7
Electrical Enclosure:
• 7
th
AXIS
Please note there are several steps that refer to an optional 7
th
axis travel track. The robot
itself only requires 6 drivers and 6 motor plugs/cables. If you would like to build your
enclosure to accommodate a 7
th
axis you can add a 7
th
driver as well as a 7
th
plug and cable
but it is optional.
• Enable Circuit
Please note this assembly manual does not show wiring of the enable circuit. The enable
circuit will likely not be used by most and is used to disable the motor drivers. The enable
circuit disables each of the motor drives when 5vdc is applied to the enable terminals on the
driver. Keeping safety in mind; if you have an application where the robot needs to be guarded
by a “fence” circuit or safety door you can run +5vdc to all the ENA+ terminals and then
-5vdc to safety switch, and then back from the safety switch to each of the ENA- terminals.
When the safety switch is made and -5vdc is passed through the switch to the DIN rail enable
terminal the circuit will be completed and the drives will be disabled. It is not necessary to
use the enable circuit. For simplicity in design and lowest cost I chose to wire the E-Stop
button to cut off 24vdc to the drivers. Most inexpensive E-Stop buttons are normally closed
but if desired you could alternatively use a normally open E-Stop button or relay wired to the
enable circuit rather than disrupting the 24vdc supply to the drivers.
• Arduino Mega and 8 Channel Relay Board
Note the Arduino Mega and 8 channel relay board is not necessarily needed for the operation
of the robot itself. The Arduino Mega is a good low cost board that can accept 5vdc inputs
and outputs. The relay board has been included in the design for general purpose use or to
control a pneumatic gripper solenoid (please see chapter on Robot Gripper). The 8 channel
relay board can be used to control any higher voltage device or actuator that you may need
the robot to control.
• Arduino / Teensy 3.5 mount
This manual shows mounting the control boards in a 3D printed raised mount. It also shows
soldering female PCB pin headers to the Teensy 3.5. Alternatively you can use the Teensy 3.5
with male pins and a breadboard if desired. I prefer not to use breadboards and would rather
take the time to solder the female pins in place, as of this point in time the Teensy 3.5 is not
available with female header pins.
To Next Page
Loading...