https://reprap.org/mediawiki/api.php?action=feedcontributions&user=Stephen+George&feedformat=atomRepRap - User contributions [en]2024-03-28T21:56:00ZUser contributionsMediaWiki 1.30.0https://reprap.org/mediawiki/index.php?title=Stepper_motor&diff=16626Stepper motor2010-06-03T06:43:21Z<p>Stephen George: </p>
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<div><br style="clear:both"/><br />
[[image:StepperMotor-reprap-stepper.jpg|thumb]]<br />
__TOC__<br />
<br />
= What is a Stepper Motor ?=<br />
Stepper motors are an electric motor used in the robotics industry.<br />
Stepper motors move a known interval for each pulse of power. These pulses of power are provided by a stepper driver and is referred to as a step. As each step moves the motor a known distance it makes them handy devices for repeatable positioning. <br />
<br />
There are two major types of stepper motor known as bipolar and unipolar. Wikipedia has further information on stepper motors. Please see [http://en.wikipedia.org/wiki/Stepper_motor Wikipedia].<br />
<br />
<br />
= Terms=<br />
<br />
'''Nema''' - refers to the size of the motor. It specifies the “face” size of the motor but not it’s length. For example a Nema 23 stepper has a face of 2.3 inches by 2.3 inches with screw holes to match. Note just because a motor is bigger does not mean it is more powerful in terms of torque. It is perfectly possible for a Nema 14 to “out pull” a Nema 17 or a Nema 23.<br />
<br />
'''Bi polar and uni polar'''- These terms refers to the internals of the motor. Each type has a different stepper driver circuit board to control them. In theory a reprap could use either but in practise most are bipolar.<br />
<br />
<br />
== Bipolar Motors ==<br />
<br />
[[image:StepperMotor-bipolar_stepper_sch.png|thumb]]<br />
<br />
These motors are the strongest type of stepper motor. You identify them by counting the leads - there should be four or eight. They are also the type of motors we are using in the RepRap Project's Darwin design. They have two coils inside, and stepping the motor round is achieved by energising the coils and changing the direction of the current within those coils. This requires more complex electronics than a unipolar motor, so we use a special driver chip to take care of all that for us. Some designs (the eight-wire ones) split each coil in the middle so you can wire the motor either as bipolar (short the middles) or unipolar (short the middles and treat the link as the centre tap - see below).<br />
<br />
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<br />
== Unipolar Motors ==<br />
<br />
[[image:StepperMotor-unipolar_stepper_sch.png|thumb]]<br />
<br />
Unipolar motors have two coils, each one has a centre tap. They are readily recognizable because they have 5, 6 or even 8 leads. It is possible to drive some unipolar motors as bipolar motors if you ignore the centre tap wires. Their main beauty though is that you can step them without having to reverse the direction of current in any coil, which makes the electronics simpler. Some early RepRap prototypes used this trick. Because the centre tap is used to energise only half of each coil at a time, unipolar motors generally have less torque than bipolar motors.<br />
<br />
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<br />
==Stepping Angle==<br />
<br />
Most stepper motors used for a Mendel have a step angle of 1.8 Degrees. It is sometimes possible to use motors with larger step angles, however for printing to be accurate, they will need to be geared down to reduce the angle moved per step, which may lead to a slower maximum speed.<br />
<br />
<br />
= History =<br />
<br />
<br />
== Stepper Motor History for repraps Darwin (V1.0 reprap)==<br />
The darwin reprap type used a Nema 23 stepper motor. This stepper motor was a unipolar stepper motor which could be configured as a bipolar. This design used 3 stepper motors for each axis and a DC motor for it's extruder. Later many people upgraded their extruders to increase their control of the extruder. <br />
<br />
Note the Generation 2 electronics supported the first configuration with 3 stepper driver circuit boards for the steppers and a PWM circuit board to control the DC motor.<br />
<br />
The Darwin Stepper Motor Requirements were as follows:<br />
<br />
{| border="1"<br />
|-<br />
| '''Parameter''' || '''Specification''' <br />
|-<br />
| Size || NEMA 23 <br />
|-<br />
| Type || Bipolar <br />
|-<br />
| Shaft || dual-output shaft <br />
|-<br />
| Torque || 100 oz-in or abount 0.71 Nm <br />
|-<br />
| Resistance || about 10 ohms, or 1 to 30 ohms <br />
<br />
|}<br />
<br />
<br />
Note<br />
<br />
If you are using the [[DarwinStepperController_1_2|PIC controller]] (Note: Generation 1 electronics) you need a motor that will use about 1A per winding at 12v, that is - around 10 ohms. The Arduino circuit can be adjusted to accommodate a wider range of steppers, but remember that if you specify a low-resistance one and the Arduino controller has to chop the voltage to limit the current going through it, that will also limit the torque.<br />
<br />
== Stepper Motor History for repraps Mendel (V2.0 reprap)==<br />
The Mendel reprap type used either a Nema 17 or a Nema 14 Bi polar stepper motor. It uses four stepper motors. One for each axis and one for the extruder. <br />
<br />
Note this configuration of four stepper motors was supported by the 3rd generation electronics.<br />
<br />
The Mendel Stepper Motor Requirements were as follows:<br />
<br />
{| border="1"<br />
|-<br />
| '''Parameter''' || '''Specification''' <br />
|-<br />
| Size || NEMA 17 or 14 (prototype was Nema 14)<br />
|-<br />
| Type || Bipolar <br />
|-<br />
| Shaft || dual-output shaft <br />
|-<br />
| Torque || 13.7 N-cm (that is 1400 g-cm or 19.4 oz-in)<br />
|-<br />
| Resistance || ?<br />
<br />
|}<br />
<br />
<br />
=Holding Torque=<br />
<br />
It is recommended that you get approximately 13.7 N-cm (that is 1400 g-cm or 19.4 oz-in) of Holding Torque (or more) to avoid issues, although one stepper with less has been used successfully (see below). If in doubt, higher is better. If you need to convert between different units for the torque you can use the torque unit converter [http://www.numberfactory.com/nf%20torque.htm here].<br />
<br />
<br />
<br />
=Size=<br />
<br />
If going for the smaller NEMA 14 motors, aim for the high torque option. NEMA 14s are neater, lighter and smaller, but can be hard to get hold of with the appropriate holding torque. NEMA 17s are quite easy to get in the specification that Mendel needs, but are bulkier and less neat. NEMA 14s are running near the edge of their envelope: they will get warm. NEMA 17s are well inside what they can do, and will run much cooler.<br />
<br />
Note that any Mendel part that goes on to a Stepper Motor shaft expects the shaft to be roughly 5mm. If the shaft is a different size, you will need to make allowances for this in the parts you obtain/make.<br />
<br />
=Wiring=<br />
<br />
Steppers motors come in several wiring configurations. 4,6, and 8 wires are all fairly common. 5-wire version have been reported to exist. 5 wire versions won't work, the others will. See [[stepper wiring]] for more details.<br />
<br />
=Suppliers=<br />
<br />
Below is a list of possible suppliers and motors. Please add to it. If you have built a Mendel successfully with a given motor, remember to put {{true}} in the tested field.<br />
<br />
{| class="wikitable sortable"<br />
|+ ''Stepper Motors - Nema 14 (Smaller, neater and used on the Mendel prototype)''<br />
|-<br />
| Vendor (with link) || Shipping location || Manufacturer || Model # || Datasheet || NEMA (Size) || Holding Torque || Shaft || Tested || Additional notes<br />
|-<br />
| [http://www.motioncontrolproducts.com/ Motion Control Products] || ? || Fulling Motor<br />
| FL35ST36-1004B<br />
| [[Media:NEMA14-high-torque.pdf|FL35ST36-1004B Datasheet]]<br />
| 14 || ~13.7 N-cm || Dual || {{true}} || Used in mendel prototype<br />
|-<br />
| [http://www.active-robots.com/ Active Robots] || UK || Wantai<br />
| [http://www.phidgets.com/products.php?category=23&product_id=3301 35BYHG04]<br />
| [http://www.phidgets.com/documentation/Phidgets/3301Datasheet.pdf 35BYHG04 Datasheet]<br />
| 14 || ~12.3 N-cm || 4.9mm || {{true}} || Less Holding Torque than recommended, but has apparently been used successfully<br />
|-<br />
| [http://www.pololu.com/ Pololu] || US || [http://www.cnsoyo.com/ SOYO] || SY35ST36-1004A || ? || 14 || ~13.7 N-cm || 5mm || '''?''' || Note: Pololu list this motor as 1400 g-cm AND as 20 oz-in (converts to 19.44 oz-in). According to supplier information, the metric value is correct.<br />
|}<br />
<br />
<br />
<br />
{| class="wikitable sortable"<br />
|+ ''Stepper Motors - Nema 17 (larger and generally heavier but with more room to put a higher torque than a Nema 14)''<br />
|-<br />
| Vendor (with link) || Shipping location || Manufacturer || Model # || Datasheet || NEMA (Size) || Holding Torque || Shaft || Tested || Additional notes<br />
|-<br />
| [http://www.slidesandballscrews.com/stepper-motors-c-45.html Zapp Automation]<br />
| UK || [http://www.cnsoyo.com/ SOYO] || SY42STH47-1206A<br />
| [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1206A.pdf SY42STH47-1206A Datasheet]<br />
| 17 || ~31.1 N-cm || Single || {{true}} || None<br />
|-<br />
| [http://www.slidesandballscrews.com/stepper-motors-c-45.html Zapp Automation]<br />
| UK || [http://www.cnsoyo.com/ SOYO] || [http://www.slidesandballscrews.com/sy42sth471684b-p-255.html?cPath=45_80 SY42STH47-1684B]<br />
| [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1684B.pdf SY42STH47-1684B Datasheet]<br />
| 17 || ~43.1 N-cm || Dual || {{true}} || Round Ø5mm Shafts<br />
|-<br />
| [http://www.slidesandballscrews.com/stepper-motors-c-45.html Zapp Automation]<br />
| UK || [http://www.cnsoyo.com/ SOYO] || [http://www.slidesandballscrews.com/sy42sth471684a-p-315.html?cPath=45_80 SY42STH47-1684A]<br />
| [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1684A.pdf SY42STH47-1684A Datasheet]<br />
| 17 || ~43.1 N-cm || Single || '''?''' || D-Shape 5mm shaft with 4.5mm flat<br />
|-<br />
| [http://www.coolcomponents.co.uk/ Cool Components] || UK || Mercury Motor || [http://www.coolcomponents.co.uk/catalog/product_info.php?products_id=469 SM-42BYGH011-25]<br />
| [http://www.sparkfun.com/datasheets/Robotics/SM-42BYG011-25.pdf SM-42BYG011 Datasheet]<br />
| 17 || 23 N-cm || 5mm || ? || None<br />
|-<br />
| [http://www.interinar.com/step-motors.html Interinar Electronics, LLC] || US || Oriental Motors<br />
| [http://www.interinar.com/vexta-px243m-01aa.html Vexta PX243M-01AA]<br />
| [http://www.interinar.com/public_docs/PX243M-01AA.pdf PX243M-01AA Datasheet]<br />
| 17 || 15 N-cm || Single || '''?''' || Not strong enough for direct drive extruder, Uses Imperial #4-40 TPI mounting holes instead of M3 metric<br />
|-<br />
| [http://www.alltronics.com/cgi-bin/category.cgi?category=55 Alltronics.com] || US || Lin Engineering<br />
| [http://www.alltronics.com/cgi-bin/item/28M035/search/Lin-Engineering-4218L-01-10-bipolar-stepper-motor 4218L-01-10]<br />
| [http://www.alltronics.com/mas_assets/acrobat/28M035.pdf 4218L-01-10 Datasheet]<br />
| 17 || ~53 N-cm || 3/16 inch = 4.7625 mm (Round) || {{true}} || None<br />
|-<br />
| [http://www.alltronics.com/cgi-bin/category.cgi?category=55 Alltronics.com] || US || Lin Engineering<br />
| [http://www.alltronics.com/cgi-bin/item/24M014/search/Lin-Engineering-Nema-17-1.8deg-24V-2A-bipolar-stepper-motor 4218L-01-11]<br />
| [http://www.alltronics.com/mas_assets/acrobat/24M014.pdf 4218L-01-11 Datasheet]<br />
| 17 (?) || ~53 N-cm || ~5 mm = 0.1968 inches (D-Shape) || {{true}} || None<br />
|-<br />
| [http://www.phidgets.com/products.php?category=23 Phidgets.com] || US || Wantai<br />
| [http://www.phidgets.com/products.php?category=23&product_id=3303 42BYGHW811]<br />
| [http://www.phidgets.com/documentation/Phidgets/3303Datasheet.pdf 42BYGHW811 Datasheet]<br />
| 17 || ~47.1 N-cm || 4.9mm || '''?''' || None<br />
|-<br />
| [http://www.sparkfun.com/ SparkFun] || US || Mercury Motor || SM-42BYG011 || [http://www.sparkfun.com/datasheets/Robotics/SM-42BYG011-25.pdf SM-42BYG011 Datasheet] || 17 || 23 N-cm || 5mm || {{true}} || None<br />
|-<br />
| [http://www.robotgear.com.au Robot Gear] || AU || Mercury Motor || SM-42BYG011-25<br />
| [http://www.robotgear.com.au/Cache/Files/Files/118_Stepper%20Motor%20Datasheet%20SM-42BYG011-25.pdf SM-42BYG011 Datasheet]<br />
| 17 || 23 N-cm || 5mm || {{true}} || None<br />
|-<br />
| [http://mindkits.co.nz/ Mindkits] || NZ || Mercury Motor || SM-42BYG011 || [http://www.sparkfun.com/datasheets/Robotics/SM-42BYG011-25.pdf SM-42BYG011 Datasheet] || 17 || 23 N-cm || 5mm || {{true}} || None<br />
|-<br />
| [http://ausxmods.com.au/ AusXMods] || AU || Rugao Xinhe || 17H185H-04A || ? || 17 || ~43.8 N-cm || ? || '''?''' || None<br />
|-<br />
| [http://store.kysanelectronics.com Kysan] || China || [http://store.kysanelectronics.com Kysan] || 42BYGH4803 || [http://store.kysanelectronics.com/servlet/-strse-68835/42BYGH4803/Detail Datasheet]|| 17 || 49 N-cm || 5mm || {{true}} || Successfully tested with [http://objects.reprap.org/wiki/Geared_Nema17_Extruder Wade's Geared Nema 17] extruder - high flow rates.<br />
|}<br />
<br />
<br />
<br />
=Unscientific rules of thumb for motor purchases=<br />
<br />
1) The longer the motor body generally the more torque the motor has.<br />
<br />
2) If a motor is rated 2.5A and your stepper driver produces only 2A your motor may not produce the manufactures rated torque.<br />
<br />
3) If a motor is rated 35 volts and your stepper produces only 12 volts your motor may not produce the manufactures rated torque.<br />
<br />
4) A motor can exceed it's rated voltage but will produce more heat. This may not be a problem in Bath/England but may be a problem in warmer climes.<br />
<br />
5) Stepper Motors should not exceed 65c.<br />
<br />
6) ABS melts at 120C but softens at 80C.<br />
<br />
7) Power is measured in Watts and is calculated at Volts X Current.<br />
<br />
8) Power made available to a motor will be turned into heat and motion.<br />
<br />
9) The more power made available to the motor the higher the amount of heat and motion.<br />
<br />
10) Power and torque are related. The more power the more torque.<br />
<br />
<br />
<br />
<br />
= Driving those motors =<br />
<br />
== Open Source Stepper Motor Drivers ==<br />
<br />
=== RepRap Stepper Motor Driver v1.x ===<br />
<br />
[[image:cache-2950488044_8ba115bd24_m.jpg|link=http://make.rrrf.org/smd-1.2]]<br />
<br />
The first generation of RepRap stepper motor drivers. <br />
(Note: These boards were used in the generation 2 collection of electronics.) Uses the L297/L298 stepper motor driver combo. Half-stepping. Handles up to 2A. All through hole. A nice, solid driver. It uses some old technology, so its not as fancy as the newer stepper drivers, but it gets the job done. [[Stepper_Motor_Driver_1_2|Read the documentation page here]].<br />
<br />
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<br />
=== RepRap Stepper Motor Driver v2.x ===<br />
<br />
[[image:cache-3218206144_6461b3e2c0_m.jpg|link=http://make.rrrf.org/smd-2.3]]<br />
<br />
The second generation of RepRap stepper motor drivers. <br />
(Note: These boards were used in the generation 3 collection of electronics but could be retrograded to generation 2)<br />
<br />
Uses the Allegro A3982 chip which does a bunch of nice things and makes the board much simpler. It also drops the price by $10 compared to the v1.x series. It can handle up to 2A, does half-stepping. The only downside is that its SMT, which can be a bit scary for people. Its all large SMT parts, so its pretty simple to solder it, especially with the solder paste / hotplate method. [[Stepper_Motor_Driver_2_3|Read the documentation page here]].<br />
<br />
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<br />
=== AVRSTMD ===<br />
<br />
[http://www.avrstmd.com/ AVRSTMD] - An open source microstepping driver that uses an atmega168 and current limited h-bridges. Very rad circuit.<br />
<br />
----<br />
<br />
= WARNING =<br />
<br />
The infomation below is given for reference purposes only and was taken from a previous wiki page.<br />
The specs of stepper motors can change. Always check with the supplier's specification. <br />
This data could well be out of date.<br />
<br />
<br />
== Wiring Your Stepper ==<br />
<br />
Pretty much all of our RepRap electronics are designed for Bipolar stepper motors. Every bipolar stepper motor has 4 wires that need to be wired to the driver board. These are labeled A, B, C, and D for lack of better terms. A and B are connected, as well as C and D. You can generally find out which wires are connected using a multimeter to measure the resistance. If you measure a small resistance (1-30 ohm) then they are connected. Generally, they are color coded and we have datasheets available, so things are easy.<br />
<br />
=== NEMA 17 Motors ===<br />
<br />
==== Lin Engineering / 4118S-62-07 ====<br />
<br />
[[image:cache-stepper-motor-nema17.jpg|link=http://store.makerbot.com/featured-products/nema-17-stepper-motor.html]]<br />
<br />
This is an awesome little NEMA17 stepper motor. It is the primary motor used on the Cupcake CNC. It has good torque and a small size. Here are some of the specs:<br />
<br />
* 200 steps per revolution (1.8 deg/step)<br />
* 2.5A / phase<br />
* Phase Resistance: 0.6ohm<br />
* Phase inductance: .93mH<br />
* Holding torque: 3240g-cm or about 0.31 Nm<br />
* Shaft diameter: 0.190"<br />
* Shaft length: 0.50"<br />
* Motor depth: 1.34"<br />
<br />
NEMA-17 is a standard motor mounting geometry. The outside of the motor housing is 1.7"x1.7".<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Red <br />
|-<br />
| B || Blue <br />
|-<br />
| C || Green <br />
|-<br />
| D || Black <br />
|}<br />
<br />
'''Suppliers'''<br />
<br />
* [http://store.rrrf.org/product_info.php?products_id=59 MakerBot Industries]<br />
<br />
'''Technical Information'''<br />
<br />
* [http://svn.makerbot.com/assets/datasheets/4118S-62-07.pdf Datasheet]<br />
<br />
<br clear="all"/><br />
<br />
==== Zapp Automation / SY42STH47-1684B ====<br />
<br />
* 200 steps per revolution (1.8 deg/step)<br />
* Rated Current 1.68A<br />
* Phase Resistance: 1.65ohm<br />
* Phase inductance: 2.8mH<br />
* Holding torque: 4.4Kg-cm<br />
* Shaft diameter: 5mm<br />
* Shaft length: 22mm<br />
* Motor depth: 47mm<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Black <br />
|-<br />
| B || Red<br />
|-<br />
| C || Green <br />
|-<br />
| D || Blue <br />
|}<br />
<br />
'''Suppliers'''<br />
<br />
'''Technical Information'''<br />
<br />
* [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1684B.pdf Datasheet]<br />
<br />
=== NEMA 23 Motors ===<br />
<br />
==== Nanotec ST5709S1208-B ====<br />
<br />
This was the original standard RepRap stepper motor. It has 400 steps to one revolution (0.9<sup>o</sup> per step). It actually has 4 coils (which means it can be wired as both a bipolar and unipolar), but we join up the wires to turn it into a bipolar motor.<br />
<br />
'''Bipolar - Serial'''<br />
<br />
This configuration is suited for our driver boards. It has higher impedance and higher ohms which means it draws less current. In this mode its ideally matched to our L298 based boards. In this wiring setup it can handle 0.85 amps, which is just right. We recommend wiring it in this configuration.<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Red <br />
|-<br />
| B || Black <br />
|-<br />
| C || Green <br />
|-<br />
| D || Yellow <br />
<br />
|}<br />
<br />
You will also need to splice the following wires together:<br />
<br />
* '''Red/White''' and '''Black/White'''<br />
* '''Green/White''' and '''Yellow/White'''<br />
<br />
[[image:cache-dsc03106.jpg|link=http://picasaweb.google.co.uk/VikOlliver/RepRap02/photo#5072881971638806162]]<br />
<br />
'''Bipolar - Parallel'''<br />
<br />
This configuration offers higher performance. It has lower impedance, and lower resistance. That means you can push more electrons through, at a faster rate. That basically means it will operate much better. However, it will draw about 1.7 amps, which at the upper end of what the L298 is capable of delivering. We do not recommend wiring it like this.<br />
<br />
Keep in mind that two wires make up the start and end of each coil.<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Red and Black/White <br />
|-<br />
| B || Black and Red/White <br />
|-<br />
| C || Green and Yellow/White <br />
|-<br />
| D || Yellow and Green/White <br />
<br />
|}<br />
<br />
'''Suppliers'''<br />
<br />
* [http://uk.farnell.com/jsp/endecaSearch/partDetail.jsp?SKU=4743155 ST5709S1208-B stepper motor from Farnell]<br />
* [http://www.nanotec.com/page_product__st5709__en.html Nanotec Gmbh] - Supplier / Manufacturer<br />
<br />
'''Technical Information'''<br />
* [http://www.nanotec.com/downloads/pdf/1349/ST5709S1208.pdf Datasheet]<br />
* [http://www.nanotec.com/steppermotor_st5709.html#kennlinien Torque/Speed Curve]<br />
<br />
==== Keling KL23H51-24-08B ====<br />
<br />
[[image:cache-2122608287_2c91e1ae6e_m.jpg|link=http://flickr.com/photos/hoeken/2122608287/]]<br />
<br />
This is the RepRap stepper motor for the Arduino controller. It has 200 steps to one revolution (1.8<sup>o</sup> per step). It actually has 4 coils (which means it can be wired as both a bipolar and unipolar), but we join up the wires to turn it into a bipolar motor. It is much cheaper than the Nanotec, and with half-stepping it is almost as accurate.<br />
<br />
<br />
'''Bipolar - Serial'''<br />
<br />
This configuration is suited for our driver boards. It has higher impedance and higher ohms which means it draws less current. In this mode its ideally matched to our L298 based boards. In this wiring setup it can handle 1.5 amps, which is just right. We recommend wiring it in this configuration.<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Blue <br />
|-<br />
| B || Green <br />
|-<br />
| C || Brown <br />
|-<br />
| D || White <br />
<br />
|}<br />
<br />
You will also need to splice the following wires together:<br />
<br />
* '''Red''' and '''Yellow'''<br />
* '''Black''' and '''Orange'''<br />
<br />
'''Bipolar - Parallel'''<br />
<br />
This configuration offers higher performance. It has lower impedance, and lower resistance. That means you can push more electrons through, at a faster rate. That basically means it will operate much better. However, it will draw about 3 amps, which our L298 is just not capable of delivering. We do not recommend wiring it like this.<br />
<br />
Keep in mind that two wires make up the start and end of each coil.<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Blue and Yellow <br />
|-<br />
| B || Red and Green <br />
|-<br />
| C || Brown and Orange <br />
|-<br />
| D || Black and White <br />
<br />
|}<br />
<br />
'''Suppliers'''<br />
<br />
* [http://store.makerbot.com/stepper-motor-nema-23-keling-kl23h51-24-08b.html MakerBot Industries]<br />
* [http://www.kelinginc.net/NEMA23Motor.html Keling Inc.] - The manufacturer/supplier. #5 on the list.<br />
<br />
'''Technical Information'''<br />
<br />
* [http://www.kelinginc.net/KL23H255-21-8A.pdf Datasheet]<br />
* [http://www.kelinginc.net/KL23H251-24-8BT.pdf Torque/Speed Curve]<br />
<br />
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<br />
==== FL57STH51-2808A (axis extending 1 way) and FL57STH51-3008B (axis 2 ways like the picture) ====<br />
<br />
[[image:StepperMotor-StepperFL57STH51-2808A.jpg|thumb]]<br />
<br />
The stepper motors are provided by [http://www.bitsfrombytes.com/ Bits From Bytes]. They come in two variations. Bought three from Bits From Bytes and I got one with the axis through and extending from both ends, and two with the axis extending one side. Their weight is slightly above 0.6 kg (I measured 619 gram).<br />
<br />
To make the unipolar stepper a bipolar one, connect these wires together:<br />
<br />
* Blue and Red/White<br />
* Green and Black/white <br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Blue/white <br />
|-<br />
| B || Red <br />
|-<br />
| C || Green/white <br />
|-<br />
| D || Black <br />
<br />
|}<br />
<br />
Datasheets: <br />
[http://www.motioncontrolproducts.co.uk/pdf/FL57STH51-3008B.pdf FL57STH51-3008B].<br />
[http://www.motioncontrolproducts.co.uk/pdf/FL57STH56-2008B.pdf FL57STH56-2008B]<br />
<br />
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<br />
==== Lin Engineering 5718X-05S ====<br />
<br />
[[image:StepperMotor-motor_5704.jpg|thumb]]<br />
<br />
The [http://www.linengineering.com//site/products/5718.html 5718X-05S] has the right specification to drive RepRap from the [[DarwinStepperController_1_2|PIC controllers]] '''but we haven't tested it yet'''. It should work with the Arduino electronics too. It has 200 steps per revolution, so you need to set the controller to half-step it to get the resolution needed. Take care to get the model where the output shaft comes out front and back, not just at the front.<br />
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<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
[[Category:Twiki]]</div>Stephen Georgehttps://reprap.org/mediawiki/index.php?title=Stepper_motor&diff=16625Stepper motor2010-06-03T06:28:25Z<p>Stephen George: </p>
<hr />
<div><br style="clear:both"/><br />
[[image:StepperMotor-reprap-stepper.jpg|thumb]]<br />
__TOC__<br />
<br />
= What is a Stepper Motor ?=<br />
Stepper motors are an electric motor used in the robotics industry.<br />
Stepper motors move a known interval for each pulse of power. These pulses of power are provided by a stepper driver and is referred to as a step. As each step moves the motor a known distance it makes them handy devices for repeatable positioning. <br />
<br />
There are two major types of stepper motor known as bipolar and unipolar. Wikipedia has further information on stepper motors. Please see [http://en.wikipedia.org/wiki/Stepper_motor Wikipedia].<br />
<br />
<br />
= Terms=<br />
<br />
'''Nema''' - refers to the size of the motor. It specifies the “face” size of the motor but not it’s length. For example a Nema 23 stepper has a face of 2.3 inches by 2.3 inches with screw holes to match. Note just because a motor is bigger does not mean it is more powerful in terms of torque. It is perfectly possible for a Nema 14 to “out pull” a Nema 17 or a Nema 23.<br />
<br />
'''Bi polar and uni polar'''- These terms refers to the internals of the motor. Each type has a different stepper driver circuit board to control them. In theory a reprap could use either but in practise most are bipolar.<br />
<br />
<br />
== Bipolar Motors ==<br />
<br />
[[image:StepperMotor-bipolar_stepper_sch.png|thumb]]<br />
<br />
These motors are the strongest type of stepper motor. You identify them by counting the leads - there should be four or eight. They are also the type of motors we are using in the RepRap Project's Darwin design. They have two coils inside, and stepping the motor round is achieved by energising the coils and changing the direction of the current within those coils. This requires more complex electronics than a unipolar motor, so we use a special driver chip to take care of all that for us. Some designs (the eight-wire ones) split each coil in the middle so you can wire the motor either as bipolar (short the middles) or unipolar (short the middles and treat the link as the centre tap - see below).<br />
<br />
<br clear="all"><br />
<br />
== Unipolar Motors ==<br />
<br />
[[image:StepperMotor-unipolar_stepper_sch.png|thumb]]<br />
<br />
Unipolar motors have two coils, each one has a centre tap. They are readily recognizable because they have 5, 6 or even 8 leads. It is possible to drive some unipolar motors as bipolar motors if you ignore the centre tap wires. Their main beauty though is that you can step them without having to reverse the direction of current in any coil, which makes the electronics simpler. Some early RepRap prototypes used this trick. Because the centre tap is used to energise only half of each coil at a time, unipolar motors generally have less torque than bipolar motors.<br />
<br />
<br clear="all"><br />
<br />
= History =<br />
<br />
<br />
== Stepper Motor History for repraps Darwin (V1.0 reprap)==<br />
The darwin reprap type used a Nema 23 stepper motor. This stepper motor was a unipolar stepper motor which could be configured as a bipolar. This design used 3 stepper motors for each axis and a DC motor for it's extruder. Later many people upgraded their extruders to increase their control of the extruder. <br />
<br />
Note the Generation 2 electronics supported the first configuration with 3 stepper driver circuit boards for the steppers and a PWM circuit board to control the DC motor.<br />
<br />
The Darwin Stepper Motor Requirements were as follows:<br />
<br />
{| border="1"<br />
|-<br />
| '''Parameter''' || '''Specification''' <br />
|-<br />
| Size || NEMA 23 <br />
|-<br />
| Type || Bipolar <br />
|-<br />
| Shaft || dual-output shaft <br />
|-<br />
| Torque || 100 oz-in or abount 0.71 Nm <br />
|-<br />
| Resistance || about 10 ohms, or 1 to 30 ohms <br />
<br />
|}<br />
<br />
<br />
Note<br />
<br />
If you are using the [[DarwinStepperController_1_2|PIC controller]] (Note: Generation 1 electronics) you need a motor that will use about 1A per winding at 12v, that is - around 10 ohms. The Arduino circuit can be adjusted to accommodate a wider range of steppers, but remember that if you specify a low-resistance one and the Arduino controller has to chop the voltage to limit the current going through it, that will also limit the torque.<br />
<br />
== Stepper Motor History for repraps Mendel (V2.0 reprap)==<br />
The Mendel reprap type used either a Nema 17 or a Nema 14 Bi polar stepper motor. It uses four stepper motors. One for each axis and one for the extruder. <br />
<br />
Note this configuration of four stepper motors was supported by the 3rd generation electronics.<br />
<br />
The Mendel Stepper Motor Requirements were as follows:<br />
<br />
{| border="1"<br />
|-<br />
| '''Parameter''' || '''Specification''' <br />
|-<br />
| Size || NEMA 17 or 14 (prototype was Nema 14)<br />
|-<br />
| Type || Bipolar <br />
|-<br />
| Shaft || dual-output shaft <br />
|-<br />
| Torque || 13.7 N-cm (that is 1400 g-cm or 19.4 oz-in)<br />
|-<br />
| Resistance || ?<br />
<br />
|}<br />
<br />
<br />
=Holding Torque=<br />
<br />
It is recommended that you get approximately 13.7 N-cm (that is 1400 g-cm or 19.4 oz-in) of Holding Torque (or more) to avoid issues, although one stepper with less has been used successfully (see below). If in doubt, higher is better. If you need to convert between different units for the torque you can use the torque unit converter [http://www.numberfactory.com/nf%20torque.htm here].<br />
<br />
=Stepping Angle=<br />
<br />
Most stepper motors used for a Mendel have a step angle of 1.8 Degrees. It is sometimes possible to use motors with larger step angles, however for printing to be accurate, they will need to be geared down to reduce the angle moved per step, which may lead to a slower maximum speed.<br />
<br />
=Size=<br />
<br />
If going for the smaller NEMA 14 motors, aim for the high torque option. NEMA 14s are neater, lighter and smaller, but can be hard to get hold of with the appropriate holding torque. NEMA 17s are quite easy to get in the specification that Mendel needs, but are bulkier and less neat. NEMA 14s are running near the edge of their envelope: they will get warm. NEMA 17s are well inside what they can do, and will run much cooler.<br />
<br />
Note that any Mendel part that goes on to a Stepper Motor shaft expects the shaft to be roughly 5mm. If the shaft is a different size, you will need to make allowances for this in the parts you obtain/make.<br />
<br />
=Wiring=<br />
<br />
Steppers motors come in several wiring configurations. 4,6, and 8 wires are all fairly common. 5-wire version have been reported to exist. 5 wire versions won't work, the others will. See [[stepper wiring]] for more details.<br />
<br />
=Suppliers=<br />
<br />
Below is a list of possible suppliers and motors. Please add to it. If you have built a Mendel successfully with a given motor, remember to put {{true}} in the tested field.<br />
<br />
{| class="wikitable sortable"<br />
|+ ''Stepper Motors - Nema 14 (Smaller, neater and used on the Mendel prototype)''<br />
|-<br />
| Vendor (with link) || Shipping location || Manufacturer || Model # || Datasheet || NEMA (Size) || Holding Torque || Shaft || Tested || Additional notes<br />
|-<br />
| [http://www.motioncontrolproducts.com/ Motion Control Products] || ? || Fulling Motor<br />
| FL35ST36-1004B<br />
| [[Media:NEMA14-high-torque.pdf|FL35ST36-1004B Datasheet]]<br />
| 14 || ~13.7 N-cm || Dual || {{true}} || Used in mendel prototype<br />
|-<br />
| [http://www.active-robots.com/ Active Robots] || UK || Wantai<br />
| [http://www.phidgets.com/products.php?category=23&product_id=3301 35BYHG04]<br />
| [http://www.phidgets.com/documentation/Phidgets/3301Datasheet.pdf 35BYHG04 Datasheet]<br />
| 14 || ~12.3 N-cm || 4.9mm || {{true}} || Less Holding Torque than recommended, but has apparently been used successfully<br />
|-<br />
| [http://www.pololu.com/ Pololu] || US || [http://www.cnsoyo.com/ SOYO] || SY35ST36-1004A || ? || 14 || ~13.7 N-cm || 5mm || '''?''' || Note: Pololu list this motor as 1400 g-cm AND as 20 oz-in (converts to 19.44 oz-in). According to supplier information, the metric value is correct.<br />
|}<br />
<br />
<br />
<br />
{| class="wikitable sortable"<br />
|+ ''Stepper Motors - Nema 17 (larger and generally heavier but with more room to put a higher torque than a Nema 14)''<br />
|-<br />
| Vendor (with link) || Shipping location || Manufacturer || Model # || Datasheet || NEMA (Size) || Holding Torque || Shaft || Tested || Additional notes<br />
|-<br />
| [http://www.slidesandballscrews.com/stepper-motors-c-45.html Zapp Automation]<br />
| UK || [http://www.cnsoyo.com/ SOYO] || SY42STH47-1206A<br />
| [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1206A.pdf SY42STH47-1206A Datasheet]<br />
| 17 || ~31.1 N-cm || Single || {{true}} || None<br />
|-<br />
| [http://www.slidesandballscrews.com/stepper-motors-c-45.html Zapp Automation]<br />
| UK || [http://www.cnsoyo.com/ SOYO] || [http://www.slidesandballscrews.com/sy42sth471684b-p-255.html?cPath=45_80 SY42STH47-1684B]<br />
| [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1684B.pdf SY42STH47-1684B Datasheet]<br />
| 17 || ~43.1 N-cm || Dual || {{true}} || Round Ø5mm Shafts<br />
|-<br />
| [http://www.slidesandballscrews.com/stepper-motors-c-45.html Zapp Automation]<br />
| UK || [http://www.cnsoyo.com/ SOYO] || [http://www.slidesandballscrews.com/sy42sth471684a-p-315.html?cPath=45_80 SY42STH47-1684A]<br />
| [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1684A.pdf SY42STH47-1684A Datasheet]<br />
| 17 || ~43.1 N-cm || Single || '''?''' || D-Shape 5mm shaft with 4.5mm flat<br />
|-<br />
| [http://www.coolcomponents.co.uk/ Cool Components] || UK || Mercury Motor || [http://www.coolcomponents.co.uk/catalog/product_info.php?products_id=469 SM-42BYGH011-25]<br />
| [http://www.sparkfun.com/datasheets/Robotics/SM-42BYG011-25.pdf SM-42BYG011 Datasheet]<br />
| 17 || 23 N-cm || 5mm || ? || None<br />
|-<br />
| [http://www.interinar.com/step-motors.html Interinar Electronics, LLC] || US || Oriental Motors<br />
| [http://www.interinar.com/vexta-px243m-01aa.html Vexta PX243M-01AA]<br />
| [http://www.interinar.com/public_docs/PX243M-01AA.pdf PX243M-01AA Datasheet]<br />
| 17 || 15 N-cm || Single || '''?''' || Not strong enough for direct drive extruder, Uses Imperial #4-40 TPI mounting holes instead of M3 metric<br />
|-<br />
| [http://www.alltronics.com/cgi-bin/category.cgi?category=55 Alltronics.com] || US || Lin Engineering<br />
| [http://www.alltronics.com/cgi-bin/item/28M035/search/Lin-Engineering-4218L-01-10-bipolar-stepper-motor 4218L-01-10]<br />
| [http://www.alltronics.com/mas_assets/acrobat/28M035.pdf 4218L-01-10 Datasheet]<br />
| 17 || ~53 N-cm || 3/16 inch = 4.7625 mm (Round) || {{true}} || None<br />
|-<br />
| [http://www.alltronics.com/cgi-bin/category.cgi?category=55 Alltronics.com] || US || Lin Engineering<br />
