC B30A8 accepts -10V to +10V for speed and direction control.
    You need to convert the Arduino PWM signal to a voltage range of -10v to 10v.
    For that I think you can use the internal power supply of the B30A8 with a level shifter like the ones I use (use -10v for GND and +10V for HV).

    There's no position sensing, so you have to read the hall signal (like I do now on my actuator) or get info from the encoder (way more resolution).
    From the encoder reference (http://www.mykeyhole.com/optoresolver/resume/Designs/Renco_RHS15.pdf or https://web.archive.org/web/2011011...ileadmin/files/Productinfo/RHS15Datasheet.pdf) it reads from 16 up to 1250 cycles per revolution.
    You have to see witch model you have.
    High value is hard to handle with an Arduino. Look for the reference to see witch ones you have.
    • Like Like x 1
  5. Flymen

    Flymen Flymen Gold Contributor

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    My Motion Simulator:
    DC motor, Arduino, 6DOF
    Hi ,
    arduino is not yet connected to the engine yet. My next step !!!
    for now I work with a potentiometer see video you tube!

    Pin fonction for drivre :4 and 5 Differential Reference Input (±10 V Operating Range, ±15 V Maximum Input) and arduino out put is 3.3v ,50 ma .e again ) May be it ok !!!(realy, i don't know ) if pin 5 at ground and 4 output to Arduino will work !!!!!;)
    drive in put.png
    On the other hand the encoder managed arduino but at each turn 360 degree the value varies and is not stable!
    thanks
    Last edited: Aug 22, 2018
  6. Flymen

    Flymen Flymen Gold Contributor

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    DC motor, Arduino, 6DOF
    The new guide to prevent rotation of the bearing and flexibility of the rod :0
    guide.JPG guide2.JPG guide3.JPG
    • Like Like x 2
  7. Flymen

    Flymen Flymen Gold Contributor

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    ]The new guide to prevent rotation of the bearing and flexibility of the rod :0



    IMG_0480.JPG IMG_0482.JPG IMG_0481.JPG
    1-New set up for holding the ball bearing and two set screw for holding carbon tube.
    2- I have alaways problem with the encoder .. I hade 1250 PPR and now ( new one) 200PPR and it 's not stable again ,when I do 360 degrees and I back at the home spot .. ( slowly ,it ok for 200ppr but faster.. some skip again ..) may be it my code ( Arduino code ) or I Must change again for 50PPR ….
    3- One of my lineaire rod is quaver ;( chiness quality or transport …)
    Last edited: Sep 5, 2018
  8. Flymen

    Flymen Flymen Gold Contributor

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    My Motion Simulator:
    DC motor, Arduino, 6DOF
    After some test the rotary encoder is not stable …. 1250-ppr and 200ppr !!
    I have 3 options : 1-see with 16ppr / 4500 rpm . 2-play with the hall signal like you ( but I'm not expert forthe code c++) 3 - Pot
    • Like Like x 1
  9. Flymen

    Flymen Flymen Gold Contributor

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    • Like Like x 2
  10. Flymen

    Flymen Flymen Gold Contributor

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    My Motion Simulator:
    DC motor, Arduino, 6DOF
    54733 IMG_0550.JPG IMG_0551.JPG

    All Joints are ready .. missing only the plates for twist !!!

    IMG_0547.JPG Next step : waiting level shifters to control input driver with Arduino !
    out put Arduino 0-5 volt / driver +-10 volt . !! those levels shifters out put are 1.8 volt to 10 volt , We will see if it ok !!

    encodeur Ls.png

    I have some problem with my encoder who work well at slow speed with arduino uno but when the motor is fast we missing some counts or the count repeat the same number !!
    I would like to know if this Chip ( LS7266R1 ) can resolve my problem ? :sos
    I`m waiting this Chip !!!
    • Like Like x 2
    Last edited: Sep 20, 2018
  11. Flymen

    Flymen Flymen Gold Contributor

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    DC motor, Arduino, 6DOF
  12. Thanos

    Thanos Active Member

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    My Motion Simulator:
    2DOF, 3DOF, DC motor, AC motor, Joyrider, Motion platform, 6DOF
    I have tried those LS7366R before from a robot kit, they work great, but their non existent availability and high price directly from the manufacturer, made it impossible to use on my projects. Instead I used a 32bit microcontoller to read each encoder so I can manipulate better the output signal to something that is easy to transmit, (instead of overloading the main controller with these huge 32bit readings). I'm retiring that product for a better replacement but you can see some info that might help you.
    https://www.tindie.com/products/Tronicgr/encoder2position-module/

    Thanks
    Thanos
    • Like Like x 1
  13. pmvcda

    pmvcda Active Member

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    Don't forget to mount the lower joints in a way they can't rotate (I don't know if that spring washer is enough).
    If you let them rotate at the bottom and at the top, the actuator will turn.
    I let them rotate in the upper mount.