| [http://www.alltronics.com/cgi-bin/item/24M014/search/Lin-Engineering-Nema-17-1.8deg-24V-2A-bipolar-stepper-motor 4218L-01-11]<br />
| [http://www.alltronics.com/mas_assets/acrobat/24M014.pdf 4218L-01-11 Datasheet]<br />
| 17 (?) || ~53 N-cm || ~5 mm = 0.1968 inches (D-Shape) || {{true}} || None<br />
|-<br />
| [http://www.phidgets.com/products.php?category=23 Phidgets.com] || US || Wantai<br />
| [http://www.phidgets.com/products.php?category=23&product_id=3303 42BYGHW811]<br />
| [http://www.phidgets.com/documentation/Phidgets/3303Datasheet.pdf 42BYGHW811 Datasheet]<br />
| 17 || ~47.1 N-cm || 4.9mm || '''?''' || None<br />
|-<br />
| [http://www.sparkfun.com/ SparkFun] || US || Mercury Motor || SM-42BYG011 || [http://www.sparkfun.com/datasheets/Robotics/SM-42BYG011-25.pdf SM-42BYG011 Datasheet] || 17 || 23 N-cm || 5mm || {{true}} || None<br />
|-<br />
| [http://www.robotgear.com.au Robot Gear] || AU || Mercury Motor || SM-42BYG011-25<br />
| [http://www.robotgear.com.au/Cache/Files/Files/118_Stepper%20Motor%20Datasheet%20SM-42BYG011-25.pdf SM-42BYG011 Datasheet]<br />
| 17 || 23 N-cm || 5mm || {{true}} || None<br />
|-<br />
| [http://mindkits.co.nz/ Mindkits] || NZ || Mercury Motor || SM-42BYG011 || [http://www.sparkfun.com/datasheets/Robotics/SM-42BYG011-25.pdf SM-42BYG011 Datasheet] || 17 || 23 N-cm || 5mm || {{true}} || None<br />
|-<br />
| [http://ausxmods.com.au/ AusXMods] || AU || Rugao Xinhe || 17H185H-04A || ? || 17 || ~43.8 N-cm || ? || '''?''' || None<br />
|-<br />
| [http://store.kysanelectronics.com Kysan] || China || [http://store.kysanelectronics.com Kysan] || 42BYGH4803 || [http://store.kysanelectronics.com/servlet/-strse-68835/42BYGH4803/Detail Datasheet]|| 17 || 49 N-cm || 5mm || {{true}} || Successfully tested with [http://objects.reprap.org/wiki/Geared_Nema17_Extruder Wade's Geared Nema 17] extruder - high flow rates.<br />
|}<br />
<br />
<br />
<br />
=Unscientific rules of thumb for motor purchases=<br />
<br />
1) The longer the motor body generally the more torque the motor has.<br />
<br />
2) If a motor is rated 2.5A and your stepper driver produces only 2A your motor may not produce the manufactures rated torque.<br />
<br />
3) If a motor is rated 35 volts and your stepper produces only 12 volts your motor may not produce the manufactures rated torque.<br />
<br />
4) A motor can exceed it's rated voltage but will produce more heat. This may not be a problem in Bath/England but may be a problem in warmer climes.<br />
<br />
5) Stepper Motors should not exceed 65c.<br />
<br />
6) ABS melts at 120C but softens at 80C.<br />
<br />
7) Power is measured in Watts and is calculated at Volts X Current.<br />
<br />
8) Power made available to a motor will be turned into heat and motion.<br />
<br />
9) The more power made available to the motor the higher the amount of heat and motion.<br />
<br />
10) Power and torque are related. The more power the more torque.<br />
<br />
<br />
<br />
<br />
= Driving those motors =<br />
<br />
== Open Source Stepper Motor Drivers ==<br />
<br />
=== RepRap Stepper Motor Driver v1.x ===<br />
<br />
[[image:cache-2950488044_8ba115bd24_m.jpg|link=http://make.rrrf.org/smd-1.2]]<br />
<br />
The first generation of RepRap stepper motor drivers. <br />
(Note: These boards were used in the generation 2 collection of electronics.) Uses the L297/L298 stepper motor driver combo. Half-stepping. Handles up to 2A. All through hole. A nice, solid driver. It uses some old technology, so its not as fancy as the newer stepper drivers, but it gets the job done. [[Stepper_Motor_Driver_1_2|Read the documentation page here]].<br />
<br />
<br clear="all"/><br />
<br />
=== RepRap Stepper Motor Driver v2.x ===<br />
<br />
[[image:cache-3218206144_6461b3e2c0_m.jpg|link=http://make.rrrf.org/smd-2.3]]<br />
<br />
The second generation of RepRap stepper motor drivers. <br />
(Note: These boards were used in the generation 3 collection of electronics but could be retrograded to generation 2)<br />
<br />
Uses the Allegro A3982 chip which does a bunch of nice things and makes the board much simpler. It also drops the price by $10 compared to the v1.x series. It can handle up to 2A, does half-stepping. The only downside is that its SMT, which can be a bit scary for people. Its all large SMT parts, so its pretty simple to solder it, especially with the solder paste / hotplate method. [[Stepper_Motor_Driver_2_3|Read the documentation page here]].<br />
<br />
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<br />
=== AVRSTMD ===<br />
<br />
[http://www.avrstmd.com/ AVRSTMD] - An open source microstepping driver that uses an atmega168 and current limited h-bridges. Very rad circuit.<br />
<br />
----<br />
<br />
= WARNING =<br />
<br />
The infomation below is given for reference purposes only and was taken from a previous wiki page.<br />
The specs of stepper motors can change. Always check with the supplier's specification. <br />
This data could well be out of date.<br />
<br />
<br />
== Wiring Your Stepper ==<br />
<br />
Pretty much all of our RepRap electronics are designed for Bipolar stepper motors. Every bipolar stepper motor has 4 wires that need to be wired to the driver board. These are labeled A, B, C, and D for lack of better terms. A and B are connected, as well as C and D. You can generally find out which wires are connected using a multimeter to measure the resistance. If you measure a small resistance (1-30 ohm) then they are connected. Generally, they are color coded and we have datasheets available, so things are easy.<br />
<br />
=== NEMA 17 Motors ===<br />
<br />
==== Lin Engineering / 4118S-62-07 ====<br />
<br />
[[image:cache-stepper-motor-nema17.jpg|link=http://store.makerbot.com/featured-products/nema-17-stepper-motor.html]]<br />
<br />
This is an awesome little NEMA17 stepper motor. It is the primary motor used on the Cupcake CNC. It has good torque and a small size. Here are some of the specs:<br />
<br />
* 200 steps per revolution (1.8 deg/step)<br />
* 2.5A / phase<br />
* Phase Resistance: 0.6ohm<br />
* Phase inductance: .93mH<br />
* Holding torque: 3240g-cm or about 0.31 Nm<br />
* Shaft diameter: 0.190"<br />
* Shaft length: 0.50"<br />
* Motor depth: 1.34"<br />
<br />
NEMA-17 is a standard motor mounting geometry. The outside of the motor housing is 1.7"x1.7".<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Red <br />
|-<br />
| B || Blue <br />
|-<br />
| C || Green <br />
|-<br />
| D || Black <br />
|}<br />
<br />
'''Suppliers'''<br />
<br />
* [http://store.rrrf.org/product_info.php?products_id=59 MakerBot Industries]<br />
<br />
'''Technical Information'''<br />
<br />
* [http://svn.makerbot.com/assets/datasheets/4118S-62-07.pdf Datasheet]<br />
<br />
<br clear="all"/><br />
<br />
==== Zapp Automation / SY42STH47-1684B ====<br />
<br />
* 200 steps per revolution (1.8 deg/step)<br />
* Rated Current 1.68A<br />
* Phase Resistance: 1.65ohm<br />
* Phase inductance: 2.8mH<br />
* Holding torque: 4.4Kg-cm<br />
* Shaft diameter: 5mm<br />
* Shaft length: 22mm<br />
* Motor depth: 47mm<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Black <br />
|-<br />
| B || Red<br />
|-<br />
| C || Green <br />
|-<br />
| D || Blue <br />
|}<br />
<br />
'''Suppliers'''<br />
<br />
'''Technical Information'''<br />
<br />
* [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1684B.pdf Datasheet]<br />
<br />
=== NEMA 23 Motors ===<br />
<br />
==== Nanotec ST5709S1208-B ====<br />
<br />
This was the original standard RepRap stepper motor. It has 400 steps to one revolution (0.9<sup>o</sup> per step). It actually has 4 coils (which means it can be wired as both a bipolar and unipolar), but we join up the wires to turn it into a bipolar motor.<br />
<br />
'''Bipolar - Serial'''<br />
<br />
This configuration is suited for our driver boards. It has higher impedance and higher ohms which means it draws less current. In this mode its ideally matched to our L298 based boards. In this wiring setup it can handle 0.85 amps, which is just right. We recommend wiring it in this configuration.<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Red <br />
|-<br />
| B || Black <br />
|-<br />
| C || Green <br />
|-<br />
| D || Yellow <br />
<br />
|}<br />
<br />
You will also need to splice the following wires together:<br />
<br />
* '''Red/White''' and '''Black/White'''<br />
* '''Green/White''' and '''Yellow/White'''<br />
<br />
[[image:cache-dsc03106.jpg|link=http://picasaweb.google.co.uk/VikOlliver/RepRap02/photo#5072881971638806162]]<br />
<br />
'''Bipolar - Parallel'''<br />
<br />
This configuration offers higher performance. It has lower impedance, and lower resistance. That means you can push more electrons through, at a faster rate. That basically means it will operate much better. However, it will draw about 1.7 amps, which at the upper end of what the L298 is capable of delivering. We do not recommend wiring it like this.<br />
<br />
Keep in mind that two wires make up the start and end of each coil.<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Red and Black/White <br />
|-<br />
| B || Black and Red/White <br />
|-<br />
| C || Green and Yellow/White <br />
|-<br />
| D || Yellow and Green/White <br />
<br />
|}<br />
<br />
'''Suppliers'''<br />
<br />
* [http://uk.farnell.com/jsp/endecaSearch/partDetail.jsp?SKU=4743155 ST5709S1208-B stepper motor from Farnell]<br />
* [http://www.nanotec.com/page_product__st5709__en.html Nanotec Gmbh] - Supplier / Manufacturer<br />
<br />
'''Technical Information'''<br />
* [http://www.nanotec.com/downloads/pdf/1349/ST5709S1208.pdf Datasheet]<br />
* [http://www.nanotec.com/steppermotor_st5709.html#kennlinien Torque/Speed Curve]<br />
<br />
==== Keling KL23H51-24-08B ====<br />
<br />
[[image:cache-2122608287_2c91e1ae6e_m.jpg|link=http://flickr.com/photos/hoeken/2122608287/]]<br />
<br />
This is the RepRap stepper motor for the Arduino controller. It has 200 steps to one revolution (1.8<sup>o</sup> per step). It actually has 4 coils (which means it can be wired as both a bipolar and unipolar), but we join up the wires to turn it into a bipolar motor. It is much cheaper than the Nanotec, and with half-stepping it is almost as accurate.<br />
<br />
<br />
'''Bipolar - Serial'''<br />
<br />
This configuration is suited for our driver boards. It has higher impedance and higher ohms which means it draws less current. In this mode its ideally matched to our L298 based boards. In this wiring setup it can handle 1.5 amps, which is just right. We recommend wiring it in this configuration.<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Blue <br />
|-<br />
| B || Green <br />
|-<br />
| C || Brown <br />
|-<br />
| D || White <br />
<br />
|}<br />
<br />
You will also need to splice the following wires together:<br />
<br />
* '''Red''' and '''Yellow'''<br />
* '''Black''' and '''Orange'''<br />
<br />
'''Bipolar - Parallel'''<br />
<br />
This configuration offers higher performance. It has lower impedance, and lower resistance. That means you can push more electrons through, at a faster rate. That basically means it will operate much better. However, it will draw about 3 amps, which our L298 is just not capable of delivering. We do not recommend wiring it like this.<br />
<br />
Keep in mind that two wires make up the start and end of each coil.<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Blue and Yellow <br />
|-<br />
| B || Red and Green <br />
|-<br />
| C || Brown and Orange <br />
|-<br />
| D || Black and White <br />
<br />
|}<br />
<br />
'''Suppliers'''<br />
<br />
* [http://store.makerbot.com/stepper-motor-nema-23-keling-kl23h51-24-08b.html MakerBot Industries]<br />
* [http://www.kelinginc.net/NEMA23Motor.html Keling Inc.] - The manufacturer/supplier. #5 on the list.<br />
<br />
'''Technical Information'''<br />
<br />
* [http://www.kelinginc.net/KL23H255-21-8A.pdf Datasheet]<br />
* [http://www.kelinginc.net/KL23H251-24-8BT.pdf Torque/Speed Curve]<br />
<br />
<br clear="all"><br />
<br />
==== FL57STH51-2808A (axis extending 1 way) and FL57STH51-3008B (axis 2 ways like the picture) ====<br />
<br />
[[image:StepperMotor-StepperFL57STH51-2808A.jpg|thumb]]<br />
<br />
The stepper motors are provided by [http://www.bitsfrombytes.com/ Bits From Bytes]. They come in two variations. Bought three from Bits From Bytes and I got one with the axis through and extending from both ends, and two with the axis extending one side. Their weight is slightly above 0.6 kg (I measured 619 gram).<br />
<br />
To make the unipolar stepper a bipolar one, connect these wires together:<br />
<br />
* Blue and Red/White<br />
* Green and Black/white <br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Blue/white <br />
|-<br />
| B || Red <br />
|-<br />
| C || Green/white <br />
|-<br />
| D || Black <br />
<br />
|}<br />
<br />
Datasheets: <br />
[http://www.motioncontrolproducts.co.uk/pdf/FL57STH51-3008B.pdf FL57STH51-3008B].<br />
[http://www.motioncontrolproducts.co.uk/pdf/FL57STH56-2008B.pdf FL57STH56-2008B]<br />
<br />
<br clear="all"><br />
<br />
==== Lin Engineering 5718X-05S ====<br />
<br />
[[image:StepperMotor-motor_5704.jpg|thumb]]<br />
<br />
The [http://www.linengineering.com//site/products/5718.html 5718X-05S] has the right specification to drive RepRap from the [[DarwinStepperController_1_2|PIC controllers]] '''but we haven't tested it yet'''. It should work with the Arduino electronics too. It has 200 steps per revolution, so you need to set the controller to half-step it to get the resolution needed. Take care to get the model where the output shaft comes out front and back, not just at the front.<br />
<br />
<br clear="all"><br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
[[Category:Twiki]]</div>Stephen Georgehttps://reprap.org/mediawiki/index.php?title=Stepper_motor&diff=16624Stepper motor2010-06-03T06:16:56Z<p>Stephen George: Warning</p>
<hr />
<div><br style="clear:both"/><br />
[[image:StepperMotor-reprap-stepper.jpg|thumb]]<br />
__TOC__<br />
<br />
== What is a Stepper Motor ?==<br />
Stepper motors are an electric motor used in the robotics industry.<br />
Stepper motors move a known interval for each pulse of power. These pulses of power are provided by a stepper driver and is referred to as a step. As each step moves the motor a known distance it makes them handy devices for repeatable positioning. <br />
<br />
There are two major types of stepper motor known as bipolar and unipolar. Wikipedia has further information on stepper motors. Please see [http://en.wikipedia.org/wiki/Stepper_motor Wikipedia].<br />
<br />
<br />
== Terms==<br />
<br />
'''Nema''' - refers to the size of the motor. It specifies the “face” size of the motor but not it’s length. For example a Nema 23 stepper has a face of 2.3 inches by 2.3 inches with screw holes to match. Note just because a motor is bigger does not mean it is more powerful in terms of torque. It is perfectly possible for a Nema 14 to “out pull” a Nema 17 or a Nema 23.<br />
<br />
'''Bi polar and uni polar'''- These terms refers to the internals of the motor. Each type has a different stepper driver circuit board to control them. In theory a reprap could use either but in practise most are bipolar.<br />
<br />
== Stepper Motor History for repraps Darwin (V1.0 reprap)==<br />
The darwin reprap type used a Nema 23 stepper motor. This stepper motor was a unipolar stepper motor which could be configured as a bipolar. This design used 3 stepper motors for each axis and a DC motor for it's extruder. Later many people upgraded their extruders to increase their control of the extruder. <br />
<br />
Note the Generation 2 electronics supported the first configuration with 3 stepper driver circuit boards for the steppers and a PWM circuit board to control the DC motor.<br />
<br />
The Darwin Stepper Motor Requirements were as follows:<br />
<br />
{| border="1"<br />
|-<br />
| '''Parameter''' || '''Specification''' <br />
|-<br />
| Size || NEMA 23 <br />
|-<br />
| Type || Bipolar <br />
|-<br />
| Shaft || dual-output shaft <br />
|-<br />
| Torque || 100 oz-in or abount 0.71 Nm <br />
|-<br />
| Resistance || about 10 ohms, or 1 to 30 ohms <br />
<br />
|}<br />
<br />
<br />
Note<br />
<br />
If you are using the [[DarwinStepperController_1_2|PIC controller]] (Note: Generation 1 electronics) you need a motor that will use about 1A per winding at 12v, that is - around 10 ohms. The Arduino circuit can be adjusted to accommodate a wider range of steppers, but remember that if you specify a low-resistance one and the Arduino controller has to chop the voltage to limit the current going through it, that will also limit the torque.<br />
<br />
== Stepper Motor History for repraps Mendel (V2.0 reprap)==<br />
The Mendel reprap type used either a Nema 17 or a Nema 14 Bi polar stepper motor. It uses four stepper motors. One for each axis and one for the extruder. <br />
<br />
Note this configuration of four stepper motors was supported by the 3rd generation electronics.<br />
<br />
The Mendel Stepper Motor Requirements were as follows:<br />
<br />
{| border="1"<br />
|-<br />
| '''Parameter''' || '''Specification''' <br />
|-<br />
| Size || NEMA 17 or 14 (prototype was Nema 14)<br />
|-<br />
| Type || Bipolar <br />
|-<br />
| Shaft || dual-output shaft <br />
|-<br />
| Torque || 13.7 N-cm (that is 1400 g-cm or 19.4 oz-in)<br />
|-<br />
| Resistance || ?<br />
<br />
|}<br />
<br />
== Bipolar Motors ==<br />
<br />
[[image:StepperMotor-bipolar_stepper_sch.png|thumb]]<br />
<br />
These motors are the strongest type of stepper motor. You identify them by counting the leads - there should be four or eight. They are also the type of motors we are using in the RepRap Project's Darwin design. They have two coils inside, and stepping the motor round is achieved by energising the coils and changing the direction of the current within those coils. This requires more complex electronics than a unipolar motor, so we use a special driver chip to take care of all that for us. Some designs (the eight-wire ones) split each coil in the middle so you can wire the motor either as bipolar (short the middles) or unipolar (short the middles and treat the link as the centre tap - see below).<br />
<br />
<br clear="all"><br />
<br />
== Unipolar Motors ==<br />
<br />
[[image:StepperMotor-unipolar_stepper_sch.png|thumb]]<br />
<br />
Unipolar motors have two coils, each one has a centre tap. They are readily recognizable because they have 5, 6 or even 8 leads. It is possible to drive some unipolar motors as bipolar motors if you ignore the centre tap wires. Their main beauty though is that you can step them without having to reverse the direction of current in any coil, which makes the electronics simpler. Some early RepRap prototypes used this trick. Because the centre tap is used to energise only half of each coil at a time, unipolar motors generally have less torque than bipolar motors.<br />
<br />
<br clear="all"><br />
<br />
=Holding Torque=<br />
<br />
It is recommended that you get approximately 13.7 N-cm (that is 1400 g-cm or 19.4 oz-in) of Holding Torque (or more) to avoid issues, although one stepper with less has been used successfully (see below). If in doubt, higher is better. If you need to convert between different units for the torque you can use the torque unit converter [http://www.numberfactory.com/nf%20torque.htm here].<br />
<br />
=Stepping Angle=<br />
<br />
Most stepper motors used for a Mendel have a step angle of 1.8 Degrees. It is sometimes possible to use motors with larger step angles, however for printing to be accurate, they will need to be geared down to reduce the angle moved per step, which may lead to a slower maximum speed.<br />
<br />
=Size=<br />
<br />
If going for the smaller NEMA 14 motors, aim for the high torque option. NEMA 14s are neater, lighter and smaller, but can be hard to get hold of with the appropriate holding torque. NEMA 17s are quite easy to get in the specification that Mendel needs, but are bulkier and less neat. NEMA 14s are running near the edge of their envelope: they will get warm. NEMA 17s are well inside what they can do, and will run much cooler.<br />
<br />
Note that any Mendel part that goes on to a Stepper Motor shaft expects the shaft to be roughly 5mm. If the shaft is a different size, you will need to make allowances for this in the parts you obtain/make.<br />
<br />
=Wiring=<br />
<br />
Steppers motors come in several wiring configurations. 4,6, and 8 wires are all fairly common. 5-wire version have been reported to exist. 5 wire versions won't work, the others will. See [[stepper wiring]] for more details.<br />
<br />
=Suppliers=<br />
<br />
Below is a list of possible suppliers and motors. Please add to it. If you have built a Mendel successfully with a given motor, remember to put {{true}} in the tested field.<br />
<br />
{| class="wikitable sortable"<br />
|+ ''Stepper Motors - Nema 14 (Smaller, neater and used on the Mendel prototype)''<br />
|-<br />
| Vendor (with link) || Shipping location || Manufacturer || Model # || Datasheet || NEMA (Size) || Holding Torque || Shaft || Tested || Additional notes<br />
|-<br />
| [http://www.motioncontrolproducts.com/ Motion Control Products] || ? || Fulling Motor<br />
| FL35ST36-1004B<br />
| [[Media:NEMA14-high-torque.pdf|FL35ST36-1004B Datasheet]]<br />
| 14 || ~13.7 N-cm || Dual || {{true}} || Used in mendel prototype<br />
|-<br />
| [http://www.active-robots.com/ Active Robots] || UK || Wantai<br />
| [http://www.phidgets.com/products.php?category=23&product_id=3301 35BYHG04]<br />
| [http://www.phidgets.com/documentation/Phidgets/3301Datasheet.pdf 35BYHG04 Datasheet]<br />
| 14 || ~12.3 N-cm || 4.9mm || {{true}} || Less Holding Torque than recommended, but has apparently been used successfully<br />
|-<br />
| [http://www.pololu.com/ Pololu] || US || [http://www.cnsoyo.com/ SOYO] || SY35ST36-1004A || ? || 14 || ~13.7 N-cm || 5mm || '''?''' || Note: Pololu list this motor as 1400 g-cm AND as 20 oz-in (converts to 19.44 oz-in). According to supplier information, the metric value is correct.<br />
|}<br />
<br />
<br />
<br />
{| class="wikitable sortable"<br />
|+ ''Stepper Motors - Nema 17 (larger and generally heavier but with more room to put a higher torque than a Nema 14)''<br />
|-<br />
| Vendor (with link) || Shipping location || Manufacturer || Model # || Datasheet || NEMA (Size) || Holding Torque || Shaft || Tested || Additional notes<br />
|-<br />
| [http://www.slidesandballscrews.com/stepper-motors-c-45.html Zapp Automation]<br />
| UK || [http://www.cnsoyo.com/ SOYO] || SY42STH47-1206A<br />
| [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1206A.pdf SY42STH47-1206A Datasheet]<br />
| 17 || ~31.1 N-cm || Single || {{true}} || None<br />
|-<br />
| [http://www.slidesandballscrews.com/stepper-motors-c-45.html Zapp Automation]<br />
| UK || [http://www.cnsoyo.com/ SOYO] || [http://www.slidesandballscrews.com/sy42sth471684b-p-255.html?cPath=45_80 SY42STH47-1684B]<br />
| [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1684B.pdf SY42STH47-1684B Datasheet]<br />
| 17 || ~43.1 N-cm || Dual || {{true}} || Round Ø5mm Shafts<br />
|-<br />
| [http://www.slidesandballscrews.com/stepper-motors-c-45.html Zapp Automation]<br />
| UK || [http://www.cnsoyo.com/ SOYO] || [http://www.slidesandballscrews.com/sy42sth471684a-p-315.html?cPath=45_80 SY42STH47-1684A]<br />
| [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1684A.pdf SY42STH47-1684A Datasheet]<br />
| 17 || ~43.1 N-cm || Single || '''?''' || D-Shape 5mm shaft with 4.5mm flat<br />
|-<br />
| [http://www.coolcomponents.co.uk/ Cool Components] || UK || Mercury Motor || [http://www.coolcomponents.co.uk/catalog/product_info.php?products_id=469 SM-42BYGH011-25]<br />
| [http://www.sparkfun.com/datasheets/Robotics/SM-42BYG011-25.pdf SM-42BYG011 Datasheet]<br />
| 17 || 23 N-cm || 5mm || ? || None<br />
|-<br />
| [http://www.interinar.com/step-motors.html Interinar Electronics, LLC] || US || Oriental Motors<br />
| [http://www.interinar.com/vexta-px243m-01aa.html Vexta PX243M-01AA]<br />
| [http://www.interinar.com/public_docs/PX243M-01AA.pdf PX243M-01AA Datasheet]<br />
| 17 || 15 N-cm || Single || '''?''' || Not strong enough for direct drive extruder, Uses Imperial #4-40 TPI mounting holes instead of M3 metric<br />
|-<br />
| [http://www.alltronics.com/cgi-bin/category.cgi?category=55 Alltronics.com] || US || Lin Engineering<br />
| [http://www.alltronics.com/cgi-bin/item/28M035/search/Lin-Engineering-4218L-01-10-bipolar-stepper-motor 4218L-01-10]<br />
| [http://www.alltronics.com/mas_assets/acrobat/28M035.pdf 4218L-01-10 Datasheet]<br />
| 17 || ~53 N-cm || 3/16 inch = 4.7625 mm (Round) || {{true}} || None<br />
|-<br />
| [http://www.alltronics.com/cgi-bin/category.cgi?category=55 Alltronics.com] || US || Lin Engineering<br />
| [http://www.alltronics.com/cgi-bin/item/24M014/search/Lin-Engineering-Nema-17-1.8deg-24V-2A-bipolar-stepper-motor 4218L-01-11]<br />
| [http://www.alltronics.com/mas_assets/acrobat/24M014.pdf 4218L-01-11 Datasheet]<br />
| 17 (?) || ~53 N-cm || ~5 mm = 0.1968 inches (D-Shape) || {{true}} || None<br />
|-<br />
| [http://www.phidgets.com/products.php?category=23 Phidgets.com] || US || Wantai<br />
| [http://www.phidgets.com/products.php?category=23&product_id=3303 42BYGHW811]<br />
| [http://www.phidgets.com/documentation/Phidgets/3303Datasheet.pdf 42BYGHW811 Datasheet]<br />
| 17 || ~47.1 N-cm || 4.9mm || '''?''' || None<br />
|-<br />
| [http://www.sparkfun.com/ SparkFun] || US || Mercury Motor || SM-42BYG011 || [http://www.sparkfun.com/datasheets/Robotics/SM-42BYG011-25.pdf SM-42BYG011 Datasheet] || 17 || 23 N-cm || 5mm || {{true}} || None<br />
|-<br />
| [http://www.robotgear.com.au Robot Gear] || AU || Mercury Motor || SM-42BYG011-25<br />
| [http://www.robotgear.com.au/Cache/Files/Files/118_Stepper%20Motor%20Datasheet%20SM-42BYG011-25.pdf SM-42BYG011 Datasheet]<br />
| 17 || 23 N-cm || 5mm || {{true}} || None<br />
|-<br />
| [http://mindkits.co.nz/ Mindkits] || NZ || Mercury Motor || SM-42BYG011 || [http://www.sparkfun.com/datasheets/Robotics/SM-42BYG011-25.pdf SM-42BYG011 Datasheet] || 17 || 23 N-cm || 5mm || {{true}} || None<br />
|-<br />
| [http://ausxmods.com.au/ AusXMods] || AU || Rugao Xinhe || 17H185H-04A || ? || 17 || ~43.8 N-cm || ? || '''?''' || None<br />
|-<br />
| [http://store.kysanelectronics.com Kysan] || China || [http://store.kysanelectronics.com Kysan] || 42BYGH4803 || [http://store.kysanelectronics.com/servlet/-strse-68835/42BYGH4803/Detail Datasheet]|| 17 || 49 N-cm || 5mm || {{true}} || Successfully tested with [http://objects.reprap.org/wiki/Geared_Nema17_Extruder Wade's Geared Nema 17] extruder - high flow rates.<br />
|}<br />
<br />
<br />
<br />
=Unscientific rules of thumb for motor purchases=<br />
<br />
1) The longer the motor body generally the more torque the motor has.<br />
<br />
2) If a motor is rated 2.5A and your stepper driver produces only 2A your motor may not produce the manufactures rated torque.<br />
<br />
3) If a motor is rated 35 volts and your stepper produces only 12 volts your motor may not produce the manufactures rated torque.<br />
<br />
4) A motor can exceed it's rated voltage but will produce more heat. This may not be a problem in Bath/England but may be a problem in warmer climes.<br />
<br />
5) Stepper Motors should not exceed 65c.<br />
<br />
6) ABS melts at 120C but softens at 80C.<br />
<br />
7) Power is measured in Watts and is calculated at Volts X Current.<br />
<br />
8) Power made available to a motor will be turned into heat and motion.<br />
<br />
9) The more power made available to the motor the higher the amount of heat and motion.<br />
<br />
10) Power and torque are related. The more power the more torque.<br />
<br />
<br />
<br />
<br />
= Driving those motors =<br />
<br />
== Open Source Stepper Motor Drivers ==<br />
<br />
=== RepRap Stepper Motor Driver v1.x ===<br />
<br />
[[image:cache-2950488044_8ba115bd24_m.jpg|link=http://make.rrrf.org/smd-1.2]]<br />
<br />
The first generation of RepRap stepper motor drivers. <br />
(Note: These boards were used in the generation 2 collection of electronics.) Uses the L297/L298 stepper motor driver combo. Half-stepping. Handles up to 2A. All through hole. A nice, solid driver. It uses some old technology, so its not as fancy as the newer stepper drivers, but it gets the job done. [[Stepper_Motor_Driver_1_2|Read the documentation page here]].<br />
<br />
<br clear="all"/><br />
<br />
=== RepRap Stepper Motor Driver v2.x ===<br />
<br />
[[image:cache-3218206144_6461b3e2c0_m.jpg|link=http://make.rrrf.org/smd-2.3]]<br />
<br />
The second generation of RepRap stepper motor drivers. <br />
(Note: These boards were used in the generation 3 collection of electronics but could be retrograded to generation 2)<br />
<br />
Uses the Allegro A3982 chip which does a bunch of nice things and makes the board much simpler. It also drops the price by $10 compared to the v1.x series. It can handle up to 2A, does half-stepping. The only downside is that its SMT, which can be a bit scary for people. Its all large SMT parts, so its pretty simple to solder it, especially with the solder paste / hotplate method. [[Stepper_Motor_Driver_2_3|Read the documentation page here]].<br />
<br />
<br clear="all"/><br />
<br />
=== AVRSTMD ===<br />
<br />
[http://www.avrstmd.com/ AVRSTMD] - An open source microstepping driver that uses an atmega168 and current limited h-bridges. Very rad circuit.<br />
<br />
----<br />
<br />
= WARNING =<br />
<br />
The infomation below is given for reference purposes only and was taken from a previous wiki page.<br />
The specs of stepper motors can change. Always check with the supplier's specification. <br />
This data could well be out of date.<br />
<br />
<br />
== Wiring Your Stepper ==<br />
<br />
Pretty much all of our RepRap electronics are designed for Bipolar stepper motors. Every bipolar stepper motor has 4 wires that need to be wired to the driver board. These are labeled A, B, C, and D for lack of better terms. A and B are connected, as well as C and D. You can generally find out which wires are connected using a multimeter to measure the resistance. If you measure a small resistance (1-30 ohm) then they are connected. Generally, they are color coded and we have datasheets available, so things are easy.<br />
<br />
=== NEMA 17 Motors ===<br />
<br />
==== Lin Engineering / 4118S-62-07 ====<br />
<br />
[[image:cache-stepper-motor-nema17.jpg|link=http://store.makerbot.com/featured-products/nema-17-stepper-motor.html]]<br />
<br />
This is an awesome little NEMA17 stepper motor. It is the primary motor used on the Cupcake CNC. It has good torque and a small size. Here are some of the specs:<br />
<br />
* 200 steps per revolution (1.8 deg/step)<br />
* 2.5A / phase<br />
* Phase Resistance: 0.6ohm<br />
* Phase inductance: .93mH<br />
* Holding torque: 3240g-cm or about 0.31 Nm<br />
* Shaft diameter: 0.190"<br />
* Shaft length: 0.50"<br />
* Motor depth: 1.34"<br />
<br />
NEMA-17 is a standard motor mounting geometry. The outside of the motor housing is 1.7"x1.7".<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Red <br />
|-<br />
| B || Blue <br />
|-<br />
| C || Green <br />
|-<br />
| D || Black <br />
|}<br />
<br />
'''Suppliers'''<br />
<br />
* [http://store.rrrf.org/product_info.php?products_id=59 MakerBot Industries]<br />
<br />
'''Technical Information'''<br />
<br />
* [http://svn.makerbot.com/assets/datasheets/4118S-62-07.pdf Datasheet]<br />
<br />
<br clear="all"/><br />
<br />
==== Zapp Automation / SY42STH47-1684B ====<br />
<br />
* 200 steps per revolution (1.8 deg/step)<br />
* Rated Current 1.68A<br />
* Phase Resistance: 1.65ohm<br />
* Phase inductance: 2.8mH<br />
* Holding torque: 4.4Kg-cm<br />
* Shaft diameter: 5mm<br />
* Shaft length: 22mm<br />
* Motor depth: 47mm<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Black <br />
|-<br />
| B || Red<br />
|-<br />
| C || Green <br />
|-<br />
| D || Blue <br />
|}<br />
<br />
'''Suppliers'''<br />
<br />
'''Technical Information'''<br />
<br />
* [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1684B.pdf Datasheet]<br />
<br />
=== NEMA 23 Motors ===<br />
<br />
==== Nanotec ST5709S1208-B ====<br />
<br />
This was the original standard RepRap stepper motor. It has 400 steps to one revolution (0.9<sup>o</sup> per step). It actually has 4 coils (which means it can be wired as both a bipolar and unipolar), but we join up the wires to turn it into a bipolar motor.<br />
<br />
'''Bipolar - Serial'''<br />
<br />
This configuration is suited for our driver boards. It has higher impedance and higher ohms which means it draws less current. In this mode its ideally matched to our L298 based boards. In this wiring setup it can handle 0.85 amps, which is just right. We recommend wiring it in this configuration.<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Red <br />
|-<br />
| B || Black <br />
|-<br />
| C || Green <br />
|-<br />
| D || Yellow <br />
<br />
|}<br />
<br />
You will also need to splice the following wires together:<br />
<br />
* '''Red/White''' and '''Black/White'''<br />
* '''Green/White''' and '''Yellow/White'''<br />
<br />
[[image:cache-dsc03106.jpg|link=http://picasaweb.google.co.uk/VikOlliver/RepRap02/photo#5072881971638806162]]<br />
<br />
'''Bipolar - Parallel'''<br />
<br />
This configuration offers higher performance. It has lower impedance, and lower resistance. That means you can push more electrons through, at a faster rate. That basically means it will operate much better. However, it will draw about 1.7 amps, which at the upper end of what the L298 is capable of delivering. We do not recommend wiring it like this.<br />
<br />
Keep in mind that two wires make up the start and end of each coil.<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Red and Black/White <br />
|-<br />
| B || Black and Red/White <br />
|-<br />
| C || Green and Yellow/White <br />
|-<br />
| D || Yellow and Green/White <br />
<br />
|}<br />
<br />
'''Suppliers'''<br />
<br />
* [http://uk.farnell.com/jsp/endecaSearch/partDetail.jsp?SKU=4743155 ST5709S1208-B stepper motor from Farnell]<br />
* [http://www.nanotec.com/page_product__st5709__en.html Nanotec Gmbh] - Supplier / Manufacturer<br />
<br />
'''Technical Information'''<br />
* [http://www.nanotec.com/downloads/pdf/1349/ST5709S1208.pdf Datasheet]<br />
* [http://www.nanotec.com/steppermotor_st5709.html#kennlinien Torque/Speed Curve]<br />
<br />
==== Keling KL23H51-24-08B ====<br />
<br />
[[image:cache-2122608287_2c91e1ae6e_m.jpg|link=http://flickr.com/photos/hoeken/2122608287/]]<br />
<br />
This is the RepRap stepper motor for the Arduino controller. It has 200 steps to one revolution (1.8<sup>o</sup> per step). It actually has 4 coils (which means it can be wired as both a bipolar and unipolar), but we join up the wires to turn it into a bipolar motor. It is much cheaper than the Nanotec, and with half-stepping it is almost as accurate.<br />
<br />
<br />
'''Bipolar - Serial'''<br />
<br />
This configuration is suited for our driver boards. It has higher impedance and higher ohms which means it draws less current. In this mode its ideally matched to our L298 based boards. In this wiring setup it can handle 1.5 amps, which is just right. We recommend wiring it in this configuration.<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Blue <br />
|-<br />
| B || Green <br />
|-<br />
| C || Brown <br />
|-<br />
| D || White <br />
<br />
|}<br />
<br />
You will also need to splice the following wires together:<br />
<br />
* '''Red''' and '''Yellow'''<br />
* '''Black''' and '''Orange'''<br />
<br />
'''Bipolar - Parallel'''<br />
<br />
This configuration offers higher performance. It has lower impedance, and lower resistance. That means you can push more electrons through, at a faster rate. That basically means it will operate much better. However, it will draw about 3 amps, which our L298 is just not capable of delivering. We do not recommend wiring it like this.<br />
<br />
Keep in mind that two wires make up the start and end of each coil.<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Blue and Yellow <br />
|-<br />
| B || Red and Green <br />
|-<br />
| C || Brown and Orange <br />
|-<br />
| D || Black and White <br />
<br />
|}<br />
<br />
'''Suppliers'''<br />
<br />
* [http://store.makerbot.com/stepper-motor-nema-23-keling-kl23h51-24-08b.html MakerBot Industries]<br />
* [http://www.kelinginc.net/NEMA23Motor.html Keling Inc.] - The manufacturer/supplier. #5 on the list.<br />
<br />
'''Technical Information'''<br />
<br />
* [http://www.kelinginc.net/KL23H255-21-8A.pdf Datasheet]<br />
* [http://www.kelinginc.net/KL23H251-24-8BT.pdf Torque/Speed Curve]<br />
<br />
<br clear="all"><br />
<br />
==== FL57STH51-2808A (axis extending 1 way) and FL57STH51-3008B (axis 2 ways like the picture) ====<br />
<br />
[[image:StepperMotor-StepperFL57STH51-2808A.jpg|thumb]]<br />
<br />
The stepper motors are provided by [http://www.bitsfrombytes.com/ Bits From Bytes]. They come in two variations. Bought three from Bits From Bytes and I got one with the axis through and extending from both ends, and two with the axis extending one side. Their weight is slightly above 0.6 kg (I measured 619 gram).<br />
<br />
To make the unipolar stepper a bipolar one, connect these wires together:<br />
<br />
* Blue and Red/White<br />
* Green and Black/white <br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Blue/white <br />
|-<br />
| B || Red <br />
|-<br />
| C || Green/white <br />
|-<br />
| D || Black <br />
<br />
|}<br />
<br />
Datasheets: <br />
[http://www.motioncontrolproducts.co.uk/pdf/FL57STH51-3008B.pdf FL57STH51-3008B].<br />
[http://www.motioncontrolproducts.co.uk/pdf/FL57STH56-2008B.pdf FL57STH56-2008B]<br />
<br />
<br clear="all"><br />
<br />
==== Lin Engineering 5718X-05S ====<br />
<br />
[[image:StepperMotor-motor_5704.jpg|thumb]]<br />
<br />
The [http://www.linengineering.com//site/products/5718.html 5718X-05S] has the right specification to drive RepRap from the [[DarwinStepperController_1_2|PIC controllers]] '''but we haven't tested it yet'''. It should work with the Arduino electronics too. It has 200 steps per revolution, so you need to set the controller to half-step it to get the resolution needed. Take care to get the model where the output shaft comes out front and back, not just at the front.<br />
<br />
<br clear="all"><br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
[[Category:Twiki]]</div>Stephen Georgehttps://reprap.org/mediawiki/index.php?title=Stepper_motor&diff=16621Stepper motor2010-06-03T05:50:33Z<p>Stephen George: /* Stepper Motor History for repraps Darwin (V1.0 reprap) */</p>
<hr />
<div><br style="clear:both"/><br />
[[image:StepperMotor-reprap-stepper.jpg|thumb]]<br />
__TOC__<br />
<br />
== What is a Stepper Motor ?==<br />
Stepper motors are an electric motor used in the robotics industry.<br />
Stepper motors move a known interval for each pulse of power. These pulses of power are provided by a stepper driver and is referred to as a step. As each step moves the motor a known distance it makes them handy devices for repeatable positioning. <br />
<br />
There are two major types of stepper motor known as bipolar and unipolar. Wikipedia has further information on stepper motors. Please see [http://en.wikipedia.org/wiki/Stepper_motor Wikipedia].<br />
<br />
<br />
== Terms==<br />
<br />
'''Nema''' - refers to the size of the motor. It specifies the “face” size of the motor but not it’s length. For example a Nema 23 stepper has a face of 2.3 inches by 2.3 inches with screw holes to match. Note just because a motor is bigger does not mean it is more powerful in terms of torque. It is perfectly possible for a Nema 14 to “out pull” a Nema 17 or a Nema 23.<br />
<br />
'''Bi polar and uni polar'''- These terms refers to the internals of the motor. Each type has a different stepper driver circuit board to control them. In theory a reprap could use either but in practise most are bipolar.<br />
<br />
== Stepper Motor History for repraps Darwin (V1.0 reprap)==<br />
The darwin reprap type used a Nema 23 stepper motor. This stepper motor was a unipolar stepper motor which could be configured as a bipolar. This design used 3 stepper motors for each axis and a DC motor for it's extruder. Later many people upgraded their extruders to increase their control of the extruder. <br />
<br />
Note the Generation 2 electronics supported the first configuration with 3 stepper driver circuit boards for the steppers and a PWM circuit board to control the DC motor.<br />
<br />
The Darwin Stepper Motor Requirements were as follows:<br />
<br />
{| border="1"<br />
|-<br />
| '''Parameter''' || '''Specification''' <br />
|-<br />
| Size || NEMA 23 <br />
|-<br />
| Type || Bipolar <br />
|-<br />
| Shaft || dual-output shaft <br />
|-<br />
| Torque || 100 oz-in or abount 0.71 Nm <br />
|-<br />
| Resistance || about 10 ohms, or 1 to 30 ohms <br />
<br />
|}<br />
<br />
<br />
Note<br />
<br />
If you are using the [[DarwinStepperController_1_2|PIC controller]] (Note: Generation 1 electronics) you need a motor that will use about 1A per winding at 12v, that is - around 10 ohms. The Arduino circuit can be adjusted to accommodate a wider range of steppers, but remember that if you specify a low-resistance one and the Arduino controller has to chop the voltage to limit the current going through it, that will also limit the torque.<br />
<br />
== Stepper Motor History for repraps Mendel (V2.0 reprap)==<br />
The Mendel reprap type used either a Nema 17 or a Nema 14 Bi polar stepper motor. It uses four stepper motors. One for each axis and one for the extruder. <br />
<br />
Note this configuration of four stepper motors was supported by the 3rd generation electronics.<br />
<br />
The Mendel Stepper Motor Requirements were as follows:<br />
<br />
{| border="1"<br />
|-<br />
| '''Parameter''' || '''Specification''' <br />
|-<br />
| Size || NEMA 17 or 14 (prototype was Nema 14)<br />
|-<br />
| Type || Bipolar <br />
|-<br />
| Shaft || dual-output shaft <br />
|-<br />
| Torque || 13.7 N-cm (that is 1400 g-cm or 19.4 oz-in)<br />
|-<br />
| Resistance || ?<br />
<br />
|}<br />
<br />
== Bipolar Motors ==<br />
<br />
[[image:StepperMotor-bipolar_stepper_sch.png|thumb]]<br />
<br />
These motors are the strongest type of stepper motor. You identify them by counting the leads - there should be four or eight. They are also the type of motors we are using in the RepRap Project's Darwin design. They have two coils inside, and stepping the motor round is achieved by energising the coils and changing the direction of the current within those coils. This requires more complex electronics than a unipolar motor, so we use a special driver chip to take care of all that for us. Some designs (the eight-wire ones) split each coil in the middle so you can wire the motor either as bipolar (short the middles) or unipolar (short the middles and treat the link as the centre tap - see below).<br />
<br />
<br clear="all"><br />
<br />
== Unipolar Motors ==<br />
<br />
[[image:StepperMotor-unipolar_stepper_sch.png|thumb]]<br />
<br />
Unipolar motors have two coils, each one has a centre tap. They are readily recognizable because they have 5, 6 or even 8 leads. It is possible to drive some unipolar motors as bipolar motors if you ignore the centre tap wires. Their main beauty though is that you can step them without having to reverse the direction of current in any coil, which makes the electronics simpler. Some early RepRap prototypes used this trick. Because the centre tap is used to energise only half of each coil at a time, unipolar motors generally have less torque than bipolar motors.<br />
<br />
<br clear="all"><br />
<br />
== Wiring Your Stepper ==<br />
<br />
Pretty much all of our RepRap electronics are designed for Bipolar stepper motors. Every bipolar stepper motor has 4 wires that need to be wired to the driver board. These are labeled A, B, C, and D for lack of better terms. A and B are connected, as well as C and D. You can generally find out which wires are connected using a multimeter to measure the resistance. If you measure a small resistance (1-30 ohm) then they are connected. Generally, they are color coded and we have datasheets available, so things are easy.<br />
<br />
=== NEMA 17 Motors ===<br />
<br />
==== Lin Engineering / 4118S-62-07 ====<br />
<br />
[[image:cache-stepper-motor-nema17.jpg|link=http://store.makerbot.com/featured-products/nema-17-stepper-motor.html]]<br />
<br />
This is an awesome little NEMA17 stepper motor. It is the primary motor used on the Cupcake CNC. It has good torque and a small size. Here are some of the specs:<br />
<br />
* 200 steps per revolution (1.8 deg/step)<br />
* 2.5A / phase<br />
* Phase Resistance: 0.6ohm<br />
* Phase inductance: .93mH<br />
* Holding torque: 3240g-cm or about 0.31 Nm<br />
* Shaft diameter: 0.190"<br />
* Shaft length: 0.50"<br />
* Motor depth: 1.34"<br />
<br />
NEMA-17 is a standard motor mounting geometry. The outside of the motor housing is 1.7"x1.7".<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Red <br />
|-<br />
| B || Blue <br />
|-<br />
| C || Green <br />
|-<br />
| D || Black <br />
|}<br />
<br />
'''Suppliers'''<br />
<br />
* [http://store.rrrf.org/product_info.php?products_id=59 MakerBot Industries]<br />
<br />
'''Technical Information'''<br />
<br />
* [http://svn.makerbot.com/assets/datasheets/4118S-62-07.pdf Datasheet]<br />
<br />
<br clear="all"/><br />
<br />
==== Zapp Automation / SY42STH47-1684B ====<br />
<br />
* 200 steps per revolution (1.8 deg/step)<br />
* Rated Current 1.68A<br />
* Phase Resistance: 1.65ohm<br />
* Phase inductance: 2.8mH<br />
* Holding torque: 4.4Kg-cm<br />
* Shaft diameter: 5mm<br />
* Shaft length: 22mm<br />
* Motor depth: 47mm<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Black <br />
|-<br />
| B || Red<br />
|-<br />
| C || Green <br />
|-<br />
| D || Blue <br />
|}<br />
<br />
'''Suppliers'''<br />
<br />
'''Technical Information'''<br />
<br />
* [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1684B.pdf Datasheet]<br />
<br />
=== NEMA 23 Motors ===<br />
<br />
==== Nanotec ST5709S1208-B ====<br />
<br />
This was the original standard RepRap stepper motor. It has 400 steps to one revolution (0.9<sup>o</sup> per step). It actually has 4 coils (which means it can be wired as both a bipolar and unipolar), but we join up the wires to turn it into a bipolar motor.<br />
<br />
'''Bipolar - Serial'''<br />
<br />
This configuration is suited for our driver boards. It has higher impedance and higher ohms which means it draws less current. In this mode its ideally matched to our L298 based boards. In this wiring setup it can handle 0.85 amps, which is just right. We recommend wiring it in this configuration.<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Red <br />
|-<br />
| B || Black <br />
|-<br />
| C || Green <br />
|-<br />
| D || Yellow <br />
<br />
|}<br />
<br />
You will also need to splice the following wires together:<br />
<br />
* '''Red/White''' and '''Black/White'''<br />
* '''Green/White''' and '''Yellow/White'''<br />
<br />
[[image:cache-dsc03106.jpg|link=http://picasaweb.google.co.uk/VikOlliver/RepRap02/photo#5072881971638806162]]<br />
<br />
'''Bipolar - Parallel'''<br />
<br />
This configuration offers higher performance. It has lower impedance, and lower resistance. That means you can push more electrons through, at a faster rate. That basically means it will operate much better. However, it will draw about 1.7 amps, which at the upper end of what the L298 is capable of delivering. We do not recommend wiring it like this.<br />
<br />
Keep in mind that two wires make up the start and end of each coil.<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Red and Black/White <br />
|-<br />
| B || Black and Red/White <br />
|-<br />
| C || Green and Yellow/White <br />
|-<br />
| D || Yellow and Green/White <br />
<br />
|}<br />
<br />
'''Suppliers'''<br />
<br />
* [http://uk.farnell.com/jsp/endecaSearch/partDetail.jsp?SKU=4743155 ST5709S1208-B stepper motor from Farnell]<br />
* [http://www.nanotec.com/page_product__st5709__en.html Nanotec Gmbh] - Supplier / Manufacturer<br />
<br />
'''Technical Information'''<br />
* [http://www.nanotec.com/downloads/pdf/1349/ST5709S1208.pdf Datasheet]<br />
* [http://www.nanotec.com/steppermotor_st5709.html#kennlinien Torque/Speed Curve]<br />
<br />
==== Keling KL23H51-24-08B ====<br />
<br />
[[image:cache-2122608287_2c91e1ae6e_m.jpg|link=http://flickr.com/photos/hoeken/2122608287/]]<br />
<br />
This is the RepRap stepper motor for the Arduino controller. It has 200 steps to one revolution (1.8<sup>o</sup> per step). It actually has 4 coils (which means it can be wired as both a bipolar and unipolar), but we join up the wires to turn it into a bipolar motor. It is much cheaper than the Nanotec, and with half-stepping it is almost as accurate.<br />
<br />
<br />
'''Bipolar - Serial'''<br />
<br />
This configuration is suited for our driver boards. It has higher impedance and higher ohms which means it draws less current. In this mode its ideally matched to our L298 based boards. In this wiring setup it can handle 1.5 amps, which is just right. We recommend wiring it in this configuration.<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Blue <br />
|-<br />
| B || Green <br />
|-<br />
| C || Brown <br />
|-<br />
| D || White <br />
<br />
|}<br />
<br />
You will also need to splice the following wires together:<br />
<br />
* '''Red''' and '''Yellow'''<br />
* '''Black''' and '''Orange'''<br />
<br />
'''Bipolar - Parallel'''<br />
<br />
This configuration offers higher performance. It has lower impedance, and lower resistance. That means you can push more electrons through, at a faster rate. That basically means it will operate much better. However, it will draw about 3 amps, which our L298 is just not capable of delivering. We do not recommend wiring it like this.<br />
<br />
Keep in mind that two wires make up the start and end of each coil.<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Blue and Yellow <br />
|-<br />
| B || Red and Green <br />
|-<br />
| C || Brown and Orange <br />
|-<br />
| D || Black and White <br />
<br />
|}<br />
<br />
'''Suppliers'''<br />
<br />
* [http://store.makerbot.com/stepper-motor-nema-23-keling-kl23h51-24-08b.html MakerBot Industries]<br />
* [http://www.kelinginc.net/NEMA23Motor.html Keling Inc.] - The manufacturer/supplier. #5 on the list.<br />
<br />
'''Technical Information'''<br />
<br />
* [http://www.kelinginc.net/KL23H255-21-8A.pdf Datasheet]<br />
* [http://www.kelinginc.net/KL23H251-24-8BT.pdf Torque/Speed Curve]<br />
<br />
<br clear="all"><br />
<br />
==== FL57STH51-2808A (axis extending 1 way) and FL57STH51-3008B (axis 2 ways like the picture) ====<br />
<br />
[[image:StepperMotor-StepperFL57STH51-2808A.jpg|thumb]]<br />
<br />
The stepper motors are provided by [http://www.bitsfrombytes.com/ Bits From Bytes]. They come in two variations. Bought three from Bits From Bytes and I got one with the axis through and extending from both ends, and two with the axis extending one side. Their weight is slightly above 0.6 kg (I measured 619 gram).<br />
<br />
To make the unipolar stepper a bipolar one, connect these wires together:<br />
<br />
* Blue and Red/White<br />
* Green and Black/white <br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Blue/white <br />
|-<br />
| B || Red <br />
|-<br />
| C || Green/white <br />
|-<br />
| D || Black <br />
<br />
|}<br />
<br />
Datasheets: <br />
[http://www.motioncontrolproducts.co.uk/pdf/FL57STH51-3008B.pdf FL57STH51-3008B].<br />
[http://www.motioncontrolproducts.co.uk/pdf/FL57STH56-2008B.pdf FL57STH56-2008B]<br />
<br />
<br clear="all"><br />
<br />
==== Lin Engineering 5718X-05S ====<br />
<br />
[[image:StepperMotor-motor_5704.jpg|thumb]]<br />
<br />
The [http://www.linengineering.com//site/products/5718.html 5718X-05S] has the right specification to drive RepRap from the [[DarwinStepperController_1_2|PIC controllers]] '''but we haven't tested it yet'''. It should work with the Arduino electronics too. It has 200 steps per revolution, so you need to set the controller to half-step it to get the resolution needed. Take care to get the model where the output shaft comes out front and back, not just at the front.<br />
<br />
<br clear="all"><br />
<br />
== Open Source Stepper Motor Drivers ==<br />
<br />
=== RepRap Stepper Motor Driver v1.x ===<br />
<br />
[[image:cache-2950488044_8ba115bd24_m.jpg|link=http://make.rrrf.org/smd-1.2]]<br />
<br />
The first generation of RepRap stepper motor drivers. <br />
(Note: These boards were used in the generation 2 collection of electronics.) Uses the L297/L298 stepper motor driver combo. Half-stepping. Handles up to 2A. All through hole. A nice, solid driver. It uses some old technology, so its not as fancy as the newer stepper drivers, but it gets the job done. [[Stepper_Motor_Driver_1_2|Read the documentation page here]].<br />
<br />
<br clear="all"/><br />
<br />
=== RepRap Stepper Motor Driver v2.x ===<br />
<br />
[[image:cache-3218206144_6461b3e2c0_m.jpg|link=http://make.rrrf.org/smd-2.3]]<br />
<br />
The second generation of RepRap stepper motor drivers. <br />
(Note: These boards were used in the generation 3 collection of electronics but could be retrograded to generation 2)<br />
<br />
Uses the Allegro A3982 chip which does a bunch of nice things and makes the board much simpler. It also drops the price by $10 compared to the v1.x series. It can handle up to 2A, does half-stepping. The only downside is that its SMT, which can be a bit scary for people. Its all large SMT parts, so its pretty simple to solder it, especially with the solder paste / hotplate method. [[Stepper_Motor_Driver_2_3|Read the documentation page here]].<br />
<br />
<br clear="all"/><br />
<br />
=== AVRSTMD ===<br />
<br />
[http://www.avrstmd.com/ AVRSTMD] - An open source microstepping driver that uses an atmega168 and current limited h-bridges. Very rad circuit.<br />
<br />
----<br />
<br />
=Holding Torque=<br />
<br />
It is recommended that you get approximately 13.7 N-cm (that is 1400 g-cm or 19.4 oz-in) of Holding Torque (or more) to avoid issues, although one stepper with less has been used successfully (see below). If in doubt, higher is better. If you need to convert between different units for the torque you can use the torque unit converter [http://www.numberfactory.com/nf%20torque.htm here].<br />
<br />
=Stepping Angle=<br />
<br />
Most stepper motors used for a Mendel have a step angle of 1.8 Degrees. It is sometimes possible to use motors with larger step angles, however for printing to be accurate, they will need to be geared down to reduce the angle moved per step, which may lead to a slower maximum speed.<br />
<br />
=Size=<br />
<br />
If going for the smaller NEMA 14 motors, aim for the high torque option. NEMA 14s are neater, lighter and smaller, but can be hard to get hold of with the appropriate holding torque. NEMA 17s are quite easy to get in the specification that Mendel needs, but are bulkier and less neat. NEMA 14s are running near the edge of their envelope: they will get warm. NEMA 17s are well inside what they can do, and will run much cooler.<br />
<br />
Note that any Mendel part that goes on to a Stepper Motor shaft expects the shaft to be roughly 5mm. If the shaft is a different size, you will need to make allowances for this in the parts you obtain/make.<br />
<br />
=Wiring=<br />
<br />
Steppers motors come in several wiring configurations. 4,6, and 8 wires are all fairly common. 5-wire version have been reported to exist. 5 wire versions won't work, the others will. See [[stepper wiring]] for more details.<br />
<br />
=Suppliers=<br />
<br />
Below is a list of possible suppliers and motors. Please add to it. If you have built a Mendel successfully with a given motor, remember to put {{true}} in the tested field.<br />
<br />
{| class="wikitable sortable"<br />
|+ ''Stepper Motors - Nema 14 (Smaller, neater and used on the Mendel prototype)''<br />
|-<br />
| Vendor (with link) || Shipping location || Manufacturer || Model # || Datasheet || NEMA (Size) || Holding Torque || Shaft || Tested || Additional notes<br />
|-<br />
| [http://www.motioncontrolproducts.com/ Motion Control Products] || ? || Fulling Motor<br />
| FL35ST36-1004B<br />
| [[Media:NEMA14-high-torque.pdf|FL35ST36-1004B Datasheet]]<br />
| 14 || ~13.7 N-cm || Dual || {{true}} || Used in mendel prototype<br />
|-<br />
| [http://www.active-robots.com/ Active Robots] || UK || Wantai<br />
| [http://www.phidgets.com/products.php?category=23&product_id=3301 35BYHG04]<br />
| [http://www.phidgets.com/documentation/Phidgets/3301Datasheet.pdf 35BYHG04 Datasheet]<br />
| 14 || ~12.3 N-cm || 4.9mm || {{true}} || Less Holding Torque than recommended, but has apparently been used successfully<br />
|-<br />
| [http://www.pololu.com/ Pololu] || US || [http://www.cnsoyo.com/ SOYO] || SY35ST36-1004A || ? || 14 || ~13.7 N-cm || 5mm || '''?''' || Note: Pololu list this motor as 1400 g-cm AND as 20 oz-in (converts to 19.44 oz-in). According to supplier information, the metric value is correct.<br />
|}<br />
<br />
<br />
<br />
{| class="wikitable sortable"<br />
|+ ''Stepper Motors - Nema 17 (larger and generally heavier but with more room to put a higher torque than a Nema 14)''<br />
|-<br />
| Vendor (with link) || Shipping location || Manufacturer || Model # || Datasheet || NEMA (Size) || Holding Torque || Shaft || Tested || Additional notes<br />
|-<br />
| [http://www.slidesandballscrews.com/stepper-motors-c-45.html Zapp Automation]<br />
| UK || [http://www.cnsoyo.com/ SOYO] || SY42STH47-1206A<br />
| [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1206A.pdf SY42STH47-1206A Datasheet]<br />
| 17 || ~31.1 N-cm || Single || {{true}} || None<br />
|-<br />
| [http://www.slidesandballscrews.com/stepper-motors-c-45.html Zapp Automation]<br />
| UK || [http://www.cnsoyo.com/ SOYO] || [http://www.slidesandballscrews.com/sy42sth471684b-p-255.html?cPath=45_80 SY42STH47-1684B]<br />
| [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1684B.pdf SY42STH47-1684B Datasheet]<br />
| 17 || ~43.1 N-cm || Dual || {{true}} || Round Ø5mm Shafts<br />
|-<br />
| [http://www.slidesandballscrews.com/stepper-motors-c-45.html Zapp Automation]<br />
| UK || [http://www.cnsoyo.com/ SOYO] || [http://www.slidesandballscrews.com/sy42sth471684a-p-315.html?cPath=45_80 SY42STH47-1684A]<br />
| [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1684A.pdf SY42STH47-1684A Datasheet]<br />
| 17 || ~43.1 N-cm || Single || '''?''' || D-Shape 5mm shaft with 4.5mm flat<br />
|-<br />
| [http://www.coolcomponents.co.uk/ Cool Components] || UK || Mercury Motor || [http://www.coolcomponents.co.uk/catalog/product_info.php?products_id=469 SM-42BYGH011-25]<br />
| [http://www.sparkfun.com/datasheets/Robotics/SM-42BYG011-25.pdf SM-42BYG011 Datasheet]<br />
| 17 || 23 N-cm || 5mm || ? || None<br />
|-<br />
| [http://www.interinar.com/step-motors.html Interinar Electronics, LLC] || US || Oriental Motors<br />
| [http://www.interinar.com/vexta-px243m-01aa.html Vexta PX243M-01AA]<br />
| [http://www.interinar.com/public_docs/PX243M-01AA.pdf PX243M-01AA Datasheet]<br />
| 17 || 15 N-cm || Single || '''?''' || Not strong enough for direct drive extruder, Uses Imperial #4-40 TPI mounting holes instead of M3 metric<br />
|-<br />
| [http://www.alltronics.com/cgi-bin/category.cgi?category=55 Alltronics.com] || US || Lin Engineering<br />
| [http://www.alltronics.com/cgi-bin/item/28M035/search/Lin-Engineering-4218L-01-10-bipolar-stepper-motor 4218L-01-10]<br />
| [http://www.alltronics.com/mas_assets/acrobat/28M035.pdf 4218L-01-10 Datasheet]<br />
| 17 || ~53 N-cm || 3/16 inch = 4.7625 mm (Round) || {{true}} || None<br />
|-<br />
| [http://www.alltronics.com/cgi-bin/category.cgi?category=55 Alltronics.com] || US || Lin Engineering<br />
| [http://www.alltronics.com/cgi-bin/item/24M014/search/Lin-Engineering-Nema-17-1.8deg-24V-2A-bipolar-stepper-motor 4218L-01-11]<br />
| [http://www.alltronics.com/mas_assets/acrobat/24M014.pdf 4218L-01-11 Datasheet]<br />
| 17 (?) || ~53 N-cm || ~5 mm = 0.1968 inches (D-Shape) || {{true}} || None<br />
|-<br />
| [http://www.phidgets.com/products.php?category=23 Phidgets.com] || US || Wantai<br />
| [http://www.phidgets.com/products.php?category=23&product_id=3303 42BYGHW811]<br />
| [http://www.phidgets.com/documentation/Phidgets/3303Datasheet.pdf 42BYGHW811 Datasheet]<br />
| 17 || ~47.1 N-cm || 4.9mm || '''?''' || None<br />
|-<br />
| [http://www.sparkfun.com/ SparkFun] || US || Mercury Motor || SM-42BYG011 || [http://www.sparkfun.com/datasheets/Robotics/SM-42BYG011-25.pdf SM-42BYG011 Datasheet] || 17 || 23 N-cm || 5mm || {{true}} || None<br />
|-<br />
| [http://www.robotgear.com.au Robot Gear] || AU || Mercury Motor || SM-42BYG011-25<br />
| [http://www.robotgear.com.au/Cache/Files/Files/118_Stepper%20Motor%20Datasheet%20SM-42BYG011-25.pdf SM-42BYG011 Datasheet]<br />
| 17 || 23 N-cm || 5mm || {{true}} || None<br />
|-<br />
| [http://mindkits.co.nz/ Mindkits] || NZ || Mercury Motor || SM-42BYG011 || [http://www.sparkfun.com/datasheets/Robotics/SM-42BYG011-25.pdf SM-42BYG011 Datasheet] || 17 || 23 N-cm || 5mm || {{true}} || None<br />
|-<br />
| [http://ausxmods.com.au/ AusXMods] || AU || Rugao Xinhe || 17H185H-04A || ? || 17 || ~43.8 N-cm || ? || '''?''' || None<br />
|-<br />
| [http://store.kysanelectronics.com Kysan] || China || [http://store.kysanelectronics.com Kysan] || 42BYGH4803 || [http://store.kysanelectronics.com/servlet/-strse-68835/42BYGH4803/Detail Datasheet]|| 17 || 49 N-cm || 5mm || {{true}} || Successfully tested with [http://objects.reprap.org/wiki/Geared_Nema17_Extruder Wade's Geared Nema 17] extruder - high flow rates.<br />
|}<br />
<br />
[[Category:Suppliers by Part]]<br />
<br />
<br />
=Unscientific rules of thumb for motor purchases=<br />
<br />
1) The longer the motor body generally the more torque the motor has.<br />
<br />
2) If a motor is rated 2.5A and your stepper driver produces only 2A your motor may not produce the manufactures rated torque.<br />
<br />
3) If a motor is rated 35 volts and your stepper produces only 12 volts your motor may not produce the manufactures rated torque.<br />
<br />
4) A motor can exceed it's rated voltage but will produce more heat. This may not be a problem in Bath/England but may be a problem in warmer climes.<br />
<br />
5) Stepper Motors should not exceed 65c.<br />
<br />
6) ABS melts at 120C but softens at 80C.<br />
<br />
7) Power is measured in Watts and is calculated at Volts X Current.<br />
<br />
8) Power made available to a motor will be turned into heat and motion.<br />
<br />
9) The more power made available to the motor the higher the amount of heat and motion.<br />
<br />
10) Power and torque are related. The more power the more torque.<br />
<br />
<br />
<br />
<br />
<br />
<br />
[[Category:Twiki]]</div>Stephen Georgehttps://reprap.org/mediawiki/index.php?title=Stepper_motor&diff=16620Stepper motor2010-06-03T05:46:02Z<p>Stephen George: /* RepRap Stepper Motor Driver v2.x */</p>
<hr />
<div><br style="clear:both"/><br />
[[image:StepperMotor-reprap-stepper.jpg|thumb]]<br />
__TOC__<br />
<br />
== What is a Stepper Motor ?==<br />
Stepper motors are an electric motor used in the robotics industry.<br />
Stepper motors move a known interval for each pulse of power. These pulses of power are provided by a stepper driver and is referred to as a step. As each step moves the motor a known distance it makes them handy devices for repeatable positioning. <br />
<br />
There are two major types of stepper motor known as bipolar and unipolar. Wikipedia has further information on stepper motors. Please see [http://en.wikipedia.org/wiki/Stepper_motor Wikipedia].<br />
<br />
<br />
== Terms==<br />
<br />
'''Nema''' - refers to the size of the motor. It specifies the “face” size of the motor but not it’s length. For example a Nema 23 stepper has a face of 2.3 inches by 2.3 inches with screw holes to match. Note just because a motor is bigger does not mean it is more powerful in terms of torque. It is perfectly possible for a Nema 14 to “out pull” a Nema 17 or a Nema 23.<br />
<br />
'''Bi polar and uni polar'''- These terms refers to the internals of the motor. Each type has a different stepper driver circuit board to control them. In theory a reprap could use either but in practise most are bipolar.<br />
<br />
== Stepper Motor History for repraps Darwin (V1.0 reprap)==<br />
The darwin reprap type used a Nema 23 stepper motor. This stepper motor was a unipolar stepper motor which could be configured as a bipolar. This design used 3 stepper motors for each axis and a DC motor for it's extruder. Later many people upgraded their extruders to increase their control of the extruder. <br />
<br />
Note the Generation 2 electronics supported the first configuration with 3 stepper driver circuit boards for the steppers and a PWM circuit board to control the DC motor.<br />
<br />
The Darwin Stepper Motor Requirements were as follows:<br />
<br />
{| border="1"<br />
|-<br />
| '''Parameter''' || '''Specification''' <br />
|-<br />
| Size || NEMA 23 <br />
|-<br />
| Type || Bipolar <br />
|-<br />
| Shaft || dual-output shaft <br />
|-<br />
| Torque || 100 oz-in or abount 0.71 Nm <br />
|-<br />
| Resistance || about 10 ohms, or 1 to 30 ohms <br />
<br />
|}<br />
<br />
<br />
Note<br />
<br />
If you are using the [[DarwinStepperController_1_2|PIC controller]] you need a motor that will use about 1A per winding at 12v, that is - around 10 ohms. The Arduino circuit can be adjusted to accommodate a wider range of steppers, but remember that if you specify a low-resistance one and the Arduino controller has to chop the voltage to limit the current going through it, that will also limit the torque.<br />
<br />
== Stepper Motor History for repraps Mendel (V2.0 reprap)==<br />
The Mendel reprap type used either a Nema 17 or a Nema 14 Bi polar stepper motor. It uses four stepper motors. One for each axis and one for the extruder. <br />
<br />
Note this configuration of four stepper motors was supported by the 3rd generation electronics.<br />
<br />
The Mendel Stepper Motor Requirements were as follows:<br />
<br />
{| border="1"<br />
|-<br />
| '''Parameter''' || '''Specification''' <br />
|-<br />
| Size || NEMA 17 or 14 (prototype was Nema 14)<br />
|-<br />
| Type || Bipolar <br />
|-<br />
| Shaft || dual-output shaft <br />
|-<br />
| Torque || 13.7 N-cm (that is 1400 g-cm or 19.4 oz-in)<br />
|-<br />
| Resistance || ?<br />
<br />
|}<br />
<br />
== Bipolar Motors ==<br />
<br />
[[image:StepperMotor-bipolar_stepper_sch.png|thumb]]<br />
<br />
These motors are the strongest type of stepper motor. You identify them by counting the leads - there should be four or eight. They are also the type of motors we are using in the RepRap Project's Darwin design. They have two coils inside, and stepping the motor round is achieved by energising the coils and changing the direction of the current within those coils. This requires more complex electronics than a unipolar motor, so we use a special driver chip to take care of all that for us. Some designs (the eight-wire ones) split each coil in the middle so you can wire the motor either as bipolar (short the middles) or unipolar (short the middles and treat the link as the centre tap - see below).<br />
<br />
<br clear="all"><br />
<br />
== Unipolar Motors ==<br />
<br />
[[image:StepperMotor-unipolar_stepper_sch.png|thumb]]<br />
<br />
Unipolar motors have two coils, each one has a centre tap. They are readily recognizable because they have 5, 6 or even 8 leads. It is possible to drive some unipolar motors as bipolar motors if you ignore the centre tap wires. Their main beauty though is that you can step them without having to reverse the direction of current in any coil, which makes the electronics simpler. Some early RepRap prototypes used this trick. Because the centre tap is used to energise only half of each coil at a time, unipolar motors generally have less torque than bipolar motors.<br />
<br />
<br clear="all"><br />
<br />
== Wiring Your Stepper ==<br />
<br />
Pretty much all of our RepRap electronics are designed for Bipolar stepper motors. Every bipolar stepper motor has 4 wires that need to be wired to the driver board. These are labeled A, B, C, and D for lack of better terms. A and B are connected, as well as C and D. You can generally find out which wires are connected using a multimeter to measure the resistance. If you measure a small resistance (1-30 ohm) then they are connected. Generally, they are color coded and we have datasheets available, so things are easy.<br />
<br />
=== NEMA 17 Motors ===<br />
<br />
==== Lin Engineering / 4118S-62-07 ====<br />
<br />
[[image:cache-stepper-motor-nema17.jpg|link=http://store.makerbot.com/featured-products/nema-17-stepper-motor.html]]<br />
<br />
This is an awesome little NEMA17 stepper motor. It is the primary motor used on the Cupcake CNC. It has good torque and a small size. Here are some of the specs:<br />
<br />
* 200 steps per revolution (1.8 deg/step)<br />
* 2.5A / phase<br />
* Phase Resistance: 0.6ohm<br />
* Phase inductance: .93mH<br />
* Holding torque: 3240g-cm or about 0.31 Nm<br />
* Shaft diameter: 0.190"<br />
* Shaft length: 0.50"<br />
* Motor depth: 1.34"<br />
<br />
NEMA-17 is a standard motor mounting geometry. The outside of the motor housing is 1.7"x1.7".<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Red <br />
|-<br />
| B || Blue <br />
|-<br />
| C || Green <br />
|-<br />
| D || Black <br />
|}<br />
<br />
'''Suppliers'''<br />
<br />
* [http://store.rrrf.org/product_info.php?products_id=59 MakerBot Industries]<br />
<br />
'''Technical Information'''<br />
<br />
* [http://svn.makerbot.com/assets/datasheets/4118S-62-07.pdf Datasheet]<br />
<br />
<br clear="all"/><br />
<br />
==== Zapp Automation / SY42STH47-1684B ====<br />
<br />
* 200 steps per revolution (1.8 deg/step)<br />
* Rated Current 1.68A<br />
* Phase Resistance: 1.65ohm<br />
* Phase inductance: 2.8mH<br />
* Holding torque: 4.4Kg-cm<br />
* Shaft diameter: 5mm<br />
* Shaft length: 22mm<br />
* Motor depth: 47mm<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Black <br />
|-<br />
| B || Red<br />
|-<br />
| C || Green <br />
|-<br />
| D || Blue <br />
|}<br />
<br />
'''Suppliers'''<br />
<br />
'''Technical Information'''<br />
<br />
* [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1684B.pdf Datasheet]<br />
<br />
=== NEMA 23 Motors ===<br />
<br />
==== Nanotec ST5709S1208-B ====<br />
<br />
This was the original standard RepRap stepper motor. It has 400 steps to one revolution (0.9<sup>o</sup> per step). It actually has 4 coils (which means it can be wired as both a bipolar and unipolar), but we join up the wires to turn it into a bipolar motor.<br />
<br />
'''Bipolar - Serial'''<br />
<br />
This configuration is suited for our driver boards. It has higher impedance and higher ohms which means it draws less current. In this mode its ideally matched to our L298 based boards. In this wiring setup it can handle 0.85 amps, which is just right. We recommend wiring it in this configuration.<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Red <br />
|-<br />
| B || Black <br />
|-<br />
| C || Green <br />
|-<br />
| D || Yellow <br />
<br />
|}<br />
<br />
You will also need to splice the following wires together:<br />
<br />
* '''Red/White''' and '''Black/White'''<br />
* '''Green/White''' and '''Yellow/White'''<br />
<br />
[[image:cache-dsc03106.jpg|link=http://picasaweb.google.co.uk/VikOlliver/RepRap02/photo#5072881971638806162]]<br />
<br />
'''Bipolar - Parallel'''<br />
<br />
This configuration offers higher performance. It has lower impedance, and lower resistance. That means you can push more electrons through, at a faster rate. That basically means it will operate much better. However, it will draw about 1.7 amps, which at the upper end of what the L298 is capable of delivering. We do not recommend wiring it like this.<br />
<br />
Keep in mind that two wires make up the start and end of each coil.<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Red and Black/White <br />
|-<br />
| B || Black and Red/White <br />
|-<br />
| C || Green and Yellow/White <br />
|-<br />
| D || Yellow and Green/White <br />
<br />
|}<br />
<br />
'''Suppliers'''<br />
<br />
* [http://uk.farnell.com/jsp/endecaSearch/partDetail.jsp?SKU=4743155 ST5709S1208-B stepper motor from Farnell]<br />
* [http://www.nanotec.com/page_product__st5709__en.html Nanotec Gmbh] - Supplier / Manufacturer<br />
<br />
'''Technical Information'''<br />
* [http://www.nanotec.com/downloads/pdf/1349/ST5709S1208.pdf Datasheet]<br />