    You could fix them at both ends, not allowing rotation. But for that we have to remove the guide that avoids rotation in the actuator and let the rotation "dissipate" on the rod.
    Since you are using an encoder, this is a possibility. It would introduce a small error in positioning, but I think with low importance.
    As a benefit it would be even more silent and with less friction.
    That's something I would do if I was to make a new actuator (or might do replacing the printed parts).
  14. Flymen

    Flymen Flymen Gold Contributor

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    My Motion Simulator:
    DC motor, Arduino, 6DOF
    plaque non twiste.JPG
    Yes thanks, that I Did . I must weld the plates to the joints .. next step !
    BUT .. I HAVE STILL PROBLEM WITH THE LEVEL SHIFTER ……
    the +/- REF of my drive need 0v to 10volt and with Arduino I have only 0v to 5 volt if i put 10 volt at out put of the level shifter , the minimum is 7.53 volt to 10.40 volt … it not that I want ..
    I want somethink like 0 volt to 10 volt !!! that I can control with Arduino ( 0-5v) ...
    Last edited: Sep 25, 2018
  15. pmvcda

    pmvcda Active Member

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    ???
    I think what they say is that you have to feed more than 1.8V in LV and less than 10V in HV.
    The output will be a value between 0 and the value you supply in LV or HV depending on the direction.
    Should work.
  16. pmvcda

    pmvcda Active Member

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    Like this:
    757-03.jpg

    10V is pin #1 and GND is pin #2 in your controller (from the datasheet)
    Try this way.
    To change direction you might have to use -10V in pin#3 instead of GND and then, in Arduino code you set speed to:
    PWM=0 for -10V
    PWM=127 for 0V
    PWM=255 for +10V
    • Agree Agree x 1
    Last edited: Sep 25, 2018
  17. Flymen

    Flymen Flymen Gold Contributor

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    plugss.JPG
    Thanks a lot to take your time to explain this .. I really appreciate it.
    New gift from post office today !!;) those plug will help me to do less mistake !!
    10 min after … evethink work good ! thanks a lot !!! :) https://www.xsimulator.net/community/members/pmvcda.4322/
    Last edited: Sep 25, 2018
  18. Thanos

    Thanos Active Member

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    https://www.tindie.com/products/Tronicgr/6ch-servo-signal-conditioner-kit/
  19. Flymen

    Flymen Flymen Gold Contributor

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    10V is pin #1 and GND is pin #2 in your controller (from the datasheet) = this way work ! 0v-10 volt :thumbs
    Try this way.

    level shifter 20v.png
    To change direction you might have to use -10V in pin#3 instead of GND and then, in Arduino code you set speed to:
    this way give me : 0v-20 volt and I can change direction , but I have a lot of crasy weird sound of the motor
    I used this code with potentiometer : https://www.arduino.cc/en/Tutorial/AnalogInOutSerial

    May be I must need to do this ?
    if I try :
    PMW= 0 to 127 for: 0 V to +10 V analogOutPin = 9 , -REF IN( down side)
    PMW=127 to 255 for : 0 V to +10 V analogOutPin = 10 , +REF IN( up side)
    https://www.xsimulator.net/community/members/pmvcda.4322/
    Last edited: Sep 26, 2018
  20. pmvcda

    pmvcda Active Member

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    Can it be the potentiometer?
    Remove the potentiometer and try this code:​
    Code:
    const int analogOutPin = 9; // Analog output pin
    
    int outputValue = 127;        // value output to the PWM (analog out)
    int increment=1;
    
    void setup() {
    pinMode(analogOutPin, OUTPUT);
      Serial.begin(9600);
    }
    
    void loop() {
     
     
      // change the analog out value:
      analogWrite(analogOutPin, outputValue);
    
      // print speed
      Serial.print("Speed = ");
      Serial.println(outputValue-127);
    
      // wait 100 milliseconds
      delay(100); // Change value to make change in speed faster or slower
    
    // Change speed
    outputValue+=increment;
    if(outputValue==255 || outputValue==0) increment=-increment;
    
    
    }
    It changes speed from 0 to 255 and 255 to 0 sequentially.
    The motor should increase speed in one direction, then decrease speed and change direction, and repeat.