* [http://www.nanotec.com/steppermotor_st5709.html#kennlinien Torque/Speed Curve]<br />
<br />
==== Keling KL23H51-24-08B ====<br />
<br />
[[image:cache-2122608287_2c91e1ae6e_m.jpg|link=http://flickr.com/photos/hoeken/2122608287/]]<br />
<br />
This is the RepRap stepper motor for the Arduino controller. It has 200 steps to one revolution (1.8<sup>o</sup> per step). It actually has 4 coils (which means it can be wired as both a bipolar and unipolar), but we join up the wires to turn it into a bipolar motor. It is much cheaper than the Nanotec, and with half-stepping it is almost as accurate.<br />
<br />
<br />
'''Bipolar - Serial'''<br />
<br />
This configuration is suited for our driver boards. It has higher impedance and higher ohms which means it draws less current. In this mode its ideally matched to our L298 based boards. In this wiring setup it can handle 1.5 amps, which is just right. We recommend wiring it in this configuration.<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Blue <br />
|-<br />
| B || Green <br />
|-<br />
| C || Brown <br />
|-<br />
| D || White <br />
<br />
|}<br />
<br />
You will also need to splice the following wires together:<br />
<br />
* '''Red''' and '''Yellow'''<br />
* '''Black''' and '''Orange'''<br />
<br />
'''Bipolar - Parallel'''<br />
<br />
This configuration offers higher performance. It has lower impedance, and lower resistance. That means you can push more electrons through, at a faster rate. That basically means it will operate much better. However, it will draw about 3 amps, which our L298 is just not capable of delivering. We do not recommend wiring it like this.<br />
<br />
Keep in mind that two wires make up the start and end of each coil.<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Blue and Yellow <br />
|-<br />
| B || Red and Green <br />
|-<br />
| C || Brown and Orange <br />
|-<br />
| D || Black and White <br />
<br />
|}<br />
<br />
'''Suppliers'''<br />
<br />
* [http://store.makerbot.com/stepper-motor-nema-23-keling-kl23h51-24-08b.html MakerBot Industries]<br />
* [http://www.kelinginc.net/NEMA23Motor.html Keling Inc.] - The manufacturer/supplier. #5 on the list.<br />
<br />
'''Technical Information'''<br />
<br />
* [http://www.kelinginc.net/KL23H255-21-8A.pdf Datasheet]<br />
* [http://www.kelinginc.net/KL23H251-24-8BT.pdf Torque/Speed Curve]<br />
<br />
<br clear="all"><br />
<br />
==== FL57STH51-2808A (axis extending 1 way) and FL57STH51-3008B (axis 2 ways like the picture) ====<br />
<br />
[[image:StepperMotor-StepperFL57STH51-2808A.jpg|thumb]]<br />
<br />
The stepper motors are provided by [http://www.bitsfrombytes.com/ Bits From Bytes]. They come in two variations. Bought three from Bits From Bytes and I got one with the axis through and extending from both ends, and two with the axis extending one side. Their weight is slightly above 0.6 kg (I measured 619 gram).<br />
<br />
To make the unipolar stepper a bipolar one, connect these wires together:<br />
<br />
* Blue and Red/White<br />
* Green and Black/white <br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Blue/white <br />
|-<br />
| B || Red <br />
|-<br />
| C || Green/white <br />
|-<br />
| D || Black <br />
<br />
|}<br />
<br />
Datasheets: <br />
[http://www.motioncontrolproducts.co.uk/pdf/FL57STH51-3008B.pdf FL57STH51-3008B].<br />
[http://www.motioncontrolproducts.co.uk/pdf/FL57STH56-2008B.pdf FL57STH56-2008B]<br />
<br />
<br clear="all"><br />
<br />
==== Lin Engineering 5718X-05S ====<br />
<br />
[[image:StepperMotor-motor_5704.jpg|thumb]]<br />
<br />
The [http://www.linengineering.com//site/products/5718.html 5718X-05S] has the right specification to drive RepRap from the [[DarwinStepperController_1_2|PIC controllers]] '''but we haven't tested it yet'''. It should work with the Arduino electronics too. It has 200 steps per revolution, so you need to set the controller to half-step it to get the resolution needed. Take care to get the model where the output shaft comes out front and back, not just at the front.<br />
<br />
<br clear="all"><br />
<br />
== Open Source Stepper Motor Drivers ==<br />
<br />
=== RepRap Stepper Motor Driver v1.x ===<br />
<br />
[[image:cache-2950488044_8ba115bd24_m.jpg|link=http://make.rrrf.org/smd-1.2]]<br />
<br />
The first generation of RepRap stepper motor drivers. <br />
(Note: These boards were used in the generation 2 collection of electronics.) Uses the L297/L298 stepper motor driver combo. Half-stepping. Handles up to 2A. All through hole. A nice, solid driver. It uses some old technology, so its not as fancy as the newer stepper drivers, but it gets the job done. [[Stepper_Motor_Driver_1_2|Read the documentation page here]].<br />
<br />
<br clear="all"/><br />
<br />
=== RepRap Stepper Motor Driver v2.x ===<br />
<br />
[[image:cache-3218206144_6461b3e2c0_m.jpg|link=http://make.rrrf.org/smd-2.3]]<br />
<br />
The second generation of RepRap stepper motor drivers. <br />
(Note: These boards were used in the generation 3 collection of electronics but could be retrograded to generation 2)<br />
<br />
Uses the Allegro A3982 chip which does a bunch of nice things and makes the board much simpler. It also drops the price by $10 compared to the v1.x series. It can handle up to 2A, does half-stepping. The only downside is that its SMT, which can be a bit scary for people. Its all large SMT parts, so its pretty simple to solder it, especially with the solder paste / hotplate method. [[Stepper_Motor_Driver_2_3|Read the documentation page here]].<br />
<br />
<br clear="all"/><br />
<br />
=== AVRSTMD ===<br />
<br />
[http://www.avrstmd.com/ AVRSTMD] - An open source microstepping driver that uses an atmega168 and current limited h-bridges. Very rad circuit.<br />
<br />
----<br />
<br />
=Holding Torque=<br />
<br />
It is recommended that you get approximately 13.7 N-cm (that is 1400 g-cm or 19.4 oz-in) of Holding Torque (or more) to avoid issues, although one stepper with less has been used successfully (see below). If in doubt, higher is better. If you need to convert between different units for the torque you can use the torque unit converter [http://www.numberfactory.com/nf%20torque.htm here].<br />
<br />
=Stepping Angle=<br />
<br />
Most stepper motors used for a Mendel have a step angle of 1.8 Degrees. It is sometimes possible to use motors with larger step angles, however for printing to be accurate, they will need to be geared down to reduce the angle moved per step, which may lead to a slower maximum speed.<br />
<br />
=Size=<br />
<br />
If going for the smaller NEMA 14 motors, aim for the high torque option. NEMA 14s are neater, lighter and smaller, but can be hard to get hold of with the appropriate holding torque. NEMA 17s are quite easy to get in the specification that Mendel needs, but are bulkier and less neat. NEMA 14s are running near the edge of their envelope: they will get warm. NEMA 17s are well inside what they can do, and will run much cooler.<br />
<br />
Note that any Mendel part that goes on to a Stepper Motor shaft expects the shaft to be roughly 5mm. If the shaft is a different size, you will need to make allowances for this in the parts you obtain/make.<br />
<br />
=Wiring=<br />
<br />
Steppers motors come in several wiring configurations. 4,6, and 8 wires are all fairly common. 5-wire version have been reported to exist. 5 wire versions won't work, the others will. See [[stepper wiring]] for more details.<br />
<br />
=Suppliers=<br />
<br />
Below is a list of possible suppliers and motors. Please add to it. If you have built a Mendel successfully with a given motor, remember to put {{true}} in the tested field.<br />
<br />
{| class="wikitable sortable"<br />
|+ ''Stepper Motors - Nema 14 (Smaller, neater and used on the Mendel prototype)''<br />
|-<br />
| Vendor (with link) || Shipping location || Manufacturer || Model # || Datasheet || NEMA (Size) || Holding Torque || Shaft || Tested || Additional notes<br />
|-<br />
| [http://www.motioncontrolproducts.com/ Motion Control Products] || ? || Fulling Motor<br />
| FL35ST36-1004B<br />
| [[Media:NEMA14-high-torque.pdf|FL35ST36-1004B Datasheet]]<br />
| 14 || ~13.7 N-cm || Dual || {{true}} || Used in mendel prototype<br />
|-<br />
| [http://www.active-robots.com/ Active Robots] || UK || Wantai<br />
| [http://www.phidgets.com/products.php?category=23&product_id=3301 35BYHG04]<br />
| [http://www.phidgets.com/documentation/Phidgets/3301Datasheet.pdf 35BYHG04 Datasheet]<br />
| 14 || ~12.3 N-cm || 4.9mm || {{true}} || Less Holding Torque than recommended, but has apparently been used successfully<br />
|-<br />
| [http://www.pololu.com/ Pololu] || US || [http://www.cnsoyo.com/ SOYO] || SY35ST36-1004A || ? || 14 || ~13.7 N-cm || 5mm || '''?''' || Note: Pololu list this motor as 1400 g-cm AND as 20 oz-in (converts to 19.44 oz-in). According to supplier information, the metric value is correct.<br />
|}<br />
<br />
<br />
<br />
{| class="wikitable sortable"<br />
|+ ''Stepper Motors - Nema 17 (larger and generally heavier but with more room to put a higher torque than a Nema 14)''<br />
|-<br />
| Vendor (with link) || Shipping location || Manufacturer || Model # || Datasheet || NEMA (Size) || Holding Torque || Shaft || Tested || Additional notes<br />
|-<br />
| [http://www.slidesandballscrews.com/stepper-motors-c-45.html Zapp Automation]<br />
| UK || [http://www.cnsoyo.com/ SOYO] || SY42STH47-1206A<br />
| [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1206A.pdf SY42STH47-1206A Datasheet]<br />
| 17 || ~31.1 N-cm || Single || {{true}} || None<br />
|-<br />
| [http://www.slidesandballscrews.com/stepper-motors-c-45.html Zapp Automation]<br />
| UK || [http://www.cnsoyo.com/ SOYO] || [http://www.slidesandballscrews.com/sy42sth471684b-p-255.html?cPath=45_80 SY42STH47-1684B]<br />
| [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1684B.pdf SY42STH47-1684B Datasheet]<br />
| 17 || ~43.1 N-cm || Dual || {{true}} || Round Ø5mm Shafts<br />
|-<br />
| [http://www.slidesandballscrews.com/stepper-motors-c-45.html Zapp Automation]<br />
| UK || [http://www.cnsoyo.com/ SOYO] || [http://www.slidesandballscrews.com/sy42sth471684a-p-315.html?cPath=45_80 SY42STH47-1684A]<br />
| [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1684A.pdf SY42STH47-1684A Datasheet]<br />
| 17 || ~43.1 N-cm || Single || '''?''' || D-Shape 5mm shaft with 4.5mm flat<br />
|-<br />
| [http://www.coolcomponents.co.uk/ Cool Components] || UK || Mercury Motor || [http://www.coolcomponents.co.uk/catalog/product_info.php?products_id=469 SM-42BYGH011-25]<br />
| [http://www.sparkfun.com/datasheets/Robotics/SM-42BYG011-25.pdf SM-42BYG011 Datasheet]<br />
| 17 || 23 N-cm || 5mm || ? || None<br />
|-<br />
| [http://www.interinar.com/step-motors.html Interinar Electronics, LLC] || US || Oriental Motors<br />
| [http://www.interinar.com/vexta-px243m-01aa.html Vexta PX243M-01AA]<br />
| [http://www.interinar.com/public_docs/PX243M-01AA.pdf PX243M-01AA Datasheet]<br />
| 17 || 15 N-cm || Single || '''?''' || Not strong enough for direct drive extruder, Uses Imperial #4-40 TPI mounting holes instead of M3 metric<br />
|-<br />
| [http://www.alltronics.com/cgi-bin/category.cgi?category=55 Alltronics.com] || US || Lin Engineering<br />
| [http://www.alltronics.com/cgi-bin/item/28M035/search/Lin-Engineering-4218L-01-10-bipolar-stepper-motor 4218L-01-10]<br />
| [http://www.alltronics.com/mas_assets/acrobat/28M035.pdf 4218L-01-10 Datasheet]<br />
| 17 || ~53 N-cm || 3/16 inch = 4.7625 mm (Round) || {{true}} || None<br />
|-<br />
| [http://www.alltronics.com/cgi-bin/category.cgi?category=55 Alltronics.com] || US || Lin Engineering<br />
| [http://www.alltronics.com/cgi-bin/item/24M014/search/Lin-Engineering-Nema-17-1.8deg-24V-2A-bipolar-stepper-motor 4218L-01-11]<br />
| [http://www.alltronics.com/mas_assets/acrobat/24M014.pdf 4218L-01-11 Datasheet]<br />
| 17 (?) || ~53 N-cm || ~5 mm = 0.1968 inches (D-Shape) || {{true}} || None<br />
|-<br />
| [http://www.phidgets.com/products.php?category=23 Phidgets.com] || US || Wantai<br />
| [http://www.phidgets.com/products.php?category=23&product_id=3303 42BYGHW811]<br />
| [http://www.phidgets.com/documentation/Phidgets/3303Datasheet.pdf 42BYGHW811 Datasheet]<br />
| 17 || ~47.1 N-cm || 4.9mm || '''?''' || None<br />
|-<br />
| [http://www.sparkfun.com/ SparkFun] || US || Mercury Motor || SM-42BYG011 || [http://www.sparkfun.com/datasheets/Robotics/SM-42BYG011-25.pdf SM-42BYG011 Datasheet] || 17 || 23 N-cm || 5mm || {{true}} || None<br />
|-<br />
| [http://www.robotgear.com.au Robot Gear] || AU || Mercury Motor || SM-42BYG011-25<br />
| [http://www.robotgear.com.au/Cache/Files/Files/118_Stepper%20Motor%20Datasheet%20SM-42BYG011-25.pdf SM-42BYG011 Datasheet]<br />
| 17 || 23 N-cm || 5mm || {{true}} || None<br />
|-<br />
| [http://mindkits.co.nz/ Mindkits] || NZ || Mercury Motor || SM-42BYG011 || [http://www.sparkfun.com/datasheets/Robotics/SM-42BYG011-25.pdf SM-42BYG011 Datasheet] || 17 || 23 N-cm || 5mm || {{true}} || None<br />
|-<br />
| [http://ausxmods.com.au/ AusXMods] || AU || Rugao Xinhe || 17H185H-04A || ? || 17 || ~43.8 N-cm || ? || '''?''' || None<br />
|-<br />
| [http://store.kysanelectronics.com Kysan] || China || [http://store.kysanelectronics.com Kysan] || 42BYGH4803 || [http://store.kysanelectronics.com/servlet/-strse-68835/42BYGH4803/Detail Datasheet]|| 17 || 49 N-cm || 5mm || {{true}} || Successfully tested with [http://objects.reprap.org/wiki/Geared_Nema17_Extruder Wade's Geared Nema 17] extruder - high flow rates.<br />
|}<br />
<br />
[[Category:Suppliers by Part]]<br />
<br />
<br />
=Unscientific rules of thumb for motor purchases=<br />
<br />
1) The longer the motor body generally the more torque the motor has.<br />
<br />
2) If a motor is rated 2.5A and your stepper driver produces only 2A your motor may not produce the manufactures rated torque.<br />
<br />
3) If a motor is rated 35 volts and your stepper produces only 12 volts your motor may not produce the manufactures rated torque.<br />
<br />
4) A motor can exceed it's rated voltage but will produce more heat. This may not be a problem in Bath/England but may be a problem in warmer climes.<br />
<br />
5) Stepper Motors should not exceed 65c.<br />
<br />
6) ABS melts at 120C but softens at 80C.<br />
<br />
7) Power is measured in Watts and is calculated at Volts X Current.<br />
<br />
8) Power made available to a motor will be turned into heat and motion.<br />
<br />
9) The more power made available to the motor the higher the amount of heat and motion.<br />
<br />
10) Power and torque are related. The more power the more torque.<br />
<br />
<br />
<br />
<br />
<br />
<br />
[[Category:Twiki]]</div>Stephen Georgehttps://reprap.org/mediawiki/index.php?title=Stepper_motor&diff=16619Stepper motor2010-06-03T05:43:53Z<p>Stephen George: /* RepRap Stepper Motor Driver v1.x */</p>
<hr />
<div><br style="clear:both"/><br />
[[image:StepperMotor-reprap-stepper.jpg|thumb]]<br />
__TOC__<br />
<br />
== What is a Stepper Motor ?==<br />
Stepper motors are an electric motor used in the robotics industry.<br />
Stepper motors move a known interval for each pulse of power. These pulses of power are provided by a stepper driver and is referred to as a step. As each step moves the motor a known distance it makes them handy devices for repeatable positioning. <br />
<br />
There are two major types of stepper motor known as bipolar and unipolar. Wikipedia has further information on stepper motors. Please see [http://en.wikipedia.org/wiki/Stepper_motor Wikipedia].<br />
<br />
<br />
== Terms==<br />
<br />
'''Nema''' - refers to the size of the motor. It specifies the “face” size of the motor but not it’s length. For example a Nema 23 stepper has a face of 2.3 inches by 2.3 inches with screw holes to match. Note just because a motor is bigger does not mean it is more powerful in terms of torque. It is perfectly possible for a Nema 14 to “out pull” a Nema 17 or a Nema 23.<br />
<br />
'''Bi polar and uni polar'''- These terms refers to the internals of the motor. Each type has a different stepper driver circuit board to control them. In theory a reprap could use either but in practise most are bipolar.<br />
<br />
== Stepper Motor History for repraps Darwin (V1.0 reprap)==<br />
The darwin reprap type used a Nema 23 stepper motor. This stepper motor was a unipolar stepper motor which could be configured as a bipolar. This design used 3 stepper motors for each axis and a DC motor for it's extruder. Later many people upgraded their extruders to increase their control of the extruder. <br />
<br />
Note the Generation 2 electronics supported the first configuration with 3 stepper driver circuit boards for the steppers and a PWM circuit board to control the DC motor.<br />
<br />
The Darwin Stepper Motor Requirements were as follows:<br />
<br />
{| border="1"<br />
|-<br />
| '''Parameter''' || '''Specification''' <br />
|-<br />
| Size || NEMA 23 <br />
|-<br />
| Type || Bipolar <br />
|-<br />
| Shaft || dual-output shaft <br />
|-<br />
| Torque || 100 oz-in or abount 0.71 Nm <br />
|-<br />
| Resistance || about 10 ohms, or 1 to 30 ohms <br />
<br />
|}<br />
<br />
<br />
Note<br />
<br />
If you are using the [[DarwinStepperController_1_2|PIC controller]] you need a motor that will use about 1A per winding at 12v, that is - around 10 ohms. The Arduino circuit can be adjusted to accommodate a wider range of steppers, but remember that if you specify a low-resistance one and the Arduino controller has to chop the voltage to limit the current going through it, that will also limit the torque.<br />
<br />
== Stepper Motor History for repraps Mendel (V2.0 reprap)==<br />
The Mendel reprap type used either a Nema 17 or a Nema 14 Bi polar stepper motor. It uses four stepper motors. One for each axis and one for the extruder. <br />
<br />
Note this configuration of four stepper motors was supported by the 3rd generation electronics.<br />
<br />
The Mendel Stepper Motor Requirements were as follows:<br />
<br />
{| border="1"<br />
|-<br />
| '''Parameter''' || '''Specification''' <br />
|-<br />
| Size || NEMA 17 or 14 (prototype was Nema 14)<br />
|-<br />
| Type || Bipolar <br />
|-<br />
| Shaft || dual-output shaft <br />
|-<br />
| Torque || 13.7 N-cm (that is 1400 g-cm or 19.4 oz-in)<br />
|-<br />
| Resistance || ?<br />
<br />
|}<br />
<br />
== Bipolar Motors ==<br />
<br />
[[image:StepperMotor-bipolar_stepper_sch.png|thumb]]<br />
<br />
These motors are the strongest type of stepper motor. You identify them by counting the leads - there should be four or eight. They are also the type of motors we are using in the RepRap Project's Darwin design. They have two coils inside, and stepping the motor round is achieved by energising the coils and changing the direction of the current within those coils. This requires more complex electronics than a unipolar motor, so we use a special driver chip to take care of all that for us. Some designs (the eight-wire ones) split each coil in the middle so you can wire the motor either as bipolar (short the middles) or unipolar (short the middles and treat the link as the centre tap - see below).<br />
<br />
<br clear="all"><br />
<br />
== Unipolar Motors ==<br />
<br />
[[image:StepperMotor-unipolar_stepper_sch.png|thumb]]<br />
<br />
Unipolar motors have two coils, each one has a centre tap. They are readily recognizable because they have 5, 6 or even 8 leads. It is possible to drive some unipolar motors as bipolar motors if you ignore the centre tap wires. Their main beauty though is that you can step them without having to reverse the direction of current in any coil, which makes the electronics simpler. Some early RepRap prototypes used this trick. Because the centre tap is used to energise only half of each coil at a time, unipolar motors generally have less torque than bipolar motors.<br />
<br />
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<br />
== Wiring Your Stepper ==<br />
<br />
Pretty much all of our RepRap electronics are designed for Bipolar stepper motors. Every bipolar stepper motor has 4 wires that need to be wired to the driver board. These are labeled A, B, C, and D for lack of better terms. A and B are connected, as well as C and D. You can generally find out which wires are connected using a multimeter to measure the resistance. If you measure a small resistance (1-30 ohm) then they are connected. Generally, they are color coded and we have datasheets available, so things are easy.<br />
<br />
=== NEMA 17 Motors ===<br />
<br />
==== Lin Engineering / 4118S-62-07 ====<br />
<br />
[[image:cache-stepper-motor-nema17.jpg|link=http://store.makerbot.com/featured-products/nema-17-stepper-motor.html]]<br />
<br />
This is an awesome little NEMA17 stepper motor. It is the primary motor used on the Cupcake CNC. It has good torque and a small size. Here are some of the specs:<br />
<br />
* 200 steps per revolution (1.8 deg/step)<br />
* 2.5A / phase<br />
* Phase Resistance: 0.6ohm<br />
* Phase inductance: .93mH<br />
* Holding torque: 3240g-cm or about 0.31 Nm<br />
* Shaft diameter: 0.190"<br />
* Shaft length: 0.50"<br />
* Motor depth: 1.34"<br />
<br />
NEMA-17 is a standard motor mounting geometry. The outside of the motor housing is 1.7"x1.7".<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Red <br />
|-<br />
| B || Blue <br />
|-<br />
| C || Green <br />
|-<br />
| D || Black <br />
|}<br />
<br />
'''Suppliers'''<br />
<br />
* [http://store.rrrf.org/product_info.php?products_id=59 MakerBot Industries]<br />
<br />
'''Technical Information'''<br />
<br />
* [http://svn.makerbot.com/assets/datasheets/4118S-62-07.pdf Datasheet]<br />
<br />
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<br />
==== Zapp Automation / SY42STH47-1684B ====<br />
<br />
* 200 steps per revolution (1.8 deg/step)<br />
* Rated Current 1.68A<br />
* Phase Resistance: 1.65ohm<br />
* Phase inductance: 2.8mH<br />
* Holding torque: 4.4Kg-cm<br />
* Shaft diameter: 5mm<br />
* Shaft length: 22mm<br />
* Motor depth: 47mm<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Black <br />
|-<br />
| B || Red<br />
|-<br />
| C || Green <br />
|-<br />
| D || Blue <br />
|}<br />
<br />
'''Suppliers'''<br />
<br />
'''Technical Information'''<br />
<br />
* [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1684B.pdf Datasheet]<br />
<br />
=== NEMA 23 Motors ===<br />
<br />
==== Nanotec ST5709S1208-B ====<br />
<br />
This was the original standard RepRap stepper motor. It has 400 steps to one revolution (0.9<sup>o</sup> per step). It actually has 4 coils (which means it can be wired as both a bipolar and unipolar), but we join up the wires to turn it into a bipolar motor.<br />
<br />
'''Bipolar - Serial'''<br />
<br />
This configuration is suited for our driver boards. It has higher impedance and higher ohms which means it draws less current. In this mode its ideally matched to our L298 based boards. In this wiring setup it can handle 0.85 amps, which is just right. We recommend wiring it in this configuration.<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Red <br />
|-<br />
| B || Black <br />
|-<br />
| C || Green <br />
|-<br />
| D || Yellow <br />
<br />
|}<br />
<br />
You will also need to splice the following wires together:<br />
<br />
* '''Red/White''' and '''Black/White'''<br />
* '''Green/White''' and '''Yellow/White'''<br />
<br />
[[image:cache-dsc03106.jpg|link=http://picasaweb.google.co.uk/VikOlliver/RepRap02/photo#5072881971638806162]]<br />
<br />
'''Bipolar - Parallel'''<br />
<br />
This configuration offers higher performance. It has lower impedance, and lower resistance. That means you can push more electrons through, at a faster rate. That basically means it will operate much better. However, it will draw about 1.7 amps, which at the upper end of what the L298 is capable of delivering. We do not recommend wiring it like this.<br />
<br />
Keep in mind that two wires make up the start and end of each coil.<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Red and Black/White <br />
|-<br />
| B || Black and Red/White <br />
|-<br />
| C || Green and Yellow/White <br />
|-<br />
| D || Yellow and Green/White <br />
<br />
|}<br />
<br />
'''Suppliers'''<br />
<br />
* [http://uk.farnell.com/jsp/endecaSearch/partDetail.jsp?SKU=4743155 ST5709S1208-B stepper motor from Farnell]<br />
* [http://www.nanotec.com/page_product__st5709__en.html Nanotec Gmbh] - Supplier / Manufacturer<br />
<br />
'''Technical Information'''<br />
* [http://www.nanotec.com/downloads/pdf/1349/ST5709S1208.pdf Datasheet]<br />
* [http://www.nanotec.com/steppermotor_st5709.html#kennlinien Torque/Speed Curve]<br />
<br />
==== Keling KL23H51-24-08B ====<br />
<br />
[[image:cache-2122608287_2c91e1ae6e_m.jpg|link=http://flickr.com/photos/hoeken/2122608287/]]<br />
<br />
This is the RepRap stepper motor for the Arduino controller. It has 200 steps to one revolution (1.8<sup>o</sup> per step). It actually has 4 coils (which means it can be wired as both a bipolar and unipolar), but we join up the wires to turn it into a bipolar motor. It is much cheaper than the Nanotec, and with half-stepping it is almost as accurate.<br />
<br />
<br />
'''Bipolar - Serial'''<br />
<br />
This configuration is suited for our driver boards. It has higher impedance and higher ohms which means it draws less current. In this mode its ideally matched to our L298 based boards. In this wiring setup it can handle 1.5 amps, which is just right. We recommend wiring it in this configuration.<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Blue <br />
|-<br />
| B || Green <br />
|-<br />
| C || Brown <br />
|-<br />
| D || White <br />
<br />
|}<br />
<br />
You will also need to splice the following wires together:<br />
<br />
* '''Red''' and '''Yellow'''<br />
* '''Black''' and '''Orange'''<br />
<br />
'''Bipolar - Parallel'''<br />
<br />
This configuration offers higher performance. It has lower impedance, and lower resistance. That means you can push more electrons through, at a faster rate. That basically means it will operate much better. However, it will draw about 3 amps, which our L298 is just not capable of delivering. We do not recommend wiring it like this.<br />
<br />
Keep in mind that two wires make up the start and end of each coil.<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Blue and Yellow <br />
|-<br />
| B || Red and Green <br />
|-<br />
| C || Brown and Orange <br />
|-<br />
| D || Black and White <br />
<br />
|}<br />
<br />
'''Suppliers'''<br />
<br />
* [http://store.makerbot.com/stepper-motor-nema-23-keling-kl23h51-24-08b.html MakerBot Industries]<br />
* [http://www.kelinginc.net/NEMA23Motor.html Keling Inc.] - The manufacturer/supplier. #5 on the list.<br />
<br />
'''Technical Information'''<br />
<br />
* [http://www.kelinginc.net/KL23H255-21-8A.pdf Datasheet]<br />
* [http://www.kelinginc.net/KL23H251-24-8BT.pdf Torque/Speed Curve]<br />
<br />
<br clear="all"><br />
<br />
==== FL57STH51-2808A (axis extending 1 way) and FL57STH51-3008B (axis 2 ways like the picture) ====<br />
<br />
[[image:StepperMotor-StepperFL57STH51-2808A.jpg|thumb]]<br />
<br />
The stepper motors are provided by [http://www.bitsfrombytes.com/ Bits From Bytes]. They come in two variations. Bought three from Bits From Bytes and I got one with the axis through and extending from both ends, and two with the axis extending one side. Their weight is slightly above 0.6 kg (I measured 619 gram).<br />
<br />
To make the unipolar stepper a bipolar one, connect these wires together:<br />
<br />
* Blue and Red/White<br />
* Green and Black/white <br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Blue/white <br />
|-<br />
| B || Red <br />
|-<br />
| C || Green/white <br />
|-<br />
| D || Black <br />
<br />
|}<br />
<br />
Datasheets: <br />
[http://www.motioncontrolproducts.co.uk/pdf/FL57STH51-3008B.pdf FL57STH51-3008B].<br />
[http://www.motioncontrolproducts.co.uk/pdf/FL57STH56-2008B.pdf FL57STH56-2008B]<br />
<br />
<br clear="all"><br />
<br />
==== Lin Engineering 5718X-05S ====<br />
<br />
[[image:StepperMotor-motor_5704.jpg|thumb]]<br />
<br />
The [http://www.linengineering.com//site/products/5718.html 5718X-05S] has the right specification to drive RepRap from the [[DarwinStepperController_1_2|PIC controllers]] '''but we haven't tested it yet'''. It should work with the Arduino electronics too. It has 200 steps per revolution, so you need to set the controller to half-step it to get the resolution needed. Take care to get the model where the output shaft comes out front and back, not just at the front.<br />
<br />
<br clear="all"><br />
<br />
== Open Source Stepper Motor Drivers ==<br />
<br />
=== RepRap Stepper Motor Driver v1.x ===<br />
<br />
[[image:cache-2950488044_8ba115bd24_m.jpg|link=http://make.rrrf.org/smd-1.2]]<br />
<br />
The first generation of RepRap stepper motor drivers. <br />
(Note: These boards were used in the generation 2 collection of electronics.) Uses the L297/L298 stepper motor driver combo. Half-stepping. Handles up to 2A. All through hole. A nice, solid driver. It uses some old technology, so its not as fancy as the newer stepper drivers, but it gets the job done. [[Stepper_Motor_Driver_1_2|Read the documentation page here]].<br />
<br />
<br clear="all"/><br />
<br />
=== RepRap Stepper Motor Driver v2.x ===<br />
<br />
[[image:cache-3218206144_6461b3e2c0_m.jpg|link=http://make.rrrf.org/smd-2.3]]<br />
<br />
The second generation of RepRap stepper motor drivers. Uses the Allegro A3982 chip which does a bunch of nice things and makes the board much simpler. It also drops the price by $10 compared to the v1.x series. It can handle up to 2A, does half-stepping. The only downside is that its SMT, which can be a bit scary for people. Its all large SMT parts, so its pretty simple to solder it, especially with the solder paste / hotplate method. [[Stepper_Motor_Driver_2_3|Read the documentation page here]].<br />
<br />
<br clear="all"/><br />
<br />
=== AVRSTMD ===<br />
<br />
[http://www.avrstmd.com/ AVRSTMD] - An open source microstepping driver that uses an atmega168 and current limited h-bridges. Very rad circuit.<br />
<br />
----<br />
<br />
=Holding Torque=<br />
<br />
It is recommended that you get approximately 13.7 N-cm (that is 1400 g-cm or 19.4 oz-in) of Holding Torque (or more) to avoid issues, although one stepper with less has been used successfully (see below). If in doubt, higher is better. If you need to convert between different units for the torque you can use the torque unit converter [http://www.numberfactory.com/nf%20torque.htm here].<br />
<br />
=Stepping Angle=<br />
<br />
Most stepper motors used for a Mendel have a step angle of 1.8 Degrees. It is sometimes possible to use motors with larger step angles, however for printing to be accurate, they will need to be geared down to reduce the angle moved per step, which may lead to a slower maximum speed.<br />
<br />
=Size=<br />
<br />
If going for the smaller NEMA 14 motors, aim for the high torque option. NEMA 14s are neater, lighter and smaller, but can be hard to get hold of with the appropriate holding torque. NEMA 17s are quite easy to get in the specification that Mendel needs, but are bulkier and less neat. NEMA 14s are running near the edge of their envelope: they will get warm. NEMA 17s are well inside what they can do, and will run much cooler.<br />
<br />
Note that any Mendel part that goes on to a Stepper Motor shaft expects the shaft to be roughly 5mm. If the shaft is a different size, you will need to make allowances for this in the parts you obtain/make.<br />
<br />
=Wiring=<br />
<br />
Steppers motors come in several wiring configurations. 4,6, and 8 wires are all fairly common. 5-wire version have been reported to exist. 5 wire versions won't work, the others will. See [[stepper wiring]] for more details.<br />
<br />
=Suppliers=<br />
<br />
Below is a list of possible suppliers and motors. Please add to it. If you have built a Mendel successfully with a given motor, remember to put {{true}} in the tested field.<br />
<br />
{| class="wikitable sortable"<br />
|+ ''Stepper Motors - Nema 14 (Smaller, neater and used on the Mendel prototype)''<br />
|-<br />
| Vendor (with link) || Shipping location || Manufacturer || Model # || Datasheet || NEMA (Size) || Holding Torque || Shaft || Tested || Additional notes<br />
|-<br />
| [http://www.motioncontrolproducts.com/ Motion Control Products] || ? || Fulling Motor<br />
| FL35ST36-1004B<br />
| [[Media:NEMA14-high-torque.pdf|FL35ST36-1004B Datasheet]]<br />
| 14 || ~13.7 N-cm || Dual || {{true}} || Used in mendel prototype<br />
|-<br />
| [http://www.active-robots.com/ Active Robots] || UK || Wantai<br />
| [http://www.phidgets.com/products.php?category=23&product_id=3301 35BYHG04]<br />
| [http://www.phidgets.com/documentation/Phidgets/3301Datasheet.pdf 35BYHG04 Datasheet]<br />
| 14 || ~12.3 N-cm || 4.9mm || {{true}} || Less Holding Torque than recommended, but has apparently been used successfully<br />
|-<br />
| [http://www.pololu.com/ Pololu] || US || [http://www.cnsoyo.com/ SOYO] || SY35ST36-1004A || ? || 14 || ~13.7 N-cm || 5mm || '''?''' || Note: Pololu list this motor as 1400 g-cm AND as 20 oz-in (converts to 19.44 oz-in). According to supplier information, the metric value is correct.<br />
|}<br />
<br />
<br />
<br />
{| class="wikitable sortable"<br />
|+ ''Stepper Motors - Nema 17 (larger and generally heavier but with more room to put a higher torque than a Nema 14)''<br />
|-<br />
| Vendor (with link) || Shipping location || Manufacturer || Model # || Datasheet || NEMA (Size) || Holding Torque || Shaft || Tested || Additional notes<br />
|-<br />
| [http://www.slidesandballscrews.com/stepper-motors-c-45.html Zapp Automation]<br />
| UK || [http://www.cnsoyo.com/ SOYO] || SY42STH47-1206A<br />
| [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1206A.pdf SY42STH47-1206A Datasheet]<br />
| 17 || ~31.1 N-cm || Single || {{true}} || None<br />
|-<br />
| [http://www.slidesandballscrews.com/stepper-motors-c-45.html Zapp Automation]<br />
| UK || [http://www.cnsoyo.com/ SOYO] || [http://www.slidesandballscrews.com/sy42sth471684b-p-255.html?cPath=45_80 SY42STH47-1684B]<br />
| [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1684B.pdf SY42STH47-1684B Datasheet]<br />
| 17 || ~43.1 N-cm || Dual || {{true}} || Round Ø5mm Shafts<br />
|-<br />
| [http://www.slidesandballscrews.com/stepper-motors-c-45.html Zapp Automation]<br />
| UK || [http://www.cnsoyo.com/ SOYO] || [http://www.slidesandballscrews.com/sy42sth471684a-p-315.html?cPath=45_80 SY42STH47-1684A]<br />
| [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1684A.pdf SY42STH47-1684A Datasheet]<br />
| 17 || ~43.1 N-cm || Single || '''?''' || D-Shape 5mm shaft with 4.5mm flat<br />
|-<br />
| [http://www.coolcomponents.co.uk/ Cool Components] || UK || Mercury Motor || [http://www.coolcomponents.co.uk/catalog/product_info.php?products_id=469 SM-42BYGH011-25]<br />
| [http://www.sparkfun.com/datasheets/Robotics/SM-42BYG011-25.pdf SM-42BYG011 Datasheet]<br />
| 17 || 23 N-cm || 5mm || ? || None<br />
|-<br />
| [http://www.interinar.com/step-motors.html Interinar Electronics, LLC] || US || Oriental Motors<br />
| [http://www.interinar.com/vexta-px243m-01aa.html Vexta PX243M-01AA]<br />
| [http://www.interinar.com/public_docs/PX243M-01AA.pdf PX243M-01AA Datasheet]<br />
| 17 || 15 N-cm || Single || '''?''' || Not strong enough for direct drive extruder, Uses Imperial #4-40 TPI mounting holes instead of M3 metric<br />
|-<br />
| [http://www.alltronics.com/cgi-bin/category.cgi?category=55 Alltronics.com] || US || Lin Engineering<br />
| [http://www.alltronics.com/cgi-bin/item/28M035/search/Lin-Engineering-4218L-01-10-bipolar-stepper-motor 4218L-01-10]<br />
| [http://www.alltronics.com/mas_assets/acrobat/28M035.pdf 4218L-01-10 Datasheet]<br />
| 17 || ~53 N-cm || 3/16 inch = 4.7625 mm (Round) || {{true}} || None<br />
|-<br />
| [http://www.alltronics.com/cgi-bin/category.cgi?category=55 Alltronics.com] || US || Lin Engineering<br />
| [http://www.alltronics.com/cgi-bin/item/24M014/search/Lin-Engineering-Nema-17-1.8deg-24V-2A-bipolar-stepper-motor 4218L-01-11]<br />
| [http://www.alltronics.com/mas_assets/acrobat/24M014.pdf 4218L-01-11 Datasheet]<br />
| 17 (?) || ~53 N-cm || ~5 mm = 0.1968 inches (D-Shape) || {{true}} || None<br />
|-<br />
| [http://www.phidgets.com/products.php?category=23 Phidgets.com] || US || Wantai<br />
| [http://www.phidgets.com/products.php?category=23&product_id=3303 42BYGHW811]<br />
| [http://www.phidgets.com/documentation/Phidgets/3303Datasheet.pdf 42BYGHW811 Datasheet]<br />
| 17 || ~47.1 N-cm || 4.9mm || '''?''' || None<br />
|-<br />
| [http://www.sparkfun.com/ SparkFun] || US || Mercury Motor || SM-42BYG011 || [http://www.sparkfun.com/datasheets/Robotics/SM-42BYG011-25.pdf SM-42BYG011 Datasheet] || 17 || 23 N-cm || 5mm || {{true}} || None<br />
|-<br />
| [http://www.robotgear.com.au Robot Gear] || AU || Mercury Motor || SM-42BYG011-25<br />
| [http://www.robotgear.com.au/Cache/Files/Files/118_Stepper%20Motor%20Datasheet%20SM-42BYG011-25.pdf SM-42BYG011 Datasheet]<br />
| 17 || 23 N-cm || 5mm || {{true}} || None<br />
|-<br />
| [http://mindkits.co.nz/ Mindkits] || NZ || Mercury Motor || SM-42BYG011 || [http://www.sparkfun.com/datasheets/Robotics/SM-42BYG011-25.pdf SM-42BYG011 Datasheet] || 17 || 23 N-cm || 5mm || {{true}} || None<br />
|-<br />
| [http://ausxmods.com.au/ AusXMods] || AU || Rugao Xinhe || 17H185H-04A || ? || 17 || ~43.8 N-cm || ? || '''?''' || None<br />
|-<br />
| [http://store.kysanelectronics.com Kysan] || China || [http://store.kysanelectronics.com Kysan] || 42BYGH4803 || [http://store.kysanelectronics.com/servlet/-strse-68835/42BYGH4803/Detail Datasheet]|| 17 || 49 N-cm || 5mm || {{true}} || Successfully tested with [http://objects.reprap.org/wiki/Geared_Nema17_Extruder Wade's Geared Nema 17] extruder - high flow rates.<br />
|}<br />
<br />
[[Category:Suppliers by Part]]<br />
<br />
<br />
=Unscientific rules of thumb for motor purchases=<br />
<br />
1) The longer the motor body generally the more torque the motor has.<br />
<br />
2) If a motor is rated 2.5A and your stepper driver produces only 2A your motor may not produce the manufactures rated torque.<br />
<br />
3) If a motor is rated 35 volts and your stepper produces only 12 volts your motor may not produce the manufactures rated torque.<br />
<br />
4) A motor can exceed it's rated voltage but will produce more heat. This may not be a problem in Bath/England but may be a problem in warmer climes.<br />
<br />
5) Stepper Motors should not exceed 65c.<br />
<br />
6) ABS melts at 120C but softens at 80C.<br />
<br />
7) Power is measured in Watts and is calculated at Volts X Current.<br />
<br />
8) Power made available to a motor will be turned into heat and motion.<br />
<br />
9) The more power made available to the motor the higher the amount of heat and motion.<br />
<br />
10) Power and torque are related. The more power the more torque.<br />
<br />
<br />
<br />
<br />
<br />
<br />
[[Category:Twiki]]</div>Stephen Georgehttps://reprap.org/mediawiki/index.php?title=Stepper_motor&diff=16618Stepper motor2010-06-03T05:39:19Z<p>Stephen George: /* RepRap Stepper Motor Driver v1.x */</p>
<hr />
<div><br style="clear:both"/><br />
[[image:StepperMotor-reprap-stepper.jpg|thumb]]<br />
__TOC__<br />
<br />
== What is a Stepper Motor ?==<br />
Stepper motors are an electric motor used in the robotics industry.<br />
Stepper motors move a known interval for each pulse of power. These pulses of power are provided by a stepper driver and is referred to as a step. As each step moves the motor a known distance it makes them handy devices for repeatable positioning. <br />
<br />
There are two major types of stepper motor known as bipolar and unipolar. Wikipedia has further information on stepper motors. Please see [http://en.wikipedia.org/wiki/Stepper_motor Wikipedia].<br />
<br />
<br />
== Terms==<br />
<br />
'''Nema''' - refers to the size of the motor. It specifies the “face” size of the motor but not it’s length. For example a Nema 23 stepper has a face of 2.3 inches by 2.3 inches with screw holes to match. Note just because a motor is bigger does not mean it is more powerful in terms of torque. It is perfectly possible for a Nema 14 to “out pull” a Nema 17 or a Nema 23.<br />
<br />
'''Bi polar and uni polar'''- These terms refers to the internals of the motor. Each type has a different stepper driver circuit board to control them. In theory a reprap could use either but in practise most are bipolar.<br />
<br />
== Stepper Motor History for repraps Darwin (V1.0 reprap)==<br />
The darwin reprap type used a Nema 23 stepper motor. This stepper motor was a unipolar stepper motor which could be configured as a bipolar. This design used 3 stepper motors for each axis and a DC motor for it's extruder. Later many people upgraded their extruders to increase their control of the extruder. <br />
<br />
Note the Generation 2 electronics supported the first configuration with 3 stepper driver circuit boards for the steppers and a PWM circuit board to control the DC motor.<br />
<br />
The Darwin Stepper Motor Requirements were as follows:<br />
<br />
{| border="1"<br />
|-<br />
| '''Parameter''' || '''Specification''' <br />
|-<br />
| Size || NEMA 23 <br />
|-<br />
| Type || Bipolar <br />
|-<br />
| Shaft || dual-output shaft <br />
|-<br />
| Torque || 100 oz-in or abount 0.71 Nm <br />
|-<br />
| Resistance || about 10 ohms, or 1 to 30 ohms <br />
<br />
|}<br />
<br />
<br />
Note<br />
<br />
If you are using the [[DarwinStepperController_1_2|PIC controller]] you need a motor that will use about 1A per winding at 12v, that is - around 10 ohms. The Arduino circuit can be adjusted to accommodate a wider range of steppers, but remember that if you specify a low-resistance one and the Arduino controller has to chop the voltage to limit the current going through it, that will also limit the torque.<br />
<br />
== Stepper Motor History for repraps Mendel (V2.0 reprap)==<br />
The Mendel reprap type used either a Nema 17 or a Nema 14 Bi polar stepper motor. It uses four stepper motors. One for each axis and one for the extruder. <br />
<br />
Note this configuration of four stepper motors was supported by the 3rd generation electronics.<br />
<br />
The Mendel Stepper Motor Requirements were as follows:<br />
<br />
{| border="1"<br />
|-<br />
| '''Parameter''' || '''Specification''' <br />
|-<br />
| Size || NEMA 17 or 14 (prototype was Nema 14)<br />
|-<br />
| Type || Bipolar <br />
|-<br />
| Shaft || dual-output shaft <br />
|-<br />
| Torque || 13.7 N-cm (that is 1400 g-cm or 19.4 oz-in)<br />
|-<br />
| Resistance || ?<br />
<br />
|}<br />
<br />
== Bipolar Motors ==<br />
<br />
[[image:StepperMotor-bipolar_stepper_sch.png|thumb]]<br />
<br />
These motors are the strongest type of stepper motor. You identify them by counting the leads - there should be four or eight. They are also the type of motors we are using in the RepRap Project's Darwin design. They have two coils inside, and stepping the motor round is achieved by energising the coils and changing the direction of the current within those coils. This requires more complex electronics than a unipolar motor, so we use a special driver chip to take care of all that for us. Some designs (the eight-wire ones) split each coil in the middle so you can wire the motor either as bipolar (short the middles) or unipolar (short the middles and treat the link as the centre tap - see below).<br />
<br />
<br clear="all"><br />
<br />
== Unipolar Motors ==<br />
<br />
[[image:StepperMotor-unipolar_stepper_sch.png|thumb]]<br />
<br />
Unipolar motors have two coils, each one has a centre tap. They are readily recognizable because they have 5, 6 or even 8 leads. It is possible to drive some unipolar motors as bipolar motors if you ignore the centre tap wires. Their main beauty though is that you can step them without having to reverse the direction of current in any coil, which makes the electronics simpler. Some early RepRap prototypes used this trick. Because the centre tap is used to energise only half of each coil at a time, unipolar motors generally have less torque than bipolar motors.<br />
<br />
<br clear="all"><br />
<br />
== Wiring Your Stepper ==<br />
<br />
Pretty much all of our RepRap electronics are designed for Bipolar stepper motors. Every bipolar stepper motor has 4 wires that need to be wired to the driver board. These are labeled A, B, C, and D for lack of better terms. A and B are connected, as well as C and D. You can generally find out which wires are connected using a multimeter to measure the resistance. If you measure a small resistance (1-30 ohm) then they are connected. Generally, they are color coded and we have datasheets available, so things are easy.<br />
<br />
=== NEMA 17 Motors ===<br />
<br />
==== Lin Engineering / 4118S-62-07 ====<br />
<br />
[[image:cache-stepper-motor-nema17.jpg|link=http://store.makerbot.com/featured-products/nema-17-stepper-motor.html]]<br />
<br />
This is an awesome little NEMA17 stepper motor. It is the primary motor used on the Cupcake CNC. It has good torque and a small size. Here are some of the specs:<br />
<br />
* 200 steps per revolution (1.8 deg/step)<br />
* 2.5A / phase<br />
* Phase Resistance: 0.6ohm<br />
* Phase inductance: .93mH<br />
* Holding torque: 3240g-cm or about 0.31 Nm<br />
* Shaft diameter: 0.190"<br />
* Shaft length: 0.50"<br />
* Motor depth: 1.34"<br />
<br />
NEMA-17 is a standard motor mounting geometry. The outside of the motor housing is 1.7"x1.7".<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Red <br />
|-<br />
| B || Blue <br />
|-<br />
| C || Green <br />
|-<br />
| D || Black <br />
|}<br />
<br />
'''Suppliers'''<br />
<br />
* [http://store.rrrf.org/product_info.php?products_id=59 MakerBot Industries]<br />
<br />
'''Technical Information'''<br />
<br />
* [http://svn.makerbot.com/assets/datasheets/4118S-62-07.pdf Datasheet]<br />
<br />
<br clear="all"/><br />
<br />
==== Zapp Automation / SY42STH47-1684B ====<br />
<br />
* 200 steps per revolution (1.8 deg/step)<br />
* Rated Current 1.68A<br />
* Phase Resistance: 1.65ohm<br />
* Phase inductance: 2.8mH<br />
* Holding torque: 4.4Kg-cm<br />
* Shaft diameter: 5mm<br />
* Shaft length: 22mm<br />
* Motor depth: 47mm<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Black <br />
|-<br />
| B || Red<br />
|-<br />
| C || Green <br />
|-<br />
| D || Blue <br />
|}<br />
<br />
'''Suppliers'''<br />
<br />
'''Technical Information'''<br />
<br />
* [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1684B.pdf Datasheet]<br />
<br />
=== NEMA 23 Motors ===<br />
<br />
==== Nanotec ST5709S1208-B ====<br />
<br />
This was the original standard RepRap stepper motor. It has 400 steps to one revolution (0.9<sup>o</sup> per step). It actually has 4 coils (which means it can be wired as both a bipolar and unipolar), but we join up the wires to turn it into a bipolar motor.<br />
<br />
'''Bipolar - Serial'''<br />
<br />
This configuration is suited for our driver boards. It has higher impedance and higher ohms which means it draws less current. In this mode its ideally matched to our L298 based boards. In this wiring setup it can handle 0.85 amps, which is just right. We recommend wiring it in this configuration.<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Red <br />
|-<br />
| B || Black <br />
|-<br />
| C || Green <br />
|-<br />
| D || Yellow <br />
<br />
|}<br />
<br />
You will also need to splice the following wires together:<br />
<br />
* '''Red/White''' and '''Black/White'''<br />
* '''Green/White''' and '''Yellow/White'''<br />
<br />
[[image:cache-dsc03106.jpg|link=http://picasaweb.google.co.uk/VikOlliver/RepRap02/photo#5072881971638806162]]<br />
<br />
'''Bipolar - Parallel'''<br />
<br />
This configuration offers higher performance. It has lower impedance, and lower resistance. That means you can push more electrons through, at a faster rate. That basically means it will operate much better. However, it will draw about 1.7 amps, which at the upper end of what the L298 is capable of delivering. We do not recommend wiring it like this.<br />
<br />
Keep in mind that two wires make up the start and end of each coil.<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Red and Black/White <br />
|-<br />
| B || Black and Red/White <br />
|-<br />
| C || Green and Yellow/White <br />
|-<br />
| D || Yellow and Green/White <br />
<br />
|}<br />
<br />
'''Suppliers'''<br />
<br />
* [http://uk.farnell.com/jsp/endecaSearch/partDetail.jsp?SKU=4743155 ST5709S1208-B stepper motor from Farnell]<br />
* [http://www.nanotec.com/page_product__st5709__en.html Nanotec Gmbh] - Supplier / Manufacturer<br />
<br />
'''Technical Information'''<br />
* [http://www.nanotec.com/downloads/pdf/1349/ST5709S1208.pdf Datasheet]<br />
* [http://www.nanotec.com/steppermotor_st5709.html#kennlinien Torque/Speed Curve]<br />
<br />
==== Keling KL23H51-24-08B ====<br />
<br />
[[image:cache-2122608287_2c91e1ae6e_m.jpg|link=http://flickr.com/photos/hoeken/2122608287/]]<br />
<br />
This is the RepRap stepper motor for the Arduino controller. It has 200 steps to one revolution (1.8<sup>o</sup> per step). It actually has 4 coils (which means it can be wired as both a bipolar and unipolar), but we join up the wires to turn it into a bipolar motor. It is much cheaper than the Nanotec, and with half-stepping it is almost as accurate.<br />
<br />
<br />
'''Bipolar - Serial'''<br />
<br />
This configuration is suited for our driver boards. It has higher impedance and higher ohms which means it draws less current. In this mode its ideally matched to our L298 based boards. In this wiring setup it can handle 1.5 amps, which is just right. We recommend wiring it in this configuration.<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Blue <br />
|-<br />
| B || Green <br />
|-<br />
| C || Brown <br />
|-<br />
| D || White <br />
<br />
|}<br />
<br />
You will also need to splice the following wires together:<br />
<br />
* '''Red''' and '''Yellow'''<br />
* '''Black''' and '''Orange'''<br />
<br />
'''Bipolar - Parallel'''<br />
<br />
This configuration offers higher performance. It has lower impedance, and lower resistance. That means you can push more electrons through, at a faster rate. That basically means it will operate much better. However, it will draw about 3 amps, which our L298 is just not capable of delivering. We do not recommend wiring it like this.<br />
<br />
Keep in mind that two wires make up the start and end of each coil.<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Blue and Yellow <br />
|-<br />
| B || Red and Green <br />
|-<br />
| C || Brown and Orange <br />
|-<br />
| D || Black and White <br />
<br />
|}<br />
<br />
'''Suppliers'''<br />
<br />
* [http://store.makerbot.com/stepper-motor-nema-23-keling-kl23h51-24-08b.html MakerBot Industries]<br />
* [http://www.kelinginc.net/NEMA23Motor.html Keling Inc.] - The manufacturer/supplier. #5 on the list.<br />
<br />
'''Technical Information'''<br />
<br />
* [http://www.kelinginc.net/KL23H255-21-8A.pdf Datasheet]<br />
* [http://www.kelinginc.net/KL23H251-24-8BT.pdf Torque/Speed Curve]<br />
<br />
<br clear="all"><br />
<br />
==== FL57STH51-2808A (axis extending 1 way) and FL57STH51-3008B (axis 2 ways like the picture) ====<br />
<br />
[[image:StepperMotor-StepperFL57STH51-2808A.jpg|thumb]]<br />
<br />
The stepper motors are provided by [http://www.bitsfrombytes.com/ Bits From Bytes]. They come in two variations. Bought three from Bits From Bytes and I got one with the axis through and extending from both ends, and two with the axis extending one side. Their weight is slightly above 0.6 kg (I measured 619 gram).<br />
<br />
To make the unipolar stepper a bipolar one, connect these wires together:<br />
<br />
* Blue and Red/White<br />
* Green and Black/white <br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Blue/white <br />
|-<br />
| B || Red <br />
|-<br />
| C || Green/white <br />
|-<br />
| D || Black <br />
<br />
|}<br />
<br />
Datasheets: <br />
[http://www.motioncontrolproducts.co.uk/pdf/FL57STH51-3008B.pdf FL57STH51-3008B].<br />
[http://www.motioncontrolproducts.co.uk/pdf/FL57STH56-2008B.pdf FL57STH56-2008B]<br />
<br />
<br clear="all"><br />
<br />
==== Lin Engineering 5718X-05S ====<br />
<br />
[[image:StepperMotor-motor_5704.jpg|thumb]]<br />
<br />
The [http://www.linengineering.com//site/products/5718.html 5718X-05S] has the right specification to drive RepRap from the [[DarwinStepperController_1_2|PIC controllers]] '''but we haven't tested it yet'''. It should work with the Arduino electronics too. It has 200 steps per revolution, so you need to set the controller to half-step it to get the resolution needed. Take care to get the model where the output shaft comes out front and back, not just at the front.<br />
<br />
<br clear="all"><br />
<br />
== Open Source Stepper Motor Drivers ==<br />
<br />
=== RepRap Stepper Motor Driver v1.x ===<br />
<br />
[[image:cache-2950488044_8ba115bd24_m.jpg|link=http://make.rrrf.org/smd-1.2]]<br />
<br />
The first generation of RepRap stepper motor drivers. <br />
(Note: These boards were used in the generation 2 collection of ellectronics.) Uses the L297/L298 stepper motor driver combo. Half-stepping. Handles up to 2A. All through hole. A nice, solid driver. It uses some old technology, so its not as fancy as the newer stepper drivers, but it gets the job done. [[Stepper_Motor_Driver_1_2|Read the documentation page here]].<br />
<br />
<br clear="all"/><br />
<br />
=== RepRap Stepper Motor Driver v2.x ===<br />
<br />
[[image:cache-3218206144_6461b3e2c0_m.jpg|link=http://make.rrrf.org/smd-2.3]]<br />
<br />
The second generation of RepRap stepper motor drivers. Uses the Allegro A3982 chip which does a bunch of nice things and makes the board much simpler. It also drops the price by $10 compared to the v1.x series. It can handle up to 2A, does half-stepping. The only downside is that its SMT, which can be a bit scary for people. Its all large SMT parts, so its pretty simple to solder it, especially with the solder paste / hotplate method. [[Stepper_Motor_Driver_2_3|Read the documentation page here]].<br />
<br />
<br clear="all"/><br />
<br />
=== AVRSTMD ===<br />
<br />
[http://www.avrstmd.com/ AVRSTMD] - An open source microstepping driver that uses an atmega168 and current limited h-bridges. Very rad circuit.<br />
<br />
----<br />
<br />
=Holding Torque=<br />
<br />
It is recommended that you get approximately 13.7 N-cm (that is 1400 g-cm or 19.4 oz-in) of Holding Torque (or more) to avoid issues, although one stepper with less has been used successfully (see below). If in doubt, higher is better. If you need to convert between different units for the torque you can use the torque unit converter [http://www.numberfactory.com/nf%20torque.htm here].<br />
<br />
=Stepping Angle=<br />
<br />
Most stepper motors used for a Mendel have a step angle of 1.8 Degrees. It is sometimes possible to use motors with larger step angles, however for printing to be accurate, they will need to be geared down to reduce the angle moved per step, which may lead to a slower maximum speed.<br />
<br />
=Size=<br />
<br />
If going for the smaller NEMA 14 motors, aim for the high torque option. NEMA 14s are neater, lighter and smaller, but can be hard to get hold of with the appropriate holding torque. NEMA 17s are quite easy to get in the specification that Mendel needs, but are bulkier and less neat. NEMA 14s are running near the edge of their envelope: they will get warm. NEMA 17s are well inside what they can do, and will run much cooler.<br />
<br />
Note that any Mendel part that goes on to a Stepper Motor shaft expects the shaft to be roughly 5mm. If the shaft is a different size, you will need to make allowances for this in the parts you obtain/make.<br />
<br />
=Wiring=<br />
<br />
Steppers motors come in several wiring configurations. 4,6, and 8 wires are all fairly common. 5-wire version have been reported to exist. 5 wire versions won't work, the others will. See [[stepper wiring]] for more details.<br />
<br />
=Suppliers=<br />
<br />
Below is a list of possible suppliers and motors. Please add to it. If you have built a Mendel successfully with a given motor, remember to put {{true}} in the tested field.<br />
<br />
{| class="wikitable sortable"<br />
|+ ''Stepper Motors - Nema 14 (Smaller, neater and used on the Mendel prototype)''<br />
|-<br />
| Vendor (with link) || Shipping location || Manufacturer || Model # || Datasheet || NEMA (Size) || Holding Torque || Shaft || Tested || Additional notes<br />
|-<br />
| [http://www.motioncontrolproducts.com/ Motion Control Products] || ? || Fulling Motor<br />
| FL35ST36-1004B<br />
| [[Media:NEMA14-high-torque.pdf|FL35ST36-1004B Datasheet]]<br />
| 14 || ~13.7 N-cm || Dual || {{true}} || Used in mendel prototype<br />
|-<br />
| [http://www.active-robots.com/ Active Robots] || UK || Wantai<br />
| [http://www.phidgets.com/products.php?category=23&product_id=3301 35BYHG04]<br />
| [http://www.phidgets.com/documentation/Phidgets/3301Datasheet.pdf 35BYHG04 Datasheet]<br />
| 14 || ~12.3 N-cm || 4.9mm || {{true}} || Less Holding Torque than recommended, but has apparently been used successfully<br />
|-<br />
| [http://www.pololu.com/ Pololu] || US || [http://www.cnsoyo.com/ SOYO] || SY35ST36-1004A || ? || 14 || ~13.7 N-cm || 5mm || '''?''' || Note: Pololu list this motor as 1400 g-cm AND as 20 oz-in (converts to 19.44 oz-in). According to supplier information, the metric value is correct.<br />
|}<br />
<br />
<br />
<br />
{| class="wikitable sortable"<br />
|+ ''Stepper Motors - Nema 17 (larger and generally heavier but with more room to put a higher torque than a Nema 14)''<br />
|-<br />
| Vendor (with link) || Shipping location || Manufacturer || Model # || Datasheet || NEMA (Size) || Holding Torque || Shaft || Tested || Additional notes<br />
|-<br />
| [http://www.slidesandballscrews.com/stepper-motors-c-45.html Zapp Automation]<br />
| UK || [http://www.cnsoyo.com/ SOYO] || SY42STH47-1206A<br />
| [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1206A.pdf SY42STH47-1206A Datasheet]<br />
| 17 || ~31.1 N-cm || Single || {{true}} || None<br />
|-<br />
| [http://www.slidesandballscrews.com/stepper-motors-c-45.html Zapp Automation]<br />
| UK || [http://www.cnsoyo.com/ SOYO] || [http://www.slidesandballscrews.com/sy42sth471684b-p-255.html?cPath=45_80 SY42STH47-1684B]<br />
| [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1684B.pdf SY42STH47-1684B Datasheet]<br />
| 17 || ~43.1 N-cm || Dual || {{true}} || Round Ø5mm Shafts<br />
|-<br />
| [http://www.slidesandballscrews.com/stepper-motors-c-45.html Zapp Automation]<br />
| UK || [http://www.cnsoyo.com/ SOYO] || [http://www.slidesandballscrews.com/sy42sth471684a-p-315.html?cPath=45_80 SY42STH47-1684A]<br />
| [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1684A.pdf SY42STH47-1684A Datasheet]<br />
| 17 || ~43.1 N-cm || Single || '''?''' || D-Shape 5mm shaft with 4.5mm flat<br />
|-<br />
| [http://www.coolcomponents.co.uk/ Cool Components] || UK || Mercury Motor || [http://www.coolcomponents.co.uk/catalog/product_info.php?products_id=469 SM-42BYGH011-25]<br />
| [http://www.sparkfun.com/datasheets/Robotics/SM-42BYG011-25.pdf SM-42BYG011 Datasheet]<br />
| 17 || 23 N-cm || 5mm || ? || None<br />
|-<br />
| [http://www.interinar.com/step-motors.html Interinar Electronics, LLC] || US || Oriental Motors<br />
| [http://www.interinar.com/vexta-px243m-01aa.html Vexta PX243M-01AA]<br />
| [http://www.interinar.com/public_docs/PX243M-01AA.pdf PX243M-01AA Datasheet]<br />
| 17 || 15 N-cm || Single || '''?''' || Not strong enough for direct drive extruder, Uses Imperial #4-40 TPI mounting holes instead of M3 metric<br />
|-<br />
| [http://www.alltronics.com/cgi-bin/category.cgi?category=55 Alltronics.com] || US || Lin Engineering<br />
| [http://www.alltronics.com/cgi-bin/item/28M035/search/Lin-Engineering-4218L-01-10-bipolar-stepper-motor 4218L-01-10]<br />
| [http://www.alltronics.com/mas_assets/acrobat/28M035.pdf 4218L-01-10 Datasheet]<br />
| 17 || ~53 N-cm || 3/16 inch = 4.7625 mm (Round) || {{true}} || None<br />
|-<br />
| [http://www.alltronics.com/cgi-bin/category.cgi?category=55 Alltronics.com] || US || Lin Engineering<br />
| [http://www.alltronics.com/cgi-bin/item/24M014/search/Lin-Engineering-Nema-17-1.8deg-24V-2A-bipolar-stepper-motor 4218L-01-11]<br />
| [http://www.alltronics.com/mas_assets/acrobat/24M014.pdf 4218L-01-11 Datasheet]<br />
| 17 (?) || ~53 N-cm || ~5 mm = 0.1968 inches (D-Shape) || {{true}} || None<br />
|-<br />
| [http://www.phidgets.com/products.php?category=23 Phidgets.com] || US || Wantai<br />
| [http://www.phidgets.com/products.php?category=23&product_id=3303 42BYGHW811]<br />
| [http://www.phidgets.com/documentation/Phidgets/3303Datasheet.pdf 42BYGHW811 Datasheet]<br />
| 17 || ~47.1 N-cm || 4.9mm || '''?''' || None<br />
|-<br />
| [http://www.sparkfun.com/ SparkFun] || US || Mercury Motor || SM-42BYG011 || [http://www.sparkfun.com/datasheets/Robotics/SM-42BYG011-25.pdf SM-42BYG011 Datasheet] || 17 || 23 N-cm || 5mm || {{true}} || None<br />
|-<br />
| [http://www.robotgear.com.au Robot Gear] || AU || Mercury Motor || SM-42BYG011-25<br />
| [http://www.robotgear.com.au/Cache/Files/Files/118_Stepper%20Motor%20Datasheet%20SM-42BYG011-25.pdf SM-42BYG011 Datasheet]<br />
| 17 || 23 N-cm || 5mm || {{true}} || None<br />
|-<br />
| [http://mindkits.co.nz/ Mindkits] || NZ || Mercury Motor || SM-42BYG011 || [http://www.sparkfun.com/datasheets/Robotics/SM-42BYG011-25.pdf SM-42BYG011 Datasheet] || 17 || 23 N-cm || 5mm || {{true}} || None<br />
|-<br />
| [http://ausxmods.com.au/ AusXMods] || AU || Rugao Xinhe || 17H185H-04A || ? || 17 || ~43.8 N-cm || ? || '''?''' || None<br />
|-<br />
| [http://store.kysanelectronics.com Kysan] || China || [http://store.kysanelectronics.com Kysan] || 42BYGH4803 || [http://store.kysanelectronics.com/servlet/-strse-68835/42BYGH4803/Detail Datasheet]|| 17 || 49 N-cm || 5mm || {{true}} || Successfully tested with [http://objects.reprap.org/wiki/Geared_Nema17_Extruder Wade's Geared Nema 17] extruder - high flow rates.<br />
|}<br />
<br />
[[Category:Suppliers by Part]]<br />
<br />
<br />
=Unscientific rules of thumb for motor purchases=<br />
<br />
1) The longer the motor body generally the more torque the motor has.<br />
<br />
2) If a motor is rated 2.5A and your stepper driver produces only 2A your motor may not produce the manufactures rated torque.<br />
<br />
3) If a motor is rated 35 volts and your stepper produces only 12 volts your motor may not produce the manufactures rated torque.<br />
<br />
4) A motor can exceed it's rated voltage but will produce more heat. This may not be a problem in Bath/England but may be a problem in warmer climes.<br />
<br />
5) Stepper Motors should not exceed 65c.<br />
<br />
6) ABS melts at 120C but softens at 80C.<br />
<br />
7) Power is measured in Watts and is calculated at Volts X Current.<br />
<br />
8) Power made available to a motor will be turned into heat and motion.<br />
<br />
9) The more power made available to the motor the higher the amount of heat and motion.<br />
<br />
10) Power and torque are related. The more power the more torque.<br />
<br />
<br />
<br />
<br />
<br />
<br />
[[Category:Twiki]]</div>Stephen Georgehttps://reprap.org/mediawiki/index.php?title=Stepper_motor&diff=16617Stepper motor2010-06-03T05:32:00Z<p>Stephen George: /* Terms */</p>
<hr />
<div><br style="clear:both"/><br />
[[image:StepperMotor-reprap-stepper.jpg|thumb]]<br />
__TOC__<br />
<br />
== What is a Stepper Motor ?==<br />
Stepper motors are an electric motor used in the robotics industry.<br />
Stepper motors move a known interval for each pulse of power. These pulses of power are provided by a stepper driver and is referred to as a step. As each step moves the motor a known distance it makes them handy devices for repeatable positioning. <br />
<br />
There are two major types of stepper motor known as bipolar and unipolar. Wikipedia has further information on stepper motors. Please see [http://en.wikipedia.org/wiki/Stepper_motor Wikipedia].<br />
<br />
<br />
== Terms==<br />
<br />
'''Nema''' - refers to the size of the motor. It specifies the “face” size of the motor but not it’s length. For example a Nema 23 stepper has a face of 2.3 inches by 2.3 inches with screw holes to match. Note just because a motor is bigger does not mean it is more powerful in terms of torque. It is perfectly possible for a Nema 14 to “out pull” a Nema 17 or a Nema 23.<br />
<br />
'''Bi polar and uni polar'''- These terms refers to the internals of the motor. Each type has a different stepper driver circuit board to control them. In theory a reprap could use either but in practise most are bipolar.<br />
<br />
== Stepper Motor History for repraps Darwin (V1.0 reprap)==<br />
The darwin reprap type used a Nema 23 stepper motor. This stepper motor was a unipolar stepper motor which could be configured as a bipolar. This design used 3 stepper motors for each axis and a DC motor for it's extruder. Later many people upgraded their extruders to increase their control of the extruder. <br />
<br />
Note the Generation 2 electronics supported the first configuration with 3 stepper driver circuit boards for the steppers and a PWM circuit board to control the DC motor.<br />
<br />
The Darwin Stepper Motor Requirements were as follows:<br />
<br />
{| border="1"<br />
|-<br />
| '''Parameter''' || '''Specification''' <br />
|-<br />
| Size || NEMA 23 <br />
|-<br />
| Type || Bipolar <br />
|-<br />
| Shaft || dual-output shaft <br />
|-<br />
| Torque || 100 oz-in or abount 0.71 Nm <br />
|-<br />
| Resistance || about 10 ohms, or 1 to 30 ohms <br />
<br />
|}<br />
<br />
<br />
Note<br />
<br />
If you are using the [[DarwinStepperController_1_2|PIC controller]] you need a motor that will use about 1A per winding at 12v, that is - around 10 ohms. The Arduino circuit can be adjusted to accommodate a wider range of steppers, but remember that if you specify a low-resistance one and the Arduino controller has to chop the voltage to limit the current going through it, that will also limit the torque.<br />
<br />
== Stepper Motor History for repraps Mendel (V2.0 reprap)==<br />
The Mendel reprap type used either a Nema 17 or a Nema 14 Bi polar stepper motor. It uses four stepper motors. One for each axis and one for the extruder. <br />
<br />
Note this configuration of four stepper motors was supported by the 3rd generation electronics.<br />
<br />
The Mendel Stepper Motor Requirements were as follows:<br />
<br />
{| border="1"<br />
|-<br />
| '''Parameter''' || '''Specification''' <br />
|-<br />
| Size || NEMA 17 or 14 (prototype was Nema 14)<br />
|-<br />
| Type || Bipolar <br />
|-<br />
| Shaft || dual-output shaft <br />
|-<br />
| Torque || 13.7 N-cm (that is 1400 g-cm or 19.4 oz-in)<br />
|-<br />
| Resistance || ?<br />
<br />
|}<br />
<br />
== Bipolar Motors ==<br />
<br />
[[image:StepperMotor-bipolar_stepper_sch.png|thumb]]<br />
<br />
These motors are the strongest type of stepper motor. You identify them by counting the leads - there should be four or eight. They are also the type of motors we are using in the RepRap Project's Darwin design. They have two coils inside, and stepping the motor round is achieved by energising the coils and changing the direction of the current within those coils. This requires more complex electronics than a unipolar motor, so we use a special driver chip to take care of all that for us. Some designs (the eight-wire ones) split each coil in the middle so you can wire the motor either as bipolar (short the middles) or unipolar (short the middles and treat the link as the centre tap - see below).<br />
<br />
<br clear="all"><br />
<br />
== Unipolar Motors ==<br />
<br />
[[image:StepperMotor-unipolar_stepper_sch.png|thumb]]<br />
<br />
Unipolar motors have two coils, each one has a centre tap. They are readily recognizable because they have 5, 6 or even 8 leads. It is possible to drive some unipolar motors as bipolar motors if you ignore the centre tap wires. Their main beauty though is that you can step them without having to reverse the direction of current in any coil, which makes the electronics simpler. Some early RepRap prototypes used this trick. Because the centre tap is used to energise only half of each coil at a time, unipolar motors generally have less torque than bipolar motors.<br />
<br />
<br clear="all"><br />
<br />
== Wiring Your Stepper ==<br />
<br />
Pretty much all of our RepRap electronics are designed for Bipolar stepper motors. Every bipolar stepper motor has 4 wires that need to be wired to the driver board. These are labeled A, B, C, and D for lack of better terms. A and B are connected, as well as C and D. You can generally find out which wires are connected using a multimeter to measure the resistance. If you measure a small resistance (1-30 ohm) then they are connected. Generally, they are color coded and we have datasheets available, so things are easy.<br />
<br />
=== NEMA 17 Motors ===<br />
<br />
==== Lin Engineering / 4118S-62-07 ====<br />
<br />
[[image:cache-stepper-motor-nema17.jpg|link=http://store.makerbot.com/featured-products/nema-17-stepper-motor.html]]<br />
<br />
This is an awesome little NEMA17 stepper motor. It is the primary motor used on the Cupcake CNC. It has good torque and a small size. Here are some of the specs:<br />
<br />
* 200 steps per revolution (1.8 deg/step)<br />
* 2.5A / phase<br />
* Phase Resistance: 0.6ohm<br />
* Phase inductance: .93mH<br />
* Holding torque: 3240g-cm or about 0.31 Nm<br />
* Shaft diameter: 0.190"<br />
* Shaft length: 0.50"<br />
* Motor depth: 1.34"<br />
<br />
NEMA-17 is a standard motor mounting geometry. The outside of the motor housing is 1.7"x1.7".<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Red <br />
|-<br />
| B || Blue <br />
|-<br />
| C || Green <br />
|-<br />
| D || Black <br />
|}<br />
<br />
'''Suppliers'''<br />
<br />
* [http://store.rrrf.org/product_info.php?products_id=59 MakerBot Industries]<br />
<br />
'''Technical Information'''<br />
<br />
* [http://svn.makerbot.com/assets/datasheets/4118S-62-07.pdf Datasheet]<br />
<br />
<br clear="all"/><br />
<br />
==== Zapp Automation / SY42STH47-1684B ====<br />
<br />
* 200 steps per revolution (1.8 deg/step)<br />
* Rated Current 1.68A<br />
* Phase Resistance: 1.65ohm<br />
* Phase inductance: 2.8mH<br />
* Holding torque: 4.4Kg-cm<br />
* Shaft diameter: 5mm<br />
* Shaft length: 22mm<br />
* Motor depth: 47mm<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Black <br />
|-<br />
| B || Red<br />
|-<br />
| C || Green <br />
|-<br />
| D || Blue <br />
|}<br />
<br />
'''Suppliers'''<br />
<br />
'''Technical Information'''<br />
<br />
* [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1684B.pdf Datasheet]<br />
<br />
=== NEMA 23 Motors ===<br />
<br />
==== Nanotec ST5709S1208-B ====<br />
<br />
This was the original standard RepRap stepper motor. It has 400 steps to one revolution (0.9<sup>o</sup> per step). It actually has 4 coils (which means it can be wired as both a bipolar and unipolar), but we join up the wires to turn it into a bipolar motor.<br />
<br />
'''Bipolar - Serial'''<br />
<br />
This configuration is suited for our driver boards. It has higher impedance and higher ohms which means it draws less current. In this mode its ideally matched to our L298 based boards. In this wiring setup it can handle 0.85 amps, which is just right. We recommend wiring it in this configuration.<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Red <br />
|-<br />
| B || Black <br />
|-<br />
| C || Green <br />
|-<br />
| D || Yellow <br />
<br />
|}<br />
<br />
You will also need to splice the following wires together:<br />
<br />
* '''Red/White''' and '''Black/White'''<br />
* '''Green/White''' and '''Yellow/White'''<br />
<br />
[[image:cache-dsc03106.jpg|link=http://picasaweb.google.co.uk/VikOlliver/RepRap02/photo#5072881971638806162]]<br />
<br />
'''Bipolar - Parallel'''<br />
<br />
This configuration offers higher performance. It has lower impedance, and lower resistance. That means you can push more electrons through, at a faster rate. That basically means it will operate much better. However, it will draw about 1.7 amps, which at the upper end of what the L298 is capable of delivering. We do not recommend wiring it like this.<br />
<br />
Keep in mind that two wires make up the start and end of each coil.<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Red and Black/White <br />
|-<br />
| B || Black and Red/White <br />
|-<br />
| C || Green and Yellow/White <br />
|-<br />
| D || Yellow and Green/White <br />
<br />
|}<br />
<br />
'''Suppliers'''<br />
<br />
* [http://uk.farnell.com/jsp/endecaSearch/partDetail.jsp?SKU=4743155 ST5709S1208-B stepper motor from Farnell]<br />
* [http://www.nanotec.com/page_product__st5709__en.html Nanotec Gmbh] - Supplier / Manufacturer<br />
<br />
'''Technical Information'''<br />
* [http://www.nanotec.com/downloads/pdf/1349/ST5709S1208.pdf Datasheet]<br />
* [http://www.nanotec.com/steppermotor_st5709.html#kennlinien Torque/Speed Curve]<br />
<br />
==== Keling KL23H51-24-08B ====<br />
<br />
[[image:cache-2122608287_2c91e1ae6e_m.jpg|link=http://flickr.com/photos/hoeken/2122608287/]]<br />
<br />
This is the RepRap stepper motor for the Arduino controller. It has 200 steps to one revolution (1.8<sup>o</sup> per step). It actually has 4 coils (which means it can be wired as both a bipolar and unipolar), but we join up the wires to turn it into a bipolar motor. It is much cheaper than the Nanotec, and with half-stepping it is almost as accurate.<br />
<br />
<br />
'''Bipolar - Serial'''<br />
<br />
This configuration is suited for our driver boards. It has higher impedance and higher ohms which means it draws less current. In this mode its ideally matched to our L298 based boards. In this wiring setup it can handle 1.5 amps, which is just right. We recommend wiring it in this configuration.<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Blue <br />
|-<br />
| B || Green <br />
|-<br />
| C || Brown <br />
|-<br />
| D || White <br />
<br />
|}<br />
<br />
You will also need to splice the following wires together:<br />
<br />
* '''Red''' and '''Yellow'''<br />
* '''Black''' and '''Orange'''<br />
<br />
'''Bipolar - Parallel'''<br />
<br />
This configuration offers higher performance. It has lower impedance, and lower resistance. That means you can push more electrons through, at a faster rate. That basically means it will operate much better. However, it will draw about 3 amps, which our L298 is just not capable of delivering. We do not recommend wiring it like this.<br />
<br />
Keep in mind that two wires make up the start and end of each coil.<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Blue and Yellow <br />
|-<br />
| B || Red and Green <br />
|-<br />
| C || Brown and Orange <br />
|-<br />
| D || Black and White <br />
<br />
|}<br />
<br />
'''Suppliers'''<br />
<br />
* [http://store.makerbot.com/stepper-motor-nema-23-keling-kl23h51-24-08b.html MakerBot Industries]<br />
* [http://www.kelinginc.net/NEMA23Motor.html Keling Inc.] - The manufacturer/supplier. #5 on the list.<br />
<br />
'''Technical Information'''<br />
<br />
* [http://www.kelinginc.net/KL23H255-21-8A.pdf Datasheet]<br />
* [http://www.kelinginc.net/KL23H251-24-8BT.pdf Torque/Speed Curve]<br />
<br />
<br clear="all"><br />
<br />
==== FL57STH51-2808A (axis extending 1 way) and FL57STH51-3008B (axis 2 ways like the picture) ====<br />
<br />
[[image:StepperMotor-StepperFL57STH51-2808A.jpg|thumb]]<br />
<br />
The stepper motors are provided by [http://www.bitsfrombytes.com/ Bits From Bytes]. They come in two variations. Bought three from Bits From Bytes and I got one with the axis through and extending from both ends, and two with the axis extending one side. Their weight is slightly above 0.6 kg (I measured 619 gram).<br />
<br />
To make the unipolar stepper a bipolar one, connect these wires together:<br />
<br />
* Blue and Red/White<br />
* Green and Black/white <br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Blue/white <br />
|-<br />
| B || Red <br />
|-<br />
| C || Green/white <br />
|-<br />
| D || Black <br />
<br />
|}<br />
<br />
Datasheets: <br />
[http://www.motioncontrolproducts.co.uk/pdf/FL57STH51-3008B.pdf FL57STH51-3008B].<br />
[http://www.motioncontrolproducts.co.uk/pdf/FL57STH56-2008B.pdf FL57STH56-2008B]<br />
<br />
<br clear="all"><br />
<br />
==== Lin Engineering 5718X-05S ====<br />
<br />
[[image:StepperMotor-motor_5704.jpg|thumb]]<br />
<br />
The [http://www.linengineering.com//site/products/5718.html 5718X-05S] has the right specification to drive RepRap from the [[DarwinStepperController_1_2|PIC controllers]] '''but we haven't tested it yet'''. It should work with the Arduino electronics too. It has 200 steps per revolution, so you need to set the controller to half-step it to get the resolution needed. Take care to get the model where the output shaft comes out front and back, not just at the front.<br />
<br />
<br clear="all"><br />
<br />
== Open Source Stepper Motor Drivers ==<br />
<br />
=== RepRap Stepper Motor Driver v1.x ===<br />
<br />
[[image:cache-2950488044_8ba115bd24_m.jpg|link=http://make.rrrf.org/smd-1.2]]<br />
<br />
The first generation of RepRap stepper motor drivers. Uses the L297/L298 stepper motor driver combo. Half-stepping. Handles up to 2A. All through hole. A nice, solid driver. It uses some old technology, so its not as fancy as the newer stepper drivers, but it gets the job done. [[Stepper_Motor_Driver_1_2|Read the documentation page here]].<br />
<br />
<br clear="all"/><br />
<br />
=== RepRap Stepper Motor Driver v2.x ===<br />
<br />
[[image:cache-3218206144_6461b3e2c0_m.jpg|link=http://make.rrrf.org/smd-2.3]]<br />
<br />
The second generation of RepRap stepper motor drivers. Uses the Allegro A3982 chip which does a bunch of nice things and makes the board much simpler. It also drops the price by $10 compared to the v1.x series. It can handle up to 2A, does half-stepping. The only downside is that its SMT, which can be a bit scary for people. Its all large SMT parts, so its pretty simple to solder it, especially with the solder paste / hotplate method. [[Stepper_Motor_Driver_2_3|Read the documentation page here]].<br />
<br />
<br clear="all"/><br />
<br />
=== AVRSTMD ===<br />
<br />
[http://www.avrstmd.com/ AVRSTMD] - An open source microstepping driver that uses an atmega168 and current limited h-bridges. Very rad circuit.<br />
<br />
----<br />
<br />
=Holding Torque=<br />
<br />
It is recommended that you get approximately 13.7 N-cm (that is 1400 g-cm or 19.4 oz-in) of Holding Torque (or more) to avoid issues, although one stepper with less has been used successfully (see below). If in doubt, higher is better. If you need to convert between different units for the torque you can use the torque unit converter [http://www.numberfactory.com/nf%20torque.htm here].<br />
<br />
=Stepping Angle=<br />
<br />
Most stepper motors used for a Mendel have a step angle of 1.8 Degrees. It is sometimes possible to use motors with larger step angles, however for printing to be accurate, they will need to be geared down to reduce the angle moved per step, which may lead to a slower maximum speed.<br />
<br />
=Size=<br />
<br />
If going for the smaller NEMA 14 motors, aim for the high torque option. NEMA 14s are neater, lighter and smaller, but can be hard to get hold of with the appropriate holding torque. NEMA 17s are quite easy to get in the specification that Mendel needs, but are bulkier and less neat. NEMA 14s are running near the edge of their envelope: they will get warm. NEMA 17s are well inside what they can do, and will run much cooler.<br />
<br />
Note that any Mendel part that goes on to a Stepper Motor shaft expects the shaft to be roughly 5mm. If the shaft is a different size, you will need to make allowances for this in the parts you obtain/make.<br />
<br />
=Wiring=<br />
<br />
Steppers motors come in several wiring configurations. 4,6, and 8 wires are all fairly common. 5-wire version have been reported to exist. 5 wire versions won't work, the others will. See [[stepper wiring]] for more details.<br />
<br />
=Suppliers=<br />
<br />
Below is a list of possible suppliers and motors. Please add to it. If you have built a Mendel successfully with a given motor, remember to put {{true}} in the tested field.<br />
<br />
{| class="wikitable sortable"<br />
|+ ''Stepper Motors - Nema 14 (Smaller, neater and used on the Mendel prototype)''<br />
|-<br />
| Vendor (with link) || Shipping location || Manufacturer || Model # || Datasheet || NEMA (Size) || Holding Torque || Shaft || Tested || Additional notes<br />
|-<br />
| [http://www.motioncontrolproducts.com/ Motion Control Products] || ? || Fulling Motor<br />
| FL35ST36-1004B<br />
| [[Media:NEMA14-high-torque.pdf|FL35ST36-1004B Datasheet]]<br />
| 14 || ~13.7 N-cm || Dual || {{true}} || Used in mendel prototype<br />
|-<br />
| [http://www.active-robots.com/ Active Robots] || UK || Wantai<br />
| [http://www.phidgets.com/products.php?category=23&product_id=3301 35BYHG04]<br />
| [http://www.phidgets.com/documentation/Phidgets/3301Datasheet.pdf 35BYHG04 Datasheet]<br />
| 14 || ~12.3 N-cm || 4.9mm || {{true}} || Less Holding Torque than recommended, but has apparently been used successfully<br />
|-<br />
| [http://www.pololu.com/ Pololu] || US || [http://www.cnsoyo.com/ SOYO] || SY35ST36-1004A || ? || 14 || ~13.7 N-cm || 5mm || '''?''' || Note: Pololu list this motor as 1400 g-cm AND as 20 oz-in (converts to 19.44 oz-in). According to supplier information, the metric value is correct.<br />
|}<br />
<br />
<br />
<br />
{| class="wikitable sortable"<br />
|+ ''Stepper Motors - Nema 17 (larger and generally heavier but with more room to put a higher torque than a Nema 14)''<br />
|-<br />
| Vendor (with link) || Shipping location || Manufacturer || Model # || Datasheet || NEMA (Size) || Holding Torque || Shaft || Tested || Additional notes<br />
|-<br />
| [http://www.slidesandballscrews.com/stepper-motors-c-45.html Zapp Automation]<br />
| UK || [http://www.cnsoyo.com/ SOYO] || SY42STH47-1206A<br />
| [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1206A.pdf SY42STH47-1206A Datasheet]<br />
| 17 || ~31.1 N-cm || Single || {{true}} || None<br />
|-<br />
| [http://www.slidesandballscrews.com/stepper-motors-c-45.html Zapp Automation]<br />
| UK || [http://www.cnsoyo.com/ SOYO] || [http://www.slidesandballscrews.com/sy42sth471684b-p-255.html?cPath=45_80 SY42STH47-1684B]<br />
| [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1684B.pdf SY42STH47-1684B Datasheet]<br />
| 17 || ~43.1 N-cm || Dual || {{true}} || Round Ø5mm Shafts<br />
|-<br />
| [http://www.slidesandballscrews.com/stepper-motors-c-45.html Zapp Automation]<br />
| UK || [http://www.cnsoyo.com/ SOYO] || [http://www.slidesandballscrews.com/sy42sth471684a-p-315.html?cPath=45_80 SY42STH47-1684A]<br />
| [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1684A.pdf SY42STH47-1684A Datasheet]<br />
| 17 || ~43.1 N-cm || Single || '''?''' || D-Shape 5mm shaft with 4.5mm flat<br />
|-<br />
| [http://www.coolcomponents.co.uk/ Cool Components] || UK || Mercury Motor || [http://www.coolcomponents.co.uk/catalog/product_info.php?products_id=469 SM-42BYGH011-25]<br />
| [http://www.sparkfun.com/datasheets/Robotics/SM-42BYG011-25.pdf SM-42BYG011 Datasheet]<br />
| 17 || 23 N-cm || 5mm || ? || None<br />
|-<br />
| [http://www.interinar.com/step-motors.html Interinar Electronics, LLC] || US || Oriental Motors<br />
| [http://www.interinar.com/vexta-px243m-01aa.html Vexta PX243M-01AA]<br />
| [http://www.interinar.com/public_docs/PX243M-01AA.pdf PX243M-01AA Datasheet]<br />
| 17 || 15 N-cm || Single || '''?''' || Not strong enough for direct drive extruder, Uses Imperial #4-40 TPI mounting holes instead of M3 metric<br />
|-<br />
| [http://www.alltronics.com/cgi-bin/category.cgi?category=55 Alltronics.com] || US || Lin Engineering<br />
| [http://www.alltronics.com/cgi-bin/item/28M035/search/Lin-Engineering-4218L-01-10-bipolar-stepper-motor 4218L-01-10]<br />
| [http://www.alltronics.com/mas_assets/acrobat/28M035.pdf 4218L-01-10 Datasheet]<br />
| 17 || ~53 N-cm || 3/16 inch = 4.7625 mm (Round) || {{true}} || None<br />
|-<br />
| [http://www.alltronics.com/cgi-bin/category.cgi?category=55 Alltronics.com] || US || Lin Engineering<br />
| [http://www.alltronics.com/cgi-bin/item/24M014/search/Lin-Engineering-Nema-17-1.8deg-24V-2A-bipolar-stepper-motor 4218L-01-11]<br />
| [http://www.alltronics.com/mas_assets/acrobat/24M014.pdf 4218L-01-11 Datasheet]<br />
| 17 (?) || ~53 N-cm || ~5 mm = 0.1968 inches (D-Shape) || {{true}} || None<br />
|-<br />
| [http://www.phidgets.com/products.php?category=23 Phidgets.com] || US || Wantai<br />
| [http://www.phidgets.com/products.php?category=23&product_id=3303 42BYGHW811]<br />
| [http://www.phidgets.com/documentation/Phidgets/3303Datasheet.pdf 42BYGHW811 Datasheet]<br />
| 17 || ~47.1 N-cm || 4.9mm || '''?''' || None<br />
|-<br />
| [http://www.sparkfun.com/ SparkFun] || US || Mercury Motor || SM-42BYG011 || [http://www.sparkfun.com/datasheets/Robotics/SM-42BYG011-25.pdf SM-42BYG011 Datasheet] || 17 || 23 N-cm || 5mm || {{true}} || None<br />
|-<br />
| [http://www.robotgear.com.au Robot Gear] || AU || Mercury Motor || SM-42BYG011-25<br />
| [http://www.robotgear.com.au/Cache/Files/Files/118_Stepper%20Motor%20Datasheet%20SM-42BYG011-25.pdf SM-42BYG011 Datasheet]<br />
| 17 || 23 N-cm || 5mm || {{true}} || None<br />
|-<br />
| [http://mindkits.co.nz/ Mindkits] || NZ || Mercury Motor || SM-42BYG011 || [http://www.sparkfun.com/datasheets/Robotics/SM-42BYG011-25.pdf SM-42BYG011 Datasheet] || 17 || 23 N-cm || 5mm || {{true}} || None<br />
|-<br />
| [http://ausxmods.com.au/ AusXMods] || AU || Rugao Xinhe || 17H185H-04A || ? || 17 || ~43.8 N-cm || ? || '''?''' || None<br />
|-<br />
| [http://store.kysanelectronics.com Kysan] || China || [http://store.kysanelectronics.com Kysan] || 42BYGH4803 || [http://store.kysanelectronics.com/servlet/-strse-68835/42BYGH4803/Detail Datasheet]|| 17 || 49 N-cm || 5mm || {{true}} || Successfully tested with [http://objects.reprap.org/wiki/Geared_Nema17_Extruder Wade's Geared Nema 17] extruder - high flow rates.<br />
|}<br />
<br />
[[Category:Suppliers by Part]]<br />
<br />
<br />
=Unscientific rules of thumb for motor purchases=<br />
<br />
1) The longer the motor body generally the more torque the motor has.<br />
<br />
2) If a motor is rated 2.5A and your stepper driver produces only 2A your motor may not produce the manufactures rated torque.<br />
<br />
3) If a motor is rated 35 volts and your stepper produces only 12 volts your motor may not produce the manufactures rated torque.<br />
<br />
4) A motor can exceed it's rated voltage but will produce more heat. This may not be a problem in Bath/England but may be a problem in warmer climes.<br />
<br />
5) Stepper Motors should not exceed 65c.<br />
<br />
6) ABS melts at 120C but softens at 80C.<br />
<br />
7) Power is measured in Watts and is calculated at Volts X Current.<br />
<br />
8) Power made available to a motor will be turned into heat and motion.<br />
<br />
9) The more power made available to the motor the higher the amount of heat and motion.<br />
<br />
10) Power and torque are related. The more power the more torque.<br />
<br />
<br />
<br />
<br />
<br />
<br />
[[Category:Twiki]]</div>Stephen Georgehttps://reprap.org/mediawiki/index.php?title=Stepper_motor&diff=16616Stepper motor2010-06-03T05:21:36Z<p>Stephen George: /* Stepper Motor History for repraps Mendel (V2.0 reprap) */</p>
<hr />
<div><br style="clear:both"/><br />
[[image:StepperMotor-reprap-stepper.jpg|thumb]]<br />
__TOC__<br />
<br />
== What is a Stepper Motor ?==<br />
Stepper motors are an electric motor used in the robotics industry.<br />
Stepper motors move a known interval for each pulse of power. These pulses of power are provided by a stepper driver and is referred to as a step. As each step moves the motor a known distance it makes them handy devices for repeatable positioning. <br />
<br />
There are two major types of stepper motor known as bipolar and unipolar. Wikipedia has further information on stepper motors. Please see [http://en.wikipedia.org/wiki/Stepper_motor Wikipedia].<br />
<br />
<br />
== Terms==<br />
Nema refers to the size of the motor. It specifies the “face” size of the motor but not it’s length. For example a Nema 23 stepper has a face of 2.3 inches by 2.3 inches with screw holes to match. Note just because a motor is bigger does not mean it is more powerful in terms of torque. It is perfectly possible for a Nema 14 to “out pull” a Nema 17 or a Nema 23.<br />
<br />
Bi polar and uni polar - These terms refers to the internals of the motor. Each type has a different stepper driver circuit board to control them. In theory a reprap could use either but in practise most are bipolar.<br />
<br />
<br />
== Stepper Motor History for repraps Darwin (V1.0 reprap)==<br />
The darwin reprap type used a Nema 23 stepper motor. This stepper motor was a unipolar stepper motor which could be configured as a bipolar. This design used 3 stepper motors for each axis and a DC motor for it's extruder. Later many people upgraded their extruders to increase their control of the extruder. <br />
<br />
Note the Generation 2 electronics supported the first configuration with 3 stepper driver circuit boards for the steppers and a PWM circuit board to control the DC motor.<br />
<br />
The Darwin Stepper Motor Requirements were as follows:<br />
<br />
{| border="1"<br />
|-<br />
| '''Parameter''' || '''Specification''' <br />
|-<br />
| Size || NEMA 23 <br />
|-<br />
| Type || Bipolar <br />
|-<br />
| Shaft || dual-output shaft <br />
|-<br />
| Torque || 100 oz-in or abount 0.71 Nm <br />
|-<br />
| Resistance || about 10 ohms, or 1 to 30 ohms <br />
<br />
|}<br />
<br />
<br />
Note<br />
<br />
If you are using the [[DarwinStepperController_1_2|PIC controller]] you need a motor that will use about 1A per winding at 12v, that is - around 10 ohms. The Arduino circuit can be adjusted to accommodate a wider range of steppers, but remember that if you specify a low-resistance one and the Arduino controller has to chop the voltage to limit the current going through it, that will also limit the torque.<br />
<br />
== Stepper Motor History for repraps Mendel (V2.0 reprap)==<br />
The Mendel reprap type used either a Nema 17 or a Nema 14 Bi polar stepper motor. It uses four stepper motors. One for each axis and one for the extruder. <br />
<br />
Note this configuration of four stepper motors was supported by the 3rd generation electronics.<br />
<br />
The Mendel Stepper Motor Requirements were as follows:<br />
<br />
{| border="1"<br />
|-<br />
| '''Parameter''' || '''Specification''' <br />
|-<br />
| Size || NEMA 17 or 14 (prototype was Nema 14)<br />
|-<br />
| Type || Bipolar <br />
|-<br />
| Shaft || dual-output shaft <br />
|-<br />
| Torque || 13.7 N-cm (that is 1400 g-cm or 19.4 oz-in)<br />
|-<br />
| Resistance || ?<br />
<br />
|}<br />
<br />
== Bipolar Motors ==<br />
<br />
[[image:StepperMotor-bipolar_stepper_sch.png|thumb]]<br />
<br />
These motors are the strongest type of stepper motor. You identify them by counting the leads - there should be four or eight. They are also the type of motors we are using in the RepRap Project's Darwin design. They have two coils inside, and stepping the motor round is achieved by energising the coils and changing the direction of the current within those coils. This requires more complex electronics than a unipolar motor, so we use a special driver chip to take care of all that for us. Some designs (the eight-wire ones) split each coil in the middle so you can wire the motor either as bipolar (short the middles) or unipolar (short the middles and treat the link as the centre tap - see below).<br />
<br />
<br clear="all"><br />
<br />
== Unipolar Motors ==<br />
<br />
[[image:StepperMotor-unipolar_stepper_sch.png|thumb]]<br />
<br />
Unipolar motors have two coils, each one has a centre tap. They are readily recognizable because they have 5, 6 or even 8 leads. It is possible to drive some unipolar motors as bipolar motors if you ignore the centre tap wires. Their main beauty though is that you can step them without having to reverse the direction of current in any coil, which makes the electronics simpler. Some early RepRap prototypes used this trick. Because the centre tap is used to energise only half of each coil at a time, unipolar motors generally have less torque than bipolar motors.<br />
<br />
<br clear="all"><br />
<br />
== Wiring Your Stepper ==<br />
<br />
Pretty much all of our RepRap electronics are designed for Bipolar stepper motors. Every bipolar stepper motor has 4 wires that need to be wired to the driver board. These are labeled A, B, C, and D for lack of better terms. A and B are connected, as well as C and D. You can generally find out which wires are connected using a multimeter to measure the resistance. If you measure a small resistance (1-30 ohm) then they are connected. Generally, they are color coded and we have datasheets available, so things are easy.<br />
<br />
=== NEMA 17 Motors ===<br />
<br />
==== Lin Engineering / 4118S-62-07 ====<br />
<br />
[[image:cache-stepper-motor-nema17.jpg|link=http://store.makerbot.com/featured-products/nema-17-stepper-motor.html]]<br />
<br />
This is an awesome little NEMA17 stepper motor. It is the primary motor used on the Cupcake CNC. It has good torque and a small size. Here are some of the specs:<br />
<br />
* 200 steps per revolution (1.8 deg/step)<br />
* 2.5A / phase<br />
* Phase Resistance: 0.6ohm<br />
* Phase inductance: .93mH<br />
* Holding torque: 3240g-cm or about 0.31 Nm<br />
* Shaft diameter: 0.190"<br />
* Shaft length: 0.50"<br />
* Motor depth: 1.34"<br />
<br />
NEMA-17 is a standard motor mounting geometry. The outside of the motor housing is 1.7"x1.7".<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Red <br />
|-<br />
| B || Blue <br />
|-<br />
| C || Green <br />
|-<br />
| D || Black <br />
|}<br />
<br />
'''Suppliers'''<br />
<br />
* [http://store.rrrf.org/product_info.php?products_id=59 MakerBot Industries]<br />
<br />
'''Technical Information'''<br />
<br />
* [http://svn.makerbot.com/assets/datasheets/4118S-62-07.pdf Datasheet]<br />
<br />
<br clear="all"/><br />
<br />
==== Zapp Automation / SY42STH47-1684B ====<br />
<br />
* 200 steps per revolution (1.8 deg/step)<br />
* Rated Current 1.68A<br />
* Phase Resistance: 1.65ohm<br />
* Phase inductance: 2.8mH<br />
* Holding torque: 4.4Kg-cm<br />
* Shaft diameter: 5mm<br />
* Shaft length: 22mm<br />
* Motor depth: 47mm<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Black <br />
|-<br />
| B || Red<br />
|-<br />
| C || Green <br />
|-<br />
| D || Blue <br />
|}<br />
<br />
'''Suppliers'''<br />
<br />
'''Technical Information'''<br />
<br />
* [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1684B.pdf Datasheet]<br />
<br />
=== NEMA 23 Motors ===<br />
<br />
==== Nanotec ST5709S1208-B ====<br />
<br />
This was the original standard RepRap stepper motor. It has 400 steps to one revolution (0.9<sup>o</sup> per step). It actually has 4 coils (which means it can be wired as both a bipolar and unipolar), but we join up the wires to turn it into a bipolar motor.<br />
<br />
'''Bipolar - Serial'''<br />
<br />
This configuration is suited for our driver boards. It has higher impedance and higher ohms which means it draws less current. In this mode its ideally matched to our L298 based boards. In this wiring setup it can handle 0.85 amps, which is just right. We recommend wiring it in this configuration.<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Red <br />
|-<br />
| B || Black <br />
|-<br />
| C || Green <br />
|-<br />
| D || Yellow <br />
<br />
|}<br />
<br />
You will also need to splice the following wires together:<br />
<br />
* '''Red/White''' and '''Black/White'''<br />
* '''Green/White''' and '''Yellow/White'''<br />
<br />
[[image:cache-dsc03106.jpg|link=http://picasaweb.google.co.uk/VikOlliver/RepRap02/photo#5072881971638806162]]<br />
<br />
'''Bipolar - Parallel'''<br />
<br />
This configuration offers higher performance. It has lower impedance, and lower resistance. That means you can push more electrons through, at a faster rate. That basically means it will operate much better. However, it will draw about 1.7 amps, which at the upper end of what the L298 is capable of delivering. We do not recommend wiring it like this.<br />
<br />
Keep in mind that two wires make up the start and end of each coil.<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Red and Black/White <br />
|-<br />
| B || Black and Red/White <br />
|-<br />
| C || Green and Yellow/White <br />
|-<br />
| D || Yellow and Green/White <br />
<br />
|}<br />
<br />
'''Suppliers'''<br />
<br />
* [http://uk.farnell.com/jsp/endecaSearch/partDetail.jsp?SKU=4743155 ST5709S1208-B stepper motor from Farnell]<br />
* [http://www.nanotec.com/page_product__st5709__en.html Nanotec Gmbh] - Supplier / Manufacturer<br />
<br />
'''Technical Information'''<br />
* [http://www.nanotec.com/downloads/pdf/1349/ST5709S1208.pdf Datasheet]<br />
* [http://www.nanotec.com/steppermotor_st5709.html#kennlinien Torque/Speed Curve]<br />
<br />
==== Keling KL23H51-24-08B ====<br />
<br />
[[image:cache-2122608287_2c91e1ae6e_m.jpg|link=http://flickr.com/photos/hoeken/2122608287/]]<br />
<br />
This is the RepRap stepper motor for the Arduino controller. It has 200 steps to one revolution (1.8<sup>o</sup> per step). It actually has 4 coils (which means it can be wired as both a bipolar and unipolar), but we join up the wires to turn it into a bipolar motor. It is much cheaper than the Nanotec, and with half-stepping it is almost as accurate.<br />
<br />
<br />
'''Bipolar - Serial'''<br />
<br />
This configuration is suited for our driver boards. It has higher impedance and higher ohms which means it draws less current. In this mode its ideally matched to our L298 based boards. In this wiring setup it can handle 1.5 amps, which is just right. We recommend wiring it in this configuration.<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Blue <br />
|-<br />
| B || Green <br />
|-<br />
| C || Brown <br />
|-<br />
| D || White <br />
<br />
|}<br />
<br />
You will also need to splice the following wires together:<br />
<br />
* '''Red''' and '''Yellow'''<br />
* '''Black''' and '''Orange'''<br />
<br />
'''Bipolar - Parallel'''<br />
<br />
This configuration offers higher performance. It has lower impedance, and lower resistance. That means you can push more electrons through, at a faster rate. That basically means it will operate much better. However, it will draw about 3 amps, which our L298 is just not capable of delivering. We do not recommend wiring it like this.<br />
<br />
Keep in mind that two wires make up the start and end of each coil.<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Blue and Yellow <br />
|-<br />
| B || Red and Green <br />
|-<br />
| C || Brown and Orange <br />
|-<br />
| D || Black and White <br />
<br />
|}<br />
<br />
'''Suppliers'''<br />
<br />
* [http://store.makerbot.com/stepper-motor-nema-23-keling-kl23h51-24-08b.html MakerBot Industries]<br />
* [http://www.kelinginc.net/NEMA23Motor.html Keling Inc.] - The manufacturer/supplier. #5 on the list.<br />
<br />
'''Technical Information'''<br />
<br />
* [http://www.kelinginc.net/KL23H255-21-8A.pdf Datasheet]<br />
* [http://www.kelinginc.net/KL23H251-24-8BT.pdf Torque/Speed Curve]<br />
<br />
<br clear="all"><br />
<br />
==== FL57STH51-2808A (axis extending 1 way) and FL57STH51-3008B (axis 2 ways like the picture) ====<br />
<br />
[[image:StepperMotor-StepperFL57STH51-2808A.jpg|thumb]]<br />
<br />
The stepper motors are provided by [http://www.bitsfrombytes.com/ Bits From Bytes]. They come in two variations. Bought three from Bits From Bytes and I got one with the axis through and extending from both ends, and two with the axis extending one side. Their weight is slightly above 0.6 kg (I measured 619 gram).<br />
<br />
To make the unipolar stepper a bipolar one, connect these wires together:<br />
<br />
* Blue and Red/White<br />
* Green and Black/white <br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Blue/white <br />
|-<br />
| B || Red <br />
|-<br />
| C || Green/white <br />
|-<br />
| D || Black <br />
<br />
|}<br />
<br />
Datasheets: <br />
[http://www.motioncontrolproducts.co.uk/pdf/FL57STH51-3008B.pdf FL57STH51-3008B].<br />
[http://www.motioncontrolproducts.co.uk/pdf/FL57STH56-2008B.pdf FL57STH56-2008B]<br />
<br />
<br clear="all"><br />
<br />
==== Lin Engineering 5718X-05S ====<br />
<br />
[[image:StepperMotor-motor_5704.jpg|thumb]]<br />
<br />
The [http://www.linengineering.com//site/products/5718.html 5718X-05S] has the right specification to drive RepRap from the [[DarwinStepperController_1_2|PIC controllers]] '''but we haven't tested it yet'''. It should work with the Arduino electronics too. It has 200 steps per revolution, so you need to set the controller to half-step it to get the resolution needed. Take care to get the model where the output shaft comes out front and back, not just at the front.<br />
<br />
<br clear="all"><br />
<br />
== Open Source Stepper Motor Drivers ==<br />
<br />
=== RepRap Stepper Motor Driver v1.x ===<br />
<br />
[[image:cache-2950488044_8ba115bd24_m.jpg|link=http://make.rrrf.org/smd-1.2]]<br />
<br />
The first generation of RepRap stepper motor drivers. Uses the L297/L298 stepper motor driver combo. Half-stepping. Handles up to 2A. All through hole. A nice, solid driver. It uses some old technology, so its not as fancy as the newer stepper drivers, but it gets the job done. [[Stepper_Motor_Driver_1_2|Read the documentation page here]].<br />
<br />
<br clear="all"/><br />
<br />
=== RepRap Stepper Motor Driver v2.x ===<br />
<br />
[[image:cache-3218206144_6461b3e2c0_m.jpg|link=http://make.rrrf.org/smd-2.3]]<br />
<br />
The second generation of RepRap stepper motor drivers. Uses the Allegro A3982 chip which does a bunch of nice things and makes the board much simpler. It also drops the price by $10 compared to the v1.x series. It can handle up to 2A, does half-stepping. The only downside is that its SMT, which can be a bit scary for people. Its all large SMT parts, so its pretty simple to solder it, especially with the solder paste / hotplate method. [[Stepper_Motor_Driver_2_3|Read the documentation page here]].<br />
<br />
<br clear="all"/><br />
<br />
=== AVRSTMD ===<br />
<br />
[http://www.avrstmd.com/ AVRSTMD] - An open source microstepping driver that uses an atmega168 and current limited h-bridges. Very rad circuit.<br />
<br />
----<br />
<br />
=Holding Torque=<br />
<br />
It is recommended that you get approximately 13.7 N-cm (that is 1400 g-cm or 19.4 oz-in) of Holding Torque (or more) to avoid issues, although one stepper with less has been used successfully (see below). If in doubt, higher is better. If you need to convert between different units for the torque you can use the torque unit converter [http://www.numberfactory.com/nf%20torque.htm here].<br />
<br />
=Stepping Angle=<br />
<br />
Most stepper motors used for a Mendel have a step angle of 1.8 Degrees. It is sometimes possible to use motors with larger step angles, however for printing to be accurate, they will need to be geared down to reduce the angle moved per step, which may lead to a slower maximum speed.<br />
<br />
=Size=<br />
<br />
If going for the smaller NEMA 14 motors, aim for the high torque option. NEMA 14s are neater, lighter and smaller, but can be hard to get hold of with the appropriate holding torque. NEMA 17s are quite easy to get in the specification that Mendel needs, but are bulkier and less neat. NEMA 14s are running near the edge of their envelope: they will get warm. NEMA 17s are well inside what they can do, and will run much cooler.<br />
<br />
Note that any Mendel part that goes on to a Stepper Motor shaft expects the shaft to be roughly 5mm. If the shaft is a different size, you will need to make allowances for this in the parts you obtain/make.<br />
<br />
=Wiring=<br />
<br />
Steppers motors come in several wiring configurations. 4,6, and 8 wires are all fairly common. 5-wire version have been reported to exist. 5 wire versions won't work, the others will. See [[stepper wiring]] for more details.<br />
<br />
=Suppliers=<br />
<br />
Below is a list of possible suppliers and motors. Please add to it. If you have built a Mendel successfully with a given motor, remember to put {{true}} in the tested field.<br />
<br />
{| class="wikitable sortable"<br />
|+ ''Stepper Motors - Nema 14 (Smaller, neater and used on the Mendel prototype)''<br />
|-<br />
| Vendor (with link) || Shipping location || Manufacturer || Model # || Datasheet || NEMA (Size) || Holding Torque || Shaft || Tested || Additional notes<br />
|-<br />
| [http://www.motioncontrolproducts.com/ Motion Control Products] || ? || Fulling Motor<br />
| FL35ST36-1004B<br />
| [[Media:NEMA14-high-torque.pdf|FL35ST36-1004B Datasheet]]<br />
| 14 || ~13.7 N-cm || Dual || {{true}} || Used in mendel prototype<br />
|-<br />
| [http://www.active-robots.com/ Active Robots] || UK || Wantai<br />
| [http://www.phidgets.com/products.php?category=23&product_id=3301 35BYHG04]<br />
| [http://www.phidgets.com/documentation/Phidgets/3301Datasheet.pdf 35BYHG04 Datasheet]<br />
| 14 || ~12.3 N-cm || 4.9mm || {{true}} || Less Holding Torque than recommended, but has apparently been used successfully<br />
|-<br />
| [http://www.pololu.com/ Pololu] || US || [http://www.cnsoyo.com/ SOYO] || SY35ST36-1004A || ? || 14 || ~13.7 N-cm || 5mm || '''?''' || Note: Pololu list this motor as 1400 g-cm AND as 20 oz-in (converts to 19.44 oz-in). According to supplier information, the metric value is correct.<br />
|}<br />
<br />
<br />
<br />
{| class="wikitable sortable"<br />
|+ ''Stepper Motors - Nema 17 (larger and generally heavier but with more room to put a higher torque than a Nema 14)''<br />
|-<br />
| Vendor (with link) || Shipping location || Manufacturer || Model # || Datasheet || NEMA (Size) || Holding Torque || Shaft || Tested || Additional notes<br />
|-<br />
| [http://www.slidesandballscrews.com/stepper-motors-c-45.html Zapp Automation]<br />
| UK || [http://www.cnsoyo.com/ SOYO] || SY42STH47-1206A<br />
| [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1206A.pdf SY42STH47-1206A Datasheet]<br />
| 17 || ~31.1 N-cm || Single || {{true}} || None<br />
|-<br />
| [http://www.slidesandballscrews.com/stepper-motors-c-45.html Zapp Automation]<br />
| UK || [http://www.cnsoyo.com/ SOYO] || [http://www.slidesandballscrews.com/sy42sth471684b-p-255.html?cPath=45_80 SY42STH47-1684B]<br />
| [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1684B.pdf SY42STH47-1684B Datasheet]<br />
| 17 || ~43.1 N-cm || Dual || {{true}} || Round Ø5mm Shafts<br />
|-<br />
| [http://www.slidesandballscrews.com/stepper-motors-c-45.html Zapp Automation]<br />
| UK || [http://www.cnsoyo.com/ SOYO] || [http://www.slidesandballscrews.com/sy42sth471684a-p-315.html?cPath=45_80 SY42STH47-1684A]<br />
| [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1684A.pdf SY42STH47-1684A Datasheet]<br />
| 17 || ~43.1 N-cm || Single || '''?''' || D-Shape 5mm shaft with 4.5mm flat<br />
|-<br />
| [http://www.coolcomponents.co.uk/ Cool Components] || UK || Mercury Motor || [http://www.coolcomponents.co.uk/catalog/product_info.php?products_id=469 SM-42BYGH011-25]<br />
| [http://www.sparkfun.com/datasheets/Robotics/SM-42BYG011-25.pdf SM-42BYG011 Datasheet]<br />
| 17 || 23 N-cm || 5mm || ? || None<br />
|-<br />
| [http://www.interinar.com/step-motors.html Interinar Electronics, LLC] || US || Oriental Motors<br />
| [http://www.interinar.com/vexta-px243m-01aa.html Vexta PX243M-01AA]<br />
| [http://www.interinar.com/public_docs/PX243M-01AA.pdf PX243M-01AA Datasheet]<br />
| 17 || 15 N-cm || Single || '''?''' || Not strong enough for direct drive extruder, Uses Imperial #4-40 TPI mounting holes instead of M3 metric<br />
|-<br />
| [http://www.alltronics.com/cgi-bin/category.cgi?category=55 Alltronics.com] || US || Lin Engineering<br />
| [http://www.alltronics.com/cgi-bin/item/28M035/search/Lin-Engineering-4218L-01-10-bipolar-stepper-motor 4218L-01-10]<br />
| [http://www.alltronics.com/mas_assets/acrobat/28M035.pdf 4218L-01-10 Datasheet]<br />
| 17 || ~53 N-cm || 3/16 inch = 4.7625 mm (Round) || {{true}} || None<br />
|-<br />
| [http://www.alltronics.com/cgi-bin/category.cgi?category=55 Alltronics.com] || US || Lin Engineering<br />
| [http://www.alltronics.com/cgi-bin/item/24M014/search/Lin-Engineering-Nema-17-1.8deg-24V-2A-bipolar-stepper-motor 4218L-01-11]<br />
| [http://www.alltronics.com/mas_assets/acrobat/24M014.pdf 4218L-01-11 Datasheet]<br />
| 17 (?) || ~53 N-cm || ~5 mm = 0.1968 inches (D-Shape) || {{true}} || None<br />
|-<br />
| [http://www.phidgets.com/products.php?category=23 Phidgets.com] || US || Wantai<br />
| [http://www.phidgets.com/products.php?category=23&product_id=3303 42BYGHW811]<br />
| [http://www.phidgets.com/documentation/Phidgets/3303Datasheet.pdf 42BYGHW811 Datasheet]<br />
| 17 || ~47.1 N-cm || 4.9mm || '''?''' || None<br />
|-<br />
| [http://www.sparkfun.com/ SparkFun] || US || Mercury Motor || SM-42BYG011 || [http://www.sparkfun.com/datasheets/Robotics/SM-42BYG011-25.pdf SM-42BYG011 Datasheet] || 17 || 23 N-cm || 5mm || {{true}} || None<br />
|-<br />
| [http://www.robotgear.com.au Robot Gear] || AU || Mercury Motor || SM-42BYG011-25<br />
| [http://www.robotgear.com.au/Cache/Files/Files/118_Stepper%20Motor%20Datasheet%20SM-42BYG011-25.pdf SM-42BYG011 Datasheet]<br />
| 17 || 23 N-cm || 5mm || {{true}} || None<br />
|-<br />
| [http://mindkits.co.nz/ Mindkits] || NZ || Mercury Motor || SM-42BYG011 || [http://www.sparkfun.com/datasheets/Robotics/SM-42BYG011-25.pdf SM-42BYG011 Datasheet] || 17 || 23 N-cm || 5mm || {{true}} || None<br />
|-<br />
| [http://ausxmods.com.au/ AusXMods] || AU || Rugao Xinhe || 17H185H-04A || ? || 17 || ~43.8 N-cm || ? || '''?''' || None<br />
|-<br />
| [http://store.kysanelectronics.com Kysan] || China || [http://store.kysanelectronics.com Kysan] || 42BYGH4803 || [http://store.kysanelectronics.com/servlet/-strse-68835/42BYGH4803/Detail Datasheet]|| 17 || 49 N-cm || 5mm || {{true}} || Successfully tested with [http://objects.reprap.org/wiki/Geared_Nema17_Extruder Wade's Geared Nema 17] extruder - high flow rates.<br />
|}<br />
<br />
[[Category:Suppliers by Part]]<br />
<br />
<br />
=Unscientific rules of thumb for motor purchases=<br />
<br />
1) The longer the motor body generally the more torque the motor has.<br />
<br />
2) If a motor is rated 2.5A and your stepper driver produces only 2A your motor may not produce the manufactures rated torque.<br />
<br />
3) If a motor is rated 35 volts and your stepper produces only 12 volts your motor may not produce the manufactures rated torque.<br />
<br />
4) A motor can exceed it's rated voltage but will produce more heat. This may not be a problem in Bath/England but may be a problem in warmer climes.<br />
<br />
5) Stepper Motors should not exceed 65c.<br />
<br />
6) ABS melts at 120C but softens at 80C.<br />
<br />
7) Power is measured in Watts and is calculated at Volts X Current.<br />
<br />
8) Power made available to a motor will be turned into heat and motion.<br />
<br />
9) The more power made available to the motor the higher the amount of heat and motion.<br />
<br />
10) Power and torque are related. The more power the more torque.<br />
<br />
<br />
<br />
<br />
<br />
<br />
[[Category:Twiki]]</div>Stephen Georgehttps://reprap.org/mediawiki/index.php?title=Stepper_motor&diff=16615Stepper motor2010-06-03T05:19:39Z<p>Stephen George: /* Stepper Motor History for repraps Darwin (V1.0 reprap) */</p>
<hr />
<div><br style="clear:both"/><br />
[[image:StepperMotor-reprap-stepper.jpg|thumb]]<br />
__TOC__<br />
<br />
== What is a Stepper Motor ?==<br />
Stepper motors are an electric motor used in the robotics industry.<br />
Stepper motors move a known interval for each pulse of power. These pulses of power are provided by a stepper driver and is referred to as a step. As each step moves the motor a known distance it makes them handy devices for repeatable positioning. <br />
<br />
There are two major types of stepper motor known as bipolar and unipolar. Wikipedia has further information on stepper motors. Please see [http://en.wikipedia.org/wiki/Stepper_motor Wikipedia].<br />
<br />
<br />
== Terms==<br />
Nema refers to the size of the motor. It specifies the “face” size of the motor but not it’s length. For example a Nema 23 stepper has a face of 2.3 inches by 2.3 inches with screw holes to match. Note just because a motor is bigger does not mean it is more powerful in terms of torque. It is perfectly possible for a Nema 14 to “out pull” a Nema 17 or a Nema 23.<br />
<br />
Bi polar and uni polar - These terms refers to the internals of the motor. Each type has a different stepper driver circuit board to control them. In theory a reprap could use either but in practise most are bipolar.<br />
<br />
<br />
== Stepper Motor History for repraps Darwin (V1.0 reprap)==<br />
The darwin reprap type used a Nema 23 stepper motor. This stepper motor was a unipolar stepper motor which could be configured as a bipolar. This design used 3 stepper motors for each axis and a DC motor for it's extruder. Later many people upgraded their extruders to increase their control of the extruder. <br />
<br />
Note the Generation 2 electronics supported the first configuration with 3 stepper driver circuit boards for the steppers and a PWM circuit board to control the DC motor.<br />
<br />
The Darwin Stepper Motor Requirements were as follows:<br />
<br />
{| border="1"<br />
|-<br />
| '''Parameter''' || '''Specification''' <br />
|-<br />
| Size || NEMA 23 <br />
|-<br />
| Type || Bipolar <br />
|-<br />
| Shaft || dual-output shaft <br />
|-<br />
| Torque || 100 oz-in or abount 0.71 Nm <br />
|-<br />
| Resistance || about 10 ohms, or 1 to 30 ohms <br />
<br />
|}<br />
<br />
<br />
Note<br />
<br />
If you are using the [[DarwinStepperController_1_2|PIC controller]] you need a motor that will use about 1A per winding at 12v, that is - around 10 ohms. The Arduino circuit can be adjusted to accommodate a wider range of steppers, but remember that if you specify a low-resistance one and the Arduino controller has to chop the voltage to limit the current going through it, that will also limit the torque.<br />
<br />
== Stepper Motor History for repraps Mendel (V2.0 reprap)==<br />
The Mendel reprap type used either a Nema 17 or a Nema 14 Bi polar stepper motor. It uses four stepper motors. One for each axis and one for the extruder. <br />
<br />
Note this configuration of four stepper motors was supported by the 3rd generation electronics.<br />
<br />
The Darwin Stepper Motor Requirements were as follows:<br />
<br />
{| border="1"<br />
|-<br />
| '''Parameter''' || '''Specification''' <br />
|-<br />
| Size || NEMA 17 or 14 (prototype was Nema 14)<br />
|-<br />
| Type || Bipolar <br />
|-<br />
| Shaft || dual-output shaft <br />
|-<br />
| Torque || 13.7 N-cm (that is 1400 g-cm or 19.4 oz-in)<br />
|-<br />
| Resistance || ?<br />
<br />
|}<br />
<br />
If you are using the [[DarwinStepperController_1_2|PIC controller]] you need a motor that will use about 1A per winding at 12v, that is - around 10 ohms. The Arduino circuit can be adjusted to accommodate a wider range of steppers, but remember that if you specify a low-resistance one and the Arduino controller has to chop the voltage to limit the current going through it, that will also limit the torque.<br />
<br />
== Bipolar Motors ==<br />
<br />
[[image:StepperMotor-bipolar_stepper_sch.png|thumb]]<br />
<br />
These motors are the strongest type of stepper motor. You identify them by counting the leads - there should be four or eight. They are also the type of motors we are using in the RepRap Project's Darwin design. They have two coils inside, and stepping the motor round is achieved by energising the coils and changing the direction of the current within those coils. This requires more complex electronics than a unipolar motor, so we use a special driver chip to take care of all that for us. Some designs (the eight-wire ones) split each coil in the middle so you can wire the motor either as bipolar (short the middles) or unipolar (short the middles and treat the link as the centre tap - see below).<br />
<br />
<br clear="all"><br />
<br />
== Unipolar Motors ==<br />
<br />
[[image:StepperMotor-unipolar_stepper_sch.png|thumb]]<br />
<br />
Unipolar motors have two coils, each one has a centre tap. They are readily recognizable because they have 5, 6 or even 8 leads. It is possible to drive some unipolar motors as bipolar motors if you ignore the centre tap wires. Their main beauty though is that you can step them without having to reverse the direction of current in any coil, which makes the electronics simpler. Some early RepRap prototypes used this trick. Because the centre tap is used to energise only half of each coil at a time, unipolar motors generally have less torque than bipolar motors.<br />
<br />
<br clear="all"><br />
<br />
== Wiring Your Stepper ==<br />
<br />
Pretty much all of our RepRap electronics are designed for Bipolar stepper motors. Every bipolar stepper motor has 4 wires that need to be wired to the driver board. These are labeled A, B, C, and D for lack of better terms. A and B are connected, as well as C and D. You can generally find out which wires are connected using a multimeter to measure the resistance. If you measure a small resistance (1-30 ohm) then they are connected. Generally, they are color coded and we have datasheets available, so things are easy.<br />
<br />
=== NEMA 17 Motors ===<br />
<br />
==== Lin Engineering / 4118S-62-07 ====<br />
<br />
[[image:cache-stepper-motor-nema17.jpg|link=http://store.makerbot.com/featured-products/nema-17-stepper-motor.html]]<br />
<br />
This is an awesome little NEMA17 stepper motor. It is the primary motor used on the Cupcake CNC. It has good torque and a small size. Here are some of the specs:<br />
<br />
* 200 steps per revolution (1.8 deg/step)<br />
* 2.5A / phase<br />
* Phase Resistance: 0.6ohm<br />
* Phase inductance: .93mH<br />
* Holding torque: 3240g-cm or about 0.31 Nm<br />
* Shaft diameter: 0.190"<br />
* Shaft length: 0.50"<br />
* Motor depth: 1.34"<br />
<br />
NEMA-17 is a standard motor mounting geometry. The outside of the motor housing is 1.7"x1.7".<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Red <br />
|-<br />
| B || Blue <br />
|-<br />
| C || Green <br />
|-<br />
| D || Black <br />
|}<br />
<br />
'''Suppliers'''<br />
<br />
* [http://store.rrrf.org/product_info.php?products_id=59 MakerBot Industries]<br />
<br />
'''Technical Information'''<br />
<br />
* [http://svn.makerbot.com/assets/datasheets/4118S-62-07.pdf Datasheet]<br />
<br />
<br clear="all"/><br />
<br />
==== Zapp Automation / SY42STH47-1684B ====<br />
<br />
* 200 steps per revolution (1.8 deg/step)<br />
* Rated Current 1.68A<br />
* Phase Resistance: 1.65ohm<br />
* Phase inductance: 2.8mH<br />
* Holding torque: 4.4Kg-cm<br />
* Shaft diameter: 5mm<br />
* Shaft length: 22mm<br />
* Motor depth: 47mm<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Black <br />
|-<br />
| B || Red<br />
|-<br />
| C || Green <br />
|-<br />
| D || Blue <br />
|}<br />
<br />
'''Suppliers'''<br />
<br />
'''Technical Information'''<br />
<br />
* [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1684B.pdf Datasheet]<br />
<br />
=== NEMA 23 Motors ===<br />
<br />
==== Nanotec ST5709S1208-B ====<br />
<br />
This was the original standard RepRap stepper motor. It has 400 steps to one revolution (0.9<sup>o</sup> per step). It actually has 4 coils (which means it can be wired as both a bipolar and unipolar), but we join up the wires to turn it into a bipolar motor.<br />
<br />
'''Bipolar - Serial'''<br />
<br />
This configuration is suited for our driver boards. It has higher impedance and higher ohms which means it draws less current. In this mode its ideally matched to our L298 based boards. In this wiring setup it can handle 0.85 amps, which is just right. We recommend wiring it in this configuration.<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Red <br />
|-<br />
| B || Black <br />
|-<br />
| C || Green <br />
|-<br />
| D || Yellow <br />
<br />
|}<br />
<br />
You will also need to splice the following wires together:<br />
<br />
* '''Red/White''' and '''Black/White'''<br />
* '''Green/White''' and '''Yellow/White'''<br />
<br />
[[image:cache-dsc03106.jpg|link=http://picasaweb.google.co.uk/VikOlliver/RepRap02/photo#5072881971638806162]]<br />
<br />
'''Bipolar - Parallel'''<br />
<br />
This configuration offers higher performance. It has lower impedance, and lower resistance. That means you can push more electrons through, at a faster rate. That basically means it will operate much better. However, it will draw about 1.7 amps, which at the upper end of what the L298 is capable of delivering. We do not recommend wiring it like this.<br />
<br />
Keep in mind that two wires make up the start and end of each coil.<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Red and Black/White <br />
|-<br />
| B || Black and Red/White <br />
|-<br />
| C || Green and Yellow/White <br />
|-<br />
| D || Yellow and Green/White <br />
<br />
|}<br />
<br />
'''Suppliers'''<br />
<br />
* [http://uk.farnell.com/jsp/endecaSearch/partDetail.jsp?SKU=4743155 ST5709S1208-B stepper motor from Farnell]<br />
* [http://www.nanotec.com/page_product__st5709__en.html Nanotec Gmbh] - Supplier / Manufacturer<br />
<br />
'''Technical Information'''<br />
* [http://www.nanotec.com/downloads/pdf/1349/ST5709S1208.pdf Datasheet]<br />
* [http://www.nanotec.com/steppermotor_st5709.html#kennlinien Torque/Speed Curve]<br />
<br />
==== Keling KL23H51-24-08B ====<br />
<br />
[[image:cache-2122608287_2c91e1ae6e_m.jpg|link=http://flickr.com/photos/hoeken/2122608287/]]<br />
<br />
This is the RepRap stepper motor for the Arduino controller. It has 200 steps to one revolution (1.8<sup>o</sup> per step). It actually has 4 coils (which means it can be wired as both a bipolar and unipolar), but we join up the wires to turn it into a bipolar motor. It is much cheaper than the Nanotec, and with half-stepping it is almost as accurate.<br />
<br />
<br />
'''Bipolar - Serial'''<br />
<br />
This configuration is suited for our driver boards. It has higher impedance and higher ohms which means it draws less current. In this mode its ideally matched to our L298 based boards. In this wiring setup it can handle 1.5 amps, which is just right. We recommend wiring it in this configuration.<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Blue <br />
|-<br />
| B || Green <br />
|-<br />
| C || Brown <br />
|-<br />
| D || White <br />
<br />
|}<br />
<br />
You will also need to splice the following wires together:<br />
<br />
* '''Red''' and '''Yellow'''<br />
* '''Black''' and '''Orange'''<br />
<br />
'''Bipolar - Parallel'''<br />
<br />
This configuration offers higher performance. It has lower impedance, and lower resistance. That means you can push more electrons through, at a faster rate. That basically means it will operate much better. However, it will draw about 3 amps, which our L298 is just not capable of delivering. We do not recommend wiring it like this.<br />
<br />
Keep in mind that two wires make up the start and end of each coil.<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Blue and Yellow <br />
|-<br />
| B || Red and Green <br />
|-<br />
| C || Brown and Orange <br />
|-<br />
| D || Black and White <br />
<br />
|}<br />
<br />
'''Suppliers'''<br />
<br />
* [http://store.makerbot.com/stepper-motor-nema-23-keling-kl23h51-24-08b.html MakerBot Industries]<br />
* [http://www.kelinginc.net/NEMA23Motor.html Keling Inc.] - The manufacturer/supplier. #5 on the list.<br />
<br />
'''Technical Information'''<br />
<br />
* [http://www.kelinginc.net/KL23H255-21-8A.pdf Datasheet]<br />
* [http://www.kelinginc.net/KL23H251-24-8BT.pdf Torque/Speed Curve]<br />
<br />
<br clear="all"><br />
<br />
==== FL57STH51-2808A (axis extending 1 way) and FL57STH51-3008B (axis 2 ways like the picture) ====<br />
<br />
[[image:StepperMotor-StepperFL57STH51-2808A.jpg|thumb]]<br />
<br />
The stepper motors are provided by [http://www.bitsfrombytes.com/ Bits From Bytes]. They come in two variations. Bought three from Bits From Bytes and I got one with the axis through and extending from both ends, and two with the axis extending one side. Their weight is slightly above 0.6 kg (I measured 619 gram).<br />
<br />
To make the unipolar stepper a bipolar one, connect these wires together:<br />
<br />
* Blue and Red/White<br />
* Green and Black/white <br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Blue/white <br />
|-<br />
| B || Red <br />
|-<br />
| C || Green/white <br />
|-<br />
| D || Black <br />
<br />
|}<br />
<br />
Datasheets: <br />
[http://www.motioncontrolproducts.co.uk/pdf/FL57STH51-3008B.pdf FL57STH51-3008B].<br />
[http://www.motioncontrolproducts.co.uk/pdf/FL57STH56-2008B.pdf FL57STH56-2008B]<br />
<br />
<br clear="all"><br />
<br />
==== Lin Engineering 5718X-05S ====<br />
<br />
[[image:StepperMotor-motor_5704.jpg|thumb]]<br />
<br />
The [http://www.linengineering.com//site/products/5718.html 5718X-05S] has the right specification to drive RepRap from the [[DarwinStepperController_1_2|PIC controllers]] '''but we haven't tested it yet'''. It should work with the Arduino electronics too. It has 200 steps per revolution, so you need to set the controller to half-step it to get the resolution needed. Take care to get the model where the output shaft comes out front and back, not just at the front.<br />
<br />
<br clear="all"><br />
<br />
== Open Source Stepper Motor Drivers ==<br />
<br />
=== RepRap Stepper Motor Driver v1.x ===<br />
<br />
[[image:cache-2950488044_8ba115bd24_m.jpg|link=http://make.rrrf.org/smd-1.2]]<br />
<br />
The first generation of RepRap stepper motor drivers. Uses the L297/L298 stepper motor driver combo. Half-stepping. Handles up to 2A. All through hole. A nice, solid driver. It uses some old technology, so its not as fancy as the newer stepper drivers, but it gets the job done. [[Stepper_Motor_Driver_1_2|Read the documentation page here]].<br />
<br />
<br clear="all"/><br />
<br />
=== RepRap Stepper Motor Driver v2.x ===<br />
<br />
[[image:cache-3218206144_6461b3e2c0_m.jpg|link=http://make.rrrf.org/smd-2.3]]<br />
<br />
The second generation of RepRap stepper motor drivers. Uses the Allegro A3982 chip which does a bunch of nice things and makes the board much simpler. It also drops the price by $10 compared to the v1.x series. It can handle up to 2A, does half-stepping. The only downside is that its SMT, which can be a bit scary for people. Its all large SMT parts, so its pretty simple to solder it, especially with the solder paste / hotplate method. [[Stepper_Motor_Driver_2_3|Read the documentation page here]].<br />
<br />
<br clear="all"/><br />
<br />
=== AVRSTMD ===<br />
<br />
[http://www.avrstmd.com/ AVRSTMD] - An open source microstepping driver that uses an atmega168 and current limited h-bridges. Very rad circuit.<br />
<br />
----<br />
<br />
=Holding Torque=<br />
<br />
It is recommended that you get approximately 13.7 N-cm (that is 1400 g-cm or 19.4 oz-in) of Holding Torque (or more) to avoid issues, although one stepper with less has been used successfully (see below). If in doubt, higher is better. If you need to convert between different units for the torque you can use the torque unit converter [http://www.numberfactory.com/nf%20torque.htm here].<br />
<br />
=Stepping Angle=<br />
<br />
Most stepper motors used for a Mendel have a step angle of 1.8 Degrees. It is sometimes possible to use motors with larger step angles, however for printing to be accurate, they will need to be geared down to reduce the angle moved per step, which may lead to a slower maximum speed.<br />
<br />
=Size=<br />
<br />
If going for the smaller NEMA 14 motors, aim for the high torque option. NEMA 14s are neater, lighter and smaller, but can be hard to get hold of with the appropriate holding torque. NEMA 17s are quite easy to get in the specification that Mendel needs, but are bulkier and less neat. NEMA 14s are running near the edge of their envelope: they will get warm. NEMA 17s are well inside what they can do, and will run much cooler.<br />
<br />
Note that any Mendel part that goes on to a Stepper Motor shaft expects the shaft to be roughly 5mm. If the shaft is a different size, you will need to make allowances for this in the parts you obtain/make.<br />
<br />
=Wiring=<br />
<br />
Steppers motors come in several wiring configurations. 4,6, and 8 wires are all fairly common. 5-wire version have been reported to exist. 5 wire versions won't work, the others will. See [[stepper wiring]] for more details.<br />
<br />
=Suppliers=<br />
<br />
Below is a list of possible suppliers and motors. Please add to it. If you have built a Mendel successfully with a given motor, remember to put {{true}} in the tested field.<br />
<br />
{| class="wikitable sortable"<br />
|+ ''Stepper Motors - Nema 14 (Smaller, neater and used on the Mendel prototype)''<br />
|-<br />
| Vendor (with link) || Shipping location || Manufacturer || Model # || Datasheet || NEMA (Size) || Holding Torque || Shaft || Tested || Additional notes<br />
|-<br />
| [http://www.motioncontrolproducts.com/ Motion Control Products] || ? || Fulling Motor<br />
| FL35ST36-1004B<br />
| [[Media:NEMA14-high-torque.pdf|FL35ST36-1004B Datasheet]]<br />
| 14 || ~13.7 N-cm || Dual || {{true}} || Used in mendel prototype<br />
|-<br />
| [http://www.active-robots.com/ Active Robots] || UK || Wantai<br />
| [http://www.phidgets.com/products.php?category=23&product_id=3301 35BYHG04]<br />
| [http://www.phidgets.com/documentation/Phidgets/3301Datasheet.pdf 35BYHG04 Datasheet]<br />
| 14 || ~12.3 N-cm || 4.9mm || {{true}} || Less Holding Torque than recommended, but has apparently been used successfully<br />
|-<br />
| [http://www.pololu.com/ Pololu] || US || [http://www.cnsoyo.com/ SOYO] || SY35ST36-1004A || ? || 14 || ~13.7 N-cm || 5mm || '''?''' || Note: Pololu list this motor as 1400 g-cm AND as 20 oz-in (converts to 19.44 oz-in). According to supplier information, the metric value is correct.<br />
|}<br />
<br />
<br />
<br />
{| class="wikitable sortable"<br />
|+ ''Stepper Motors - Nema 17 (larger and generally heavier but with more room to put a higher torque than a Nema 14)''<br />
|-<br />
| Vendor (with link) || Shipping location || Manufacturer || Model # || Datasheet || NEMA (Size) || Holding Torque || Shaft || Tested || Additional notes<br />
|-<br />
| [http://www.slidesandballscrews.com/stepper-motors-c-45.html Zapp Automation]<br />
| UK || [http://www.cnsoyo.com/ SOYO] || SY42STH47-1206A<br />
| [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1206A.pdf SY42STH47-1206A Datasheet]<br />
| 17 || ~31.1 N-cm || Single || {{true}} || None<br />
|-<br />
| [http://www.slidesandballscrews.com/stepper-motors-c-45.html Zapp Automation]<br />
| UK || [http://www.cnsoyo.com/ SOYO] || [http://www.slidesandballscrews.com/sy42sth471684b-p-255.html?cPath=45_80 SY42STH47-1684B]<br />
| [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1684B.pdf SY42STH47-1684B Datasheet]<br />
| 17 || ~43.1 N-cm || Dual || {{true}} || Round Ø5mm Shafts<br />
|-<br />
| [http://www.slidesandballscrews.com/stepper-motors-c-45.html Zapp Automation]<br />
| UK || [http://www.cnsoyo.com/ SOYO] || [http://www.slidesandballscrews.com/sy42sth471684a-p-315.html?cPath=45_80 SY42STH47-1684A]<br />
| [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1684A.pdf SY42STH47-1684A Datasheet]<br />
| 17 || ~43.1 N-cm || Single || '''?''' || D-Shape 5mm shaft with 4.5mm flat<br />
|-<br />
| [http://www.coolcomponents.co.uk/ Cool Components] || UK || Mercury Motor || [http://www.coolcomponents.co.uk/catalog/product_info.php?products_id=469 SM-42BYGH011-25]<br />
| [http://www.sparkfun.com/datasheets/Robotics/SM-42BYG011-25.pdf SM-42BYG011 Datasheet]<br />
| 17 || 23 N-cm || 5mm || ? || None<br />
|-<br />
| [http://www.interinar.com/step-motors.html Interinar Electronics, LLC] || US || Oriental Motors<br />
| [http://www.interinar.com/vexta-px243m-01aa.html Vexta PX243M-01AA]<br />
| [http://www.interinar.com/public_docs/PX243M-01AA.pdf PX243M-01AA Datasheet]<br />
| 17 || 15 N-cm || Single || '''?''' || Not strong enough for direct drive extruder, Uses Imperial #4-40 TPI mounting holes instead of M3 metric<br />
|-<br />
| [http://www.alltronics.com/cgi-bin/category.cgi?category=55 Alltronics.com] || US || Lin Engineering<br />
| [http://www.alltronics.com/cgi-bin/item/28M035/search/Lin-Engineering-4218L-01-10-bipolar-stepper-motor 4218L-01-10]<br />
| [http://www.alltronics.com/mas_assets/acrobat/28M035.pdf 4218L-01-10 Datasheet]<br />
| 17 || ~53 N-cm || 3/16 inch = 4.7625 mm (Round) || {{true}} || None<br />
|-<br />
| [http://www.alltronics.com/cgi-bin/category.cgi?category=55 Alltronics.com] || US || Lin Engineering<br />
| [http://www.alltronics.com/cgi-bin/item/24M014/search/Lin-Engineering-Nema-17-1.8deg-24V-2A-bipolar-stepper-motor 4218L-01-11]<br />
| [http://www.alltronics.com/mas_assets/acrobat/24M014.pdf 4218L-01-11 Datasheet]<br />
| 17 (?) || ~53 N-cm || ~5 mm = 0.1968 inches (D-Shape) || {{true}} || None<br />
|-<br />
| [http://www.phidgets.com/products.php?category=23 Phidgets.com] || US || Wantai<br />
| [http://www.phidgets.com/products.php?category=23&product_id=3303 42BYGHW811]<br />
| [http://www.phidgets.com/documentation/Phidgets/3303Datasheet.pdf 42BYGHW811 Datasheet]<br />
| 17 || ~47.1 N-cm || 4.9mm || '''?''' || None<br />
|-<br />
| [http://www.sparkfun.com/ SparkFun] || US || Mercury Motor || SM-42BYG011 || [http://www.sparkfun.com/datasheets/Robotics/SM-42BYG011-25.pdf SM-42BYG011 Datasheet] || 17 || 23 N-cm || 5mm || {{true}} || None<br />
|-<br />
| [http://www.robotgear.com.au Robot Gear] || AU || Mercury Motor || SM-42BYG011-25<br />
| [http://www.robotgear.com.au/Cache/Files/Files/118_Stepper%20Motor%20Datasheet%20SM-42BYG011-25.pdf SM-42BYG011 Datasheet]<br />
| 17 || 23 N-cm || 5mm || {{true}} || None<br />
|-<br />
| [http://mindkits.co.nz/ Mindkits] || NZ || Mercury Motor || SM-42BYG011 || [http://www.sparkfun.com/datasheets/Robotics/SM-42BYG011-25.pdf SM-42BYG011 Datasheet] || 17 || 23 N-cm || 5mm || {{true}} || None<br />
|-<br />
| [http://ausxmods.com.au/ AusXMods] || AU || Rugao Xinhe || 17H185H-04A || ? || 17 || ~43.8 N-cm || ? || '''?''' || None<br />
|-<br />
| [http://store.kysanelectronics.com Kysan] || China || [http://store.kysanelectronics.com Kysan] || 42BYGH4803 || [http://store.kysanelectronics.com/servlet/-strse-68835/42BYGH4803/Detail Datasheet]|| 17 || 49 N-cm || 5mm || {{true}} || Successfully tested with [http://objects.reprap.org/wiki/Geared_Nema17_Extruder Wade's Geared Nema 17] extruder - high flow rates.<br />
|}<br />
<br />
[[Category:Suppliers by Part]]<br />
<br />
<br />
=Unscientific rules of thumb for motor purchases=<br />
<br />
1) The longer the motor body generally the more torque the motor has.<br />
<br />
2) If a motor is rated 2.5A and your stepper driver produces only 2A your motor may not produce the manufactures rated torque.<br />
<br />
3) If a motor is rated 35 volts and your stepper produces only 12 volts your motor may not produce the manufactures rated torque.<br />
<br />
4) A motor can exceed it's rated voltage but will produce more heat. This may not be a problem in Bath/England but may be a problem in warmer climes.<br />
<br />
5) Stepper Motors should not exceed 65c.<br />
<br />
6) ABS melts at 120C but softens at 80C.<br />
<br />
7) Power is measured in Watts and is calculated at Volts X Current.<br />
<br />
8) Power made available to a motor will be turned into heat and motion.<br />
<br />
9) The more power made available to the motor the higher the amount of heat and motion.<br />
<br />
10) Power and torque are related. The more power the more torque.<br />
<br />
<br />
<br />
<br />
<br />
<br />
[[Category:Twiki]]</div>Stephen Georgehttps://reprap.org/mediawiki/index.php?title=Stepper_motor&diff=16614Stepper motor2010-06-03T05:19:06Z<p>Stephen George: /* Stepper Motor History for repraps Mendel (V2.0 reprap) */</p>
<hr />
<div><br style="clear:both"/><br />
[[image:StepperMotor-reprap-stepper.jpg|thumb]]<br />
__TOC__<br />
<br />
== What is a Stepper Motor ?==<br />
Stepper motors are an electric motor used in the robotics industry.<br />
Stepper motors move a known interval for each pulse of power. These pulses of power are provided by a stepper driver and is referred to as a step. As each step moves the motor a known distance it makes them handy devices for repeatable positioning. <br />
<br />
There are two major types of stepper motor known as bipolar and unipolar. Wikipedia has further information on stepper motors. Please see [http://en.wikipedia.org/wiki/Stepper_motor Wikipedia].<br />
<br />
<br />
== Terms==<br />
Nema refers to the size of the motor. It specifies the “face” size of the motor but not it’s length. For example a Nema 23 stepper has a face of 2.3 inches by 2.3 inches with screw holes to match. Note just because a motor is bigger does not mean it is more powerful in terms of torque. It is perfectly possible for a Nema 14 to “out pull” a Nema 17 or a Nema 23.<br />
<br />
Bi polar and uni polar - These terms refers to the internals of the motor. Each type has a different stepper driver circuit board to control them. In theory a reprap could use either but in practise most are bipolar.<br />
<br />
<br />
== Stepper Motor History for repraps Darwin (V1.0 reprap)==<br />
The darwin reprap type used a Nema 23 stepper motor. This stepper motor was a unipolar stepper motor which could be configured as a bipolar. This design used 3 stepper motors for each axis and a DC motor for it's extruder. Later many people upgraded their extruders to increase their control of the extruder. <br />
<br />
Note the Generation 2 electronics supported the first configuration with 3 stepper driver circuit boards for the steppers and a PWM circuit board to control the DC motor.<br />
<br />
The Darwin Stepper Motor Requirements were as follows:<br />
<br />
{| border="1"<br />
|-<br />
| '''Parameter''' || '''Specification''' <br />
|-<br />
| Size || NEMA 23 <br />
|-<br />
| Type || Bipolar <br />
|-<br />
| Shaft || dual-output shaft <br />
|-<br />
| Torque || 100 oz-in or abount 0.71 Nm <br />
|-<br />
| Resistance || about 10 ohms, or 1 to 30 ohms <br />
<br />
|}<br />
<br />
If you are using the [[DarwinStepperController_1_2|PIC controller]] you need a motor that will use about 1A per winding at 12v, that is - around 10 ohms. The Arduino circuit can be adjusted to accommodate a wider range of steppers, but remember that if you specify a low-resistance one and the Arduino controller has to chop the voltage to limit the current going through it, that will also limit the torque.<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
== Stepper Motor History for repraps Mendel (V2.0 reprap)==<br />
The Mendel reprap type used either a Nema 17 or a Nema 14 Bi polar stepper motor. It uses four stepper motors. One for each axis and one for the extruder. <br />
<br />
Note this configuration of four stepper motors was supported by the 3rd generation electronics.<br />
<br />
The Darwin Stepper Motor Requirements were as follows:<br />
<br />
{| border="1"<br />
|-<br />
| '''Parameter''' || '''Specification''' <br />
|-<br />
| Size || NEMA 17 or 14 (prototype was Nema 14)<br />
|-<br />
| Type || Bipolar <br />
|-<br />
| Shaft || dual-output shaft <br />
|-<br />
| Torque || 13.7 N-cm (that is 1400 g-cm or 19.4 oz-in)<br />
|-<br />
| Resistance || ?<br />
<br />
|}<br />
<br />
If you are using the [[DarwinStepperController_1_2|PIC controller]] you need a motor that will use about 1A per winding at 12v, that is - around 10 ohms. The Arduino circuit can be adjusted to accommodate a wider range of steppers, but remember that if you specify a low-resistance one and the Arduino controller has to chop the voltage to limit the current going through it, that will also limit the torque.<br />
<br />
== Bipolar Motors ==<br />
<br />
[[image:StepperMotor-bipolar_stepper_sch.png|thumb]]<br />
<br />
These motors are the strongest type of stepper motor. You identify them by counting the leads - there should be four or eight. They are also the type of motors we are using in the RepRap Project's Darwin design. They have two coils inside, and stepping the motor round is achieved by energising the coils and changing the direction of the current within those coils. This requires more complex electronics than a unipolar motor, so we use a special driver chip to take care of all that for us. Some designs (the eight-wire ones) split each coil in the middle so you can wire the motor either as bipolar (short the middles) or unipolar (short the middles and treat the link as the centre tap - see below).<br />
<br />
<br clear="all"><br />
<br />
== Unipolar Motors ==<br />
<br />
[[image:StepperMotor-unipolar_stepper_sch.png|thumb]]<br />
<br />
Unipolar motors have two coils, each one has a centre tap. They are readily recognizable because they have 5, 6 or even 8 leads. It is possible to drive some unipolar motors as bipolar motors if you ignore the centre tap wires. Their main beauty though is that you can step them without having to reverse the direction of current in any coil, which makes the electronics simpler. Some early RepRap prototypes used this trick. Because the centre tap is used to energise only half of each coil at a time, unipolar motors generally have less torque than bipolar motors.<br />
<br />
<br clear="all"><br />
<br />
== Wiring Your Stepper ==<br />
<br />
Pretty much all of our RepRap electronics are designed for Bipolar stepper motors. Every bipolar stepper motor has 4 wires that need to be wired to the driver board. These are labeled A, B, C, and D for lack of better terms. A and B are connected, as well as C and D. You can generally find out which wires are connected using a multimeter to measure the resistance. If you measure a small resistance (1-30 ohm) then they are connected. Generally, they are color coded and we have datasheets available, so things are easy.<br />
<br />
=== NEMA 17 Motors ===<br />
<br />
==== Lin Engineering / 4118S-62-07 ====<br />
<br />
[[image:cache-stepper-motor-nema17.jpg|link=http://store.makerbot.com/featured-products/nema-17-stepper-motor.html]]<br />
<br />
This is an awesome little NEMA17 stepper motor. It is the primary motor used on the Cupcake CNC. It has good torque and a small size. Here are some of the specs:<br />
<br />
* 200 steps per revolution (1.8 deg/step)<br />
* 2.5A / phase<br />
* Phase Resistance: 0.6ohm<br />
* Phase inductance: .93mH<br />
* Holding torque: 3240g-cm or about 0.31 Nm<br />
* Shaft diameter: 0.190"<br />
* Shaft length: 0.50"<br />
* Motor depth: 1.34"<br />
<br />
NEMA-17 is a standard motor mounting geometry. The outside of the motor housing is 1.7"x1.7".<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Red <br />
|-<br />
| B || Blue <br />
|-<br />
| C || Green <br />
|-<br />
| D || Black <br />
|}<br />
<br />
'''Suppliers'''<br />
<br />
* [http://store.rrrf.org/product_info.php?products_id=59 MakerBot Industries]<br />
<br />
'''Technical Information'''<br />
<br />
* [http://svn.makerbot.com/assets/datasheets/4118S-62-07.pdf Datasheet]<br />
<br />
<br clear="all"/><br />
<br />
==== Zapp Automation / SY42STH47-1684B ====<br />
<br />
* 200 steps per revolution (1.8 deg/step)<br />
* Rated Current 1.68A<br />
* Phase Resistance: 1.65ohm<br />
* Phase inductance: 2.8mH<br />
* Holding torque: 4.4Kg-cm<br />
* Shaft diameter: 5mm<br />
* Shaft length: 22mm<br />
* Motor depth: 47mm<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Black <br />
|-<br />
| B || Red<br />
|-<br />
| C || Green <br />
|-<br />
| D || Blue <br />
|}<br />
<br />
'''Suppliers'''<br />
<br />
'''Technical Information'''<br />
<br />
* [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1684B.pdf Datasheet]<br />
<br />
=== NEMA 23 Motors ===<br />
<br />
==== Nanotec ST5709S1208-B ====<br />
<br />
This was the original standard RepRap stepper motor. It has 400 steps to one revolution (0.9<sup>o</sup> per step). It actually has 4 coils (which means it can be wired as both a bipolar and unipolar), but we join up the wires to turn it into a bipolar motor.<br />
<br />
'''Bipolar - Serial'''<br />
<br />
This configuration is suited for our driver boards. It has higher impedance and higher ohms which means it draws less current. In this mode its ideally matched to our L298 based boards. In this wiring setup it can handle 0.85 amps, which is just right. We recommend wiring it in this configuration.<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Red <br />
|-<br />
| B || Black <br />
|-<br />
| C || Green <br />
|-<br />
| D || Yellow <br />
<br />
|}<br />
<br />
You will also need to splice the following wires together:<br />
<br />
* '''Red/White''' and '''Black/White'''<br />
* '''Green/White''' and '''Yellow/White'''<br />
<br />
[[image:cache-dsc03106.jpg|link=http://picasaweb.google.co.uk/VikOlliver/RepRap02/photo#5072881971638806162]]<br />
<br />
'''Bipolar - Parallel'''<br />
<br />
This configuration offers higher performance. It has lower impedance, and lower resistance. That means you can push more electrons through, at a faster rate. That basically means it will operate much better. However, it will draw about 1.7 amps, which at the upper end of what the L298 is capable of delivering. We do not recommend wiring it like this.<br />
<br />
Keep in mind that two wires make up the start and end of each coil.<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Red and Black/White <br />
|-<br />
| B || Black and Red/White <br />
|-<br />
| C || Green and Yellow/White <br />
|-<br />
| D || Yellow and Green/White <br />
<br />
|}<br />
<br />
'''Suppliers'''<br />
<br />
* [http://uk.farnell.com/jsp/endecaSearch/partDetail.jsp?SKU=4743155 ST5709S1208-B stepper motor from Farnell]<br />
* [http://www.nanotec.com/page_product__st5709__en.html Nanotec Gmbh] - Supplier / Manufacturer<br />
<br />
'''Technical Information'''<br />
* [http://www.nanotec.com/downloads/pdf/1349/ST5709S1208.pdf Datasheet]<br />
* [http://www.nanotec.com/steppermotor_st5709.html#kennlinien Torque/Speed Curve]<br />
<br />
==== Keling KL23H51-24-08B ====<br />
<br />
[[image:cache-2122608287_2c91e1ae6e_m.jpg|link=http://flickr.com/photos/hoeken/2122608287/]]<br />
<br />
This is the RepRap stepper motor for the Arduino controller. It has 200 steps to one revolution (1.8<sup>o</sup> per step). It actually has 4 coils (which means it can be wired as both a bipolar and unipolar), but we join up the wires to turn it into a bipolar motor. It is much cheaper than the Nanotec, and with half-stepping it is almost as accurate.<br />
<br />
<br />
'''Bipolar - Serial'''<br />
<br />
This configuration is suited for our driver boards. It has higher impedance and higher ohms which means it draws less current. In this mode its ideally matched to our L298 based boards. In this wiring setup it can handle 1.5 amps, which is just right. We recommend wiring it in this configuration.<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Blue <br />
|-<br />
| B || Green <br />
|-<br />
| C || Brown <br />
|-<br />
| D || White <br />
<br />
|}<br />
<br />
You will also need to splice the following wires together:<br />
<br />
* '''Red''' and '''Yellow'''<br />
* '''Black''' and '''Orange'''<br />
<br />
'''Bipolar - Parallel'''<br />
<br />
This configuration offers higher performance. It has lower impedance, and lower resistance. That means you can push more electrons through, at a faster rate. That basically means it will operate much better. However, it will draw about 3 amps, which our L298 is just not capable of delivering. We do not recommend wiring it like this.<br />
<br />
Keep in mind that two wires make up the start and end of each coil.<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Blue and Yellow <br />
|-<br />
| B || Red and Green <br />
|-<br />
| C || Brown and Orange <br />
|-<br />
| D || Black and White <br />
<br />
|}<br />
<br />
'''Suppliers'''<br />
<br />
* [http://store.makerbot.com/stepper-motor-nema-23-keling-kl23h51-24-08b.html MakerBot Industries]<br />
* [http://www.kelinginc.net/NEMA23Motor.html Keling Inc.] - The manufacturer/supplier. #5 on the list.<br />
<br />
'''Technical Information'''<br />
<br />
* [http://www.kelinginc.net/KL23H255-21-8A.pdf Datasheet]<br />
* [http://www.kelinginc.net/KL23H251-24-8BT.pdf Torque/Speed Curve]<br />
<br />
<br clear="all"><br />
<br />
==== FL57STH51-2808A (axis extending 1 way) and FL57STH51-3008B (axis 2 ways like the picture) ====<br />
<br />
[[image:StepperMotor-StepperFL57STH51-2808A.jpg|thumb]]<br />
<br />
The stepper motors are provided by [http://www.bitsfrombytes.com/ Bits From Bytes]. They come in two variations. Bought three from Bits From Bytes and I got one with the axis through and extending from both ends, and two with the axis extending one side. Their weight is slightly above 0.6 kg (I measured 619 gram).<br />
<br />
To make the unipolar stepper a bipolar one, connect these wires together:<br />
<br />
* Blue and Red/White<br />
* Green and Black/white <br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Blue/white <br />
|-<br />
| B || Red <br />
|-<br />
| C || Green/white <br />
|-<br />
| D || Black <br />
<br />
|}<br />
<br />
Datasheets: <br />
[http://www.motioncontrolproducts.co.uk/pdf/FL57STH51-3008B.pdf FL57STH51-3008B].<br />
[http://www.motioncontrolproducts.co.uk/pdf/FL57STH56-2008B.pdf FL57STH56-2008B]<br />
<br />
<br clear="all"><br />
<br />
==== Lin Engineering 5718X-05S ====<br />
<br />
[[image:StepperMotor-motor_5704.jpg|thumb]]<br />
<br />
The [http://www.linengineering.com//site/products/5718.html 5718X-05S] has the right specification to drive RepRap from the [[DarwinStepperController_1_2|PIC controllers]] '''but we haven't tested it yet'''. It should work with the Arduino electronics too. It has 200 steps per revolution, so you need to set the controller to half-step it to get the resolution needed. Take care to get the model where the output shaft comes out front and back, not just at the front.<br />
<br />
<br clear="all"><br />
<br />
== Open Source Stepper Motor Drivers ==<br />
<br />
=== RepRap Stepper Motor Driver v1.x ===<br />
<br />
[[image:cache-2950488044_8ba115bd24_m.jpg|link=http://make.rrrf.org/smd-1.2]]<br />
<br />
The first generation of RepRap stepper motor drivers. Uses the L297/L298 stepper motor driver combo. Half-stepping. Handles up to 2A. All through hole. A nice, solid driver. It uses some old technology, so its not as fancy as the newer stepper drivers, but it gets the job done. [[Stepper_Motor_Driver_1_2|Read the documentation page here]].<br />
<br />
<br clear="all"/><br />
<br />
=== RepRap Stepper Motor Driver v2.x ===<br />
<br />
[[image:cache-3218206144_6461b3e2c0_m.jpg|link=http://make.rrrf.org/smd-2.3]]<br />
<br />
The second generation of RepRap stepper motor drivers. Uses the Allegro A3982 chip which does a bunch of nice things and makes the board much simpler. It also drops the price by $10 compared to the v1.x series. It can handle up to 2A, does half-stepping. The only downside is that its SMT, which can be a bit scary for people. Its all large SMT parts, so its pretty simple to solder it, especially with the solder paste / hotplate method. [[Stepper_Motor_Driver_2_3|Read the documentation page here]].<br />
<br />
<br clear="all"/><br />
<br />
=== AVRSTMD ===<br />
<br />
[http://www.avrstmd.com/ AVRSTMD] - An open source microstepping driver that uses an atmega168 and current limited h-bridges. Very rad circuit.<br />
<br />
----<br />
<br />
=Holding Torque=<br />
<br />
It is recommended that you get approximately 13.7 N-cm (that is 1400 g-cm or 19.4 oz-in) of Holding Torque (or more) to avoid issues, although one stepper with less has been used successfully (see below). If in doubt, higher is better. If you need to convert between different units for the torque you can use the torque unit converter [http://www.numberfactory.com/nf%20torque.htm here].<br />
<br />
=Stepping Angle=<br />
<br />
Most stepper motors used for a Mendel have a step angle of 1.8 Degrees. It is sometimes possible to use motors with larger step angles, however for printing to be accurate, they will need to be geared down to reduce the angle moved per step, which may lead to a slower maximum speed.<br />
<br />
=Size=<br />
<br />
If going for the smaller NEMA 14 motors, aim for the high torque option. NEMA 14s are neater, lighter and smaller, but can be hard to get hold of with the appropriate holding torque. NEMA 17s are quite easy to get in the specification that Mendel needs, but are bulkier and less neat. NEMA 14s are running near the edge of their envelope: they will get warm. NEMA 17s are well inside what they can do, and will run much cooler.<br />
<br />
Note that any Mendel part that goes on to a Stepper Motor shaft expects the shaft to be roughly 5mm. If the shaft is a different size, you will need to make allowances for this in the parts you obtain/make.<br />
<br />
=Wiring=<br />
<br />
Steppers motors come in several wiring configurations. 4,6, and 8 wires are all fairly common. 5-wire version have been reported to exist. 5 wire versions won't work, the others will. See [[stepper wiring]] for more details.<br />
<br />
=Suppliers=<br />
<br />
Below is a list of possible suppliers and motors. Please add to it. If you have built a Mendel successfully with a given motor, remember to put {{true}} in the tested field.<br />
<br />
{| class="wikitable sortable"<br />
|+ ''Stepper Motors - Nema 14 (Smaller, neater and used on the Mendel prototype)''<br />
|-<br />
| Vendor (with link) || Shipping location || Manufacturer || Model # || Datasheet || NEMA (Size) || Holding Torque || Shaft || Tested || Additional notes<br />
|-<br />
| [http://www.motioncontrolproducts.com/ Motion Control Products] || ? || Fulling Motor<br />
| FL35ST36-1004B<br />
| [[Media:NEMA14-high-torque.pdf|FL35ST36-1004B Datasheet]]<br />
| 14 || ~13.7 N-cm || Dual || {{true}} || Used in mendel prototype<br />
|-<br />
| [http://www.active-robots.com/ Active Robots] || UK || Wantai<br />
| [http://www.phidgets.com/products.php?category=23&product_id=3301 35BYHG04]<br />
| [http://www.phidgets.com/documentation/Phidgets/3301Datasheet.pdf 35BYHG04 Datasheet]<br />
| 14 || ~12.3 N-cm || 4.9mm || {{true}} || Less Holding Torque than recommended, but has apparently been used successfully<br />
|-<br />
| [http://www.pololu.com/ Pololu] || US || [http://www.cnsoyo.com/ SOYO] || SY35ST36-1004A || ? || 14 || ~13.7 N-cm || 5mm || '''?''' || Note: Pololu list this motor as 1400 g-cm AND as 20 oz-in (converts to 19.44 oz-in). According to supplier information, the metric value is correct.<br />
|}<br />
<br />
<br />
<br />
{| class="wikitable sortable"<br />
|+ ''Stepper Motors - Nema 17 (larger and generally heavier but with more room to put a higher torque than a Nema 14)''<br />
|-<br />
| Vendor (with link) || Shipping location || Manufacturer || Model # || Datasheet || NEMA (Size) || Holding Torque || Shaft || Tested || Additional notes<br />
|-<br />
| [http://www.slidesandballscrews.com/stepper-motors-c-45.html Zapp Automation]<br />
| UK || [http://www.cnsoyo.com/ SOYO] || SY42STH47-1206A<br />
| [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1206A.pdf SY42STH47-1206A Datasheet]<br />
| 17 || ~31.1 N-cm || Single || {{true}} || None<br />
|-<br />
| [http://www.slidesandballscrews.com/stepper-motors-c-45.html Zapp Automation]<br />
| UK || [http://www.cnsoyo.com/ SOYO] || [http://www.slidesandballscrews.com/sy42sth471684b-p-255.html?cPath=45_80 SY42STH47-1684B]<br />
| [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1684B.pdf SY42STH47-1684B Datasheet]<br />
| 17 || ~43.1 N-cm || Dual || {{true}} || Round Ø5mm Shafts<br />
|-<br />
| [http://www.slidesandballscrews.com/stepper-motors-c-45.html Zapp Automation]<br />
| UK || [http://www.cnsoyo.com/ SOYO] || [http://www.slidesandballscrews.com/sy42sth471684a-p-315.html?cPath=45_80 SY42STH47-1684A]<br />
| [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1684A.pdf SY42STH47-1684A Datasheet]<br />
| 17 || ~43.1 N-cm || Single || '''?''' || D-Shape 5mm shaft with 4.5mm flat<br />
|-<br />
| [http://www.coolcomponents.co.uk/ Cool Components] || UK || Mercury Motor || [http://www.coolcomponents.co.uk/catalog/product_info.php?products_id=469 SM-42BYGH011-25]<br />
| [http://www.sparkfun.com/datasheets/Robotics/SM-42BYG011-25.pdf SM-42BYG011 Datasheet]<br />
| 17 || 23 N-cm || 5mm || ? || None<br />
|-<br />
| [http://www.interinar.com/step-motors.html Interinar Electronics, LLC] || US || Oriental Motors<br />
| [http://www.interinar.com/vexta-px243m-01aa.html Vexta PX243M-01AA]<br />
| [http://www.interinar.com/public_docs/PX243M-01AA.pdf PX243M-01AA Datasheet]<br />
| 17 || 15 N-cm || Single || '''?''' || Not strong enough for direct drive extruder, Uses Imperial #4-40 TPI mounting holes instead of M3 metric<br />
|-<br />
| [http://www.alltronics.com/cgi-bin/category.cgi?category=55 Alltronics.com] || US || Lin Engineering<br />
| [http://www.alltronics.com/cgi-bin/item/28M035/search/Lin-Engineering-4218L-01-10-bipolar-stepper-motor 4218L-01-10]<br />
| [http://www.alltronics.com/mas_assets/acrobat/28M035.pdf 4218L-01-10 Datasheet]<br />
| 17 || ~53 N-cm || 3/16 inch = 4.7625 mm (Round) || {{true}} || None<br />
|-<br />
| [http://www.alltronics.com/cgi-bin/category.cgi?category=55 Alltronics.com] || US || Lin Engineering<br />
| [http://www.alltronics.com/cgi-bin/item/24M014/search/Lin-Engineering-Nema-17-1.8deg-24V-2A-bipolar-stepper-motor 4218L-01-11]<br />
| [http://www.alltronics.com/mas_assets/acrobat/24M014.pdf 4218L-01-11 Datasheet]<br />
| 17 (?) || ~53 N-cm || ~5 mm = 0.1968 inches (D-Shape) || {{true}} || None<br />
|-<br />
| [http://www.phidgets.com/products.php?category=23 Phidgets.com] || US || Wantai<br />
| [http://www.phidgets.com/products.php?category=23&product_id=3303 42BYGHW811]<br />
| [http://www.phidgets.com/documentation/Phidgets/3303Datasheet.pdf 42BYGHW811 Datasheet]<br />
| 17 || ~47.1 N-cm || 4.9mm || '''?''' || None<br />
|-<br />
| [http://www.sparkfun.com/ SparkFun] || US || Mercury Motor || SM-42BYG011 || [http://www.sparkfun.com/datasheets/Robotics/SM-42BYG011-25.pdf SM-42BYG011 Datasheet] || 17 || 23 N-cm || 5mm || {{true}} || None<br />
|-<br />
| [http://www.robotgear.com.au Robot Gear] || AU || Mercury Motor || SM-42BYG011-25<br />
| [http://www.robotgear.com.au/Cache/Files/Files/118_Stepper%20Motor%20Datasheet%20SM-42BYG011-25.pdf SM-42BYG011 Datasheet]<br />
| 17 || 23 N-cm || 5mm || {{true}} || None<br />
|-<br />
| [http://mindkits.co.nz/ Mindkits] || NZ || Mercury Motor || SM-42BYG011 || [http://www.sparkfun.com/datasheets/Robotics/SM-42BYG011-25.pdf SM-42BYG011 Datasheet] || 17 || 23 N-cm || 5mm || {{true}} || None<br />
|-<br />
| [http://ausxmods.com.au/ AusXMods] || AU || Rugao Xinhe || 17H185H-04A || ? || 17 || ~43.8 N-cm || ? || '''?''' || None<br />
|-<br />
| [http://store.kysanelectronics.com Kysan] || China || [http://store.kysanelectronics.com Kysan] || 42BYGH4803 || [http://store.kysanelectronics.com/servlet/-strse-68835/42BYGH4803/Detail Datasheet]|| 17 || 49 N-cm || 5mm || {{true}} || Successfully tested with [http://objects.reprap.org/wiki/Geared_Nema17_Extruder Wade's Geared Nema 17] extruder - high flow rates.<br />
|}<br />
<br />
[[Category:Suppliers by Part]]<br />
<br />
<br />
=Unscientific rules of thumb for motor purchases=<br />
<br />
1) The longer the motor body generally the more torque the motor has.<br />
<br />
2) If a motor is rated 2.5A and your stepper driver produces only 2A your motor may not produce the manufactures rated torque.<br />
<br />
3) If a motor is rated 35 volts and your stepper produces only 12 volts your motor may not produce the manufactures rated torque.<br />
<br />
4) A motor can exceed it's rated voltage but will produce more heat. This may not be a problem in Bath/England but may be a problem in warmer climes.<br />
<br />
5) Stepper Motors should not exceed 65c.<br />
<br />
6) ABS melts at 120C but softens at 80C.<br />
<br />
7) Power is measured in Watts and is calculated at Volts X Current.<br />
<br />
8) Power made available to a motor will be turned into heat and motion.<br />
<br />
9) The more power made available to the motor the higher the amount of heat and motion.<br />
<br />
10) Power and torque are related. The more power the more torque.<br />
<br />
<br />
<br />
<br />
<br />
<br />
[[Category:Twiki]]</div>Stephen Georgehttps://reprap.org/mediawiki/index.php?title=Stepper_motor&diff=16613Stepper motor2010-06-03T05:17:36Z<p>Stephen George: </p>
<hr />
<div><br style="clear:both"/><br />
[[image:StepperMotor-reprap-stepper.jpg|thumb]]<br />
__TOC__<br />
<br />
== What is a Stepper Motor ?==<br />
Stepper motors are an electric motor used in the robotics industry.<br />
Stepper motors move a known interval for each pulse of power. These pulses of power are provided by a stepper driver and is referred to as a step. As each step moves the motor a known distance it makes them handy devices for repeatable positioning. <br />
<br />
There are two major types of stepper motor known as bipolar and unipolar. Wikipedia has further information on stepper motors. Please see [http://en.wikipedia.org/wiki/Stepper_motor Wikipedia].<br />
<br />
<br />
== Terms==<br />
Nema refers to the size of the motor. It specifies the “face” size of the motor but not it’s length. For example a Nema 23 stepper has a face of 2.3 inches by 2.3 inches with screw holes to match. Note just because a motor is bigger does not mean it is more powerful in terms of torque. It is perfectly possible for a Nema 14 to “out pull” a Nema 17 or a Nema 23.<br />
<br />
Bi polar and uni polar - These terms refers to the internals of the motor. Each type has a different stepper driver circuit board to control them. In theory a reprap could use either but in practise most are bipolar.<br />
<br />
<br />
== Stepper Motor History for repraps Darwin (V1.0 reprap)==<br />
The darwin reprap type used a Nema 23 stepper motor. This stepper motor was a unipolar stepper motor which could be configured as a bipolar. This design used 3 stepper motors for each axis and a DC motor for it's extruder. Later many people upgraded their extruders to increase their control of the extruder. <br />
<br />
Note the Generation 2 electronics supported the first configuration with 3 stepper driver circuit boards for the steppers and a PWM circuit board to control the DC motor.<br />
<br />
The Darwin Stepper Motor Requirements were as follows:<br />
<br />
{| border="1"<br />
|-<br />
| '''Parameter''' || '''Specification''' <br />
|-<br />
| Size || NEMA 23 <br />
|-<br />
| Type || Bipolar <br />
|-<br />
| Shaft || dual-output shaft <br />
|-<br />
| Torque || 100 oz-in or abount 0.71 Nm <br />
|-<br />
| Resistance || about 10 ohms, or 1 to 30 ohms <br />
<br />
|}<br />
<br />
If you are using the [[DarwinStepperController_1_2|PIC controller]] you need a motor that will use about 1A per winding at 12v, that is - around 10 ohms. The Arduino circuit can be adjusted to accommodate a wider range of steppers, but remember that if you specify a low-resistance one and the Arduino controller has to chop the voltage to limit the current going through it, that will also limit the torque.<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
== Stepper Motor History for repraps Mendel (V2.0 reprap)==<br />
The Mendel reprap type used either a Nema 17 or a Nema 14 Bi polar stepper motor. It uses four stepper motors. One for each axis and one for the extruder. <br />
<br />
Note this configuration of four stepper motors was supported by the 3rd generation electronics.<br />
<br />
The Darwin Stepper Motor Requirements were as follows:<br />
<br />
{| border="1"<br />
|-<br />
| '''Parameter''' || '''Specification''' <br />
|-<br />
| Size || NEMA 17 or 14 (prototype was Nema 14)<br />
|-<br />
| Type || Bipolar <br />
|-<br />
| Shaft || dual-output shaft <br />
|-<br />
| Torque || 100 oz-in or abount 0.71 Nm <br />
|-<br />
| Resistance || about 10 ohms, or 1 to 30 ohms <br />
<br />
|}<br />
<br />
If you are using the [[DarwinStepperController_1_2|PIC controller]] you need a motor that will use about 1A per winding at 12v, that is - around 10 ohms. The Arduino circuit can be adjusted to accommodate a wider range of steppers, but remember that if you specify a low-resistance one and the Arduino controller has to chop the voltage to limit the current going through it, that will also limit the torque.<br />
<br />
<br />
<br />
<br />
== Bipolar Motors ==<br />
<br />
[[image:StepperMotor-bipolar_stepper_sch.png|thumb]]<br />
<br />
These motors are the strongest type of stepper motor. You identify them by counting the leads - there should be four or eight. They are also the type of motors we are using in the RepRap Project's Darwin design. They have two coils inside, and stepping the motor round is achieved by energising the coils and changing the direction of the current within those coils. This requires more complex electronics than a unipolar motor, so we use a special driver chip to take care of all that for us. Some designs (the eight-wire ones) split each coil in the middle so you can wire the motor either as bipolar (short the middles) or unipolar (short the middles and treat the link as the centre tap - see below).<br />
<br />
<br clear="all"><br />
<br />
== Unipolar Motors ==<br />
<br />
[[image:StepperMotor-unipolar_stepper_sch.png|thumb]]<br />
<br />
Unipolar motors have two coils, each one has a centre tap. They are readily recognizable because they have 5, 6 or even 8 leads. It is possible to drive some unipolar motors as bipolar motors if you ignore the centre tap wires. Their main beauty though is that you can step them without having to reverse the direction of current in any coil, which makes the electronics simpler. Some early RepRap prototypes used this trick. Because the centre tap is used to energise only half of each coil at a time, unipolar motors generally have less torque than bipolar motors.<br />
<br />
<br clear="all"><br />
<br />
== Wiring Your Stepper ==<br />
<br />
Pretty much all of our RepRap electronics are designed for Bipolar stepper motors. Every bipolar stepper motor has 4 wires that need to be wired to the driver board. These are labeled A, B, C, and D for lack of better terms. A and B are connected, as well as C and D. You can generally find out which wires are connected using a multimeter to measure the resistance. If you measure a small resistance (1-30 ohm) then they are connected. Generally, they are color coded and we have datasheets available, so things are easy.<br />
<br />
=== NEMA 17 Motors ===<br />
<br />
==== Lin Engineering / 4118S-62-07 ====<br />
<br />
[[image:cache-stepper-motor-nema17.jpg|link=http://store.makerbot.com/featured-products/nema-17-stepper-motor.html]]<br />
<br />
This is an awesome little NEMA17 stepper motor. It is the primary motor used on the Cupcake CNC. It has good torque and a small size. Here are some of the specs:<br />
<br />
* 200 steps per revolution (1.8 deg/step)<br />
* 2.5A / phase<br />
* Phase Resistance: 0.6ohm<br />
* Phase inductance: .93mH<br />
* Holding torque: 3240g-cm or about 0.31 Nm<br />
* Shaft diameter: 0.190"<br />
* Shaft length: 0.50"<br />
* Motor depth: 1.34"<br />
<br />
NEMA-17 is a standard motor mounting geometry. The outside of the motor housing is 1.7"x1.7".<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Red <br />
|-<br />
| B || Blue <br />
|-<br />
| C || Green <br />
|-<br />
| D || Black <br />
|}<br />
<br />
'''Suppliers'''<br />
<br />
* [http://store.rrrf.org/product_info.php?products_id=59 MakerBot Industries]<br />
<br />
'''Technical Information'''<br />
<br />
* [http://svn.makerbot.com/assets/datasheets/4118S-62-07.pdf Datasheet]<br />
<br />
<br clear="all"/><br />
<br />
==== Zapp Automation / SY42STH47-1684B ====<br />
<br />
* 200 steps per revolution (1.8 deg/step)<br />
* Rated Current 1.68A<br />
* Phase Resistance: 1.65ohm<br />
* Phase inductance: 2.8mH<br />
* Holding torque: 4.4Kg-cm<br />
* Shaft diameter: 5mm<br />
* Shaft length: 22mm<br />
* Motor depth: 47mm<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Black <br />
|-<br />
| B || Red<br />
|-<br />
| C || Green <br />
|-<br />
| D || Blue <br />
|}<br />
<br />
'''Suppliers'''<br />
<br />
'''Technical Information'''<br />
<br />
* [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1684B.pdf Datasheet]<br />
<br />
=== NEMA 23 Motors ===<br />
<br />
==== Nanotec ST5709S1208-B ====<br />
<br />
This was the original standard RepRap stepper motor. It has 400 steps to one revolution (0.9<sup>o</sup> per step). It actually has 4 coils (which means it can be wired as both a bipolar and unipolar), but we join up the wires to turn it into a bipolar motor.<br />
<br />
'''Bipolar - Serial'''<br />
<br />
This configuration is suited for our driver boards. It has higher impedance and higher ohms which means it draws less current. In this mode its ideally matched to our L298 based boards. In this wiring setup it can handle 0.85 amps, which is just right. We recommend wiring it in this configuration.<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Red <br />
|-<br />
| B || Black <br />
|-<br />
| C || Green <br />
|-<br />
| D || Yellow <br />
<br />
|}<br />
<br />
You will also need to splice the following wires together:<br />
<br />
* '''Red/White''' and '''Black/White'''<br />
* '''Green/White''' and '''Yellow/White'''<br />
<br />
[[image:cache-dsc03106.jpg|link=http://picasaweb.google.co.uk/VikOlliver/RepRap02/photo#5072881971638806162]]<br />
<br />
'''Bipolar - Parallel'''<br />
<br />
This configuration offers higher performance. It has lower impedance, and lower resistance. That means you can push more electrons through, at a faster rate. That basically means it will operate much better. However, it will draw about 1.7 amps, which at the upper end of what the L298 is capable of delivering. We do not recommend wiring it like this.<br />
<br />
Keep in mind that two wires make up the start and end of each coil.<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Red and Black/White <br />
|-<br />
| B || Black and Red/White <br />
|-<br />
| C || Green and Yellow/White <br />
|-<br />
| D || Yellow and Green/White <br />
<br />
|}<br />
<br />
'''Suppliers'''<br />
<br />
* [http://uk.farnell.com/jsp/endecaSearch/partDetail.jsp?SKU=4743155 ST5709S1208-B stepper motor from Farnell]<br />
* [http://www.nanotec.com/page_product__st5709__en.html Nanotec Gmbh] - Supplier / Manufacturer<br />
<br />
'''Technical Information'''<br />
* [http://www.nanotec.com/downloads/pdf/1349/ST5709S1208.pdf Datasheet]<br />
* [http://www.nanotec.com/steppermotor_st5709.html#kennlinien Torque/Speed Curve]<br />
<br />
==== Keling KL23H51-24-08B ====<br />
<br />
[[image:cache-2122608287_2c91e1ae6e_m.jpg|link=http://flickr.com/photos/hoeken/2122608287/]]<br />
<br />
This is the RepRap stepper motor for the Arduino controller. It has 200 steps to one revolution (1.8<sup>o</sup> per step). It actually has 4 coils (which means it can be wired as both a bipolar and unipolar), but we join up the wires to turn it into a bipolar motor. It is much cheaper than the Nanotec, and with half-stepping it is almost as accurate.<br />
<br />
<br />
'''Bipolar - Serial'''<br />
<br />
This configuration is suited for our driver boards. It has higher impedance and higher ohms which means it draws less current. In this mode its ideally matched to our L298 based boards. In this wiring setup it can handle 1.5 amps, which is just right. We recommend wiring it in this configuration.<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Blue <br />
|-<br />
| B || Green <br />
|-<br />
| C || Brown <br />
|-<br />
| D || White <br />
<br />
|}<br />
<br />
You will also need to splice the following wires together:<br />
<br />
* '''Red''' and '''Yellow'''<br />
* '''Black''' and '''Orange'''<br />
<br />
'''Bipolar - Parallel'''<br />
<br />
This configuration offers higher performance. It has lower impedance, and lower resistance. That means you can push more electrons through, at a faster rate. That basically means it will operate much better. However, it will draw about 3 amps, which our L298 is just not capable of delivering. We do not recommend wiring it like this.<br />
<br />
Keep in mind that two wires make up the start and end of each coil.<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Blue and Yellow <br />
|-<br />
| B || Red and Green <br />
|-<br />
| C || Brown and Orange <br />
|-<br />
| D || Black and White <br />
<br />
|}<br />
<br />
'''Suppliers'''<br />
<br />
* [http://store.makerbot.com/stepper-motor-nema-23-keling-kl23h51-24-08b.html MakerBot Industries]<br />
* [http://www.kelinginc.net/NEMA23Motor.html Keling Inc.] - The manufacturer/supplier. #5 on the list.<br />
<br />
'''Technical Information'''<br />
<br />
* [http://www.kelinginc.net/KL23H255-21-8A.pdf Datasheet]<br />
* [http://www.kelinginc.net/KL23H251-24-8BT.pdf Torque/Speed Curve]<br />
<br />
<br clear="all"><br />
<br />
==== FL57STH51-2808A (axis extending 1 way) and FL57STH51-3008B (axis 2 ways like the picture) ====<br />
<br />
[[image:StepperMotor-StepperFL57STH51-2808A.jpg|thumb]]<br />
<br />
The stepper motors are provided by [http://www.bitsfrombytes.com/ Bits From Bytes]. They come in two variations. Bought three from Bits From Bytes and I got one with the axis through and extending from both ends, and two with the axis extending one side. Their weight is slightly above 0.6 kg (I measured 619 gram).<br />
<br />
To make the unipolar stepper a bipolar one, connect these wires together:<br />
<br />
* Blue and Red/White<br />
* Green and Black/white <br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Blue/white <br />
|-<br />
| B || Red <br />
|-<br />
| C || Green/white <br />
|-<br />
| D || Black <br />
<br />
|}<br />
<br />
Datasheets: <br />
[http://www.motioncontrolproducts.co.uk/pdf/FL57STH51-3008B.pdf FL57STH51-3008B].<br />
[http://www.motioncontrolproducts.co.uk/pdf/FL57STH56-2008B.pdf FL57STH56-2008B]<br />
<br />
<br clear="all"><br />
<br />
==== Lin Engineering 5718X-05S ====<br />
<br />
[[image:StepperMotor-motor_5704.jpg|thumb]]<br />
<br />
The [http://www.linengineering.com//site/products/5718.html 5718X-05S] has the right specification to drive RepRap from the [[DarwinStepperController_1_2|PIC controllers]] '''but we haven't tested it yet'''. It should work with the Arduino electronics too. It has 200 steps per revolution, so you need to set the controller to half-step it to get the resolution needed. Take care to get the model where the output shaft comes out front and back, not just at the front.<br />
<br />
<br clear="all"><br />
<br />
== Open Source Stepper Motor Drivers ==<br />
<br />
=== RepRap Stepper Motor Driver v1.x ===<br />
<br />
[[image:cache-2950488044_8ba115bd24_m.jpg|link=http://make.rrrf.org/smd-1.2]]<br />
<br />
The first generation of RepRap stepper motor drivers. Uses the L297/L298 stepper motor driver combo. Half-stepping. Handles up to 2A. All through hole. A nice, solid driver. It uses some old technology, so its not as fancy as the newer stepper drivers, but it gets the job done. [[Stepper_Motor_Driver_1_2|Read the documentation page here]].<br />
<br />
<br clear="all"/><br />
<br />
=== RepRap Stepper Motor Driver v2.x ===<br />
<br />
[[image:cache-3218206144_6461b3e2c0_m.jpg|link=http://make.rrrf.org/smd-2.3]]<br />
<br />
The second generation of RepRap stepper motor drivers. Uses the Allegro A3982 chip which does a bunch of nice things and makes the board much simpler. It also drops the price by $10 compared to the v1.x series. It can handle up to 2A, does half-stepping. The only downside is that its SMT, which can be a bit scary for people. Its all large SMT parts, so its pretty simple to solder it, especially with the solder paste / hotplate method. [[Stepper_Motor_Driver_2_3|Read the documentation page here]].<br />
<br />
<br clear="all"/><br />
<br />
=== AVRSTMD ===<br />
<br />
[http://www.avrstmd.com/ AVRSTMD] - An open source microstepping driver that uses an atmega168 and current limited h-bridges. Very rad circuit.<br />
<br />
----<br />
<br />
=Holding Torque=<br />
<br />
It is recommended that you get approximately 13.7 N-cm (that is 1400 g-cm or 19.4 oz-in) of Holding Torque (or more) to avoid issues, although one stepper with less has been used successfully (see below). If in doubt, higher is better. If you need to convert between different units for the torque you can use the torque unit converter [http://www.numberfactory.com/nf%20torque.htm here].<br />
<br />
=Stepping Angle=<br />
<br />
Most stepper motors used for a Mendel have a step angle of 1.8 Degrees. It is sometimes possible to use motors with larger step angles, however for printing to be accurate, they will need to be geared down to reduce the angle moved per step, which may lead to a slower maximum speed.<br />
<br />
=Size=<br />
<br />
If going for the smaller NEMA 14 motors, aim for the high torque option. NEMA 14s are neater, lighter and smaller, but can be hard to get hold of with the appropriate holding torque. NEMA 17s are quite easy to get in the specification that Mendel needs, but are bulkier and less neat. NEMA 14s are running near the edge of their envelope: they will get warm. NEMA 17s are well inside what they can do, and will run much cooler.<br />
<br />
Note that any Mendel part that goes on to a Stepper Motor shaft expects the shaft to be roughly 5mm. If the shaft is a different size, you will need to make allowances for this in the parts you obtain/make.<br />
<br />
=Wiring=<br />
<br />
Steppers motors come in several wiring configurations. 4,6, and 8 wires are all fairly common. 5-wire version have been reported to exist. 5 wire versions won't work, the others will. See [[stepper wiring]] for more details.<br />
<br />
=Suppliers=<br />
<br />
Below is a list of possible suppliers and motors. Please add to it. If you have built a Mendel successfully with a given motor, remember to put {{true}} in the tested field.<br />
<br />
{| class="wikitable sortable"<br />
|+ ''Stepper Motors - Nema 14 (Smaller, neater and used on the Mendel prototype)''<br />
|-<br />
| Vendor (with link) || Shipping location || Manufacturer || Model # || Datasheet || NEMA (Size) || Holding Torque || Shaft || Tested || Additional notes<br />
|-<br />
| [http://www.motioncontrolproducts.com/ Motion Control Products] || ? || Fulling Motor<br />
| FL35ST36-1004B<br />
| [[Media:NEMA14-high-torque.pdf|FL35ST36-1004B Datasheet]]<br />
| 14 || ~13.7 N-cm || Dual || {{true}} || Used in mendel prototype<br />
|-<br />
| [http://www.active-robots.com/ Active Robots] || UK || Wantai<br />
| [http://www.phidgets.com/products.php?category=23&product_id=3301 35BYHG04]<br />
| [http://www.phidgets.com/documentation/Phidgets/3301Datasheet.pdf 35BYHG04 Datasheet]<br />
| 14 || ~12.3 N-cm || 4.9mm || {{true}} || Less Holding Torque than recommended, but has apparently been used successfully<br />
|-<br />
| [http://www.pololu.com/ Pololu] || US || [http://www.cnsoyo.com/ SOYO] || SY35ST36-1004A || ? || 14 || ~13.7 N-cm || 5mm || '''?''' || Note: Pololu list this motor as 1400 g-cm AND as 20 oz-in (converts to 19.44 oz-in). According to supplier information, the metric value is correct.<br />
|}<br />
<br />
<br />
<br />
{| class="wikitable sortable"<br />
|+ ''Stepper Motors - Nema 17 (larger and generally heavier but with more room to put a higher torque than a Nema 14)''<br />
|-<br />
| Vendor (with link) || Shipping location || Manufacturer || Model # || Datasheet || NEMA (Size) || Holding Torque || Shaft || Tested || Additional notes<br />
|-<br />
| [http://www.slidesandballscrews.com/stepper-motors-c-45.html Zapp Automation]<br />
| UK || [http://www.cnsoyo.com/ SOYO] || SY42STH47-1206A<br />
| [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1206A.pdf SY42STH47-1206A Datasheet]<br />
| 17 || ~31.1 N-cm || Single || {{true}} || None<br />
|-<br />
| [http://www.slidesandballscrews.com/stepper-motors-c-45.html Zapp Automation]<br />
| UK || [http://www.cnsoyo.com/ SOYO] || [http://www.slidesandballscrews.com/sy42sth471684b-p-255.html?cPath=45_80 SY42STH47-1684B]<br />
| [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1684B.pdf SY42STH47-1684B Datasheet]<br />
| 17 || ~43.1 N-cm || Dual || {{true}} || Round Ø5mm Shafts<br />
|-<br />
| [http://www.slidesandballscrews.com/stepper-motors-c-45.html Zapp Automation]<br />
| UK || [http://www.cnsoyo.com/ SOYO] || [http://www.slidesandballscrews.com/sy42sth471684a-p-315.html?cPath=45_80 SY42STH47-1684A]<br />
| [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1684A.pdf SY42STH47-1684A Datasheet]<br />
| 17 || ~43.1 N-cm || Single || '''?''' || D-Shape 5mm shaft with 4.5mm flat<br />
|-<br />
| [http://www.coolcomponents.co.uk/ Cool Components] || UK || Mercury Motor || [http://www.coolcomponents.co.uk/catalog/product_info.php?products_id=469 SM-42BYGH011-25]<br />
| [http://www.sparkfun.com/datasheets/Robotics/SM-42BYG011-25.pdf SM-42BYG011 Datasheet]<br />
| 17 || 23 N-cm || 5mm || ? || None<br />
|-<br />
| [http://www.interinar.com/step-motors.html Interinar Electronics, LLC] || US || Oriental Motors<br />
| [http://www.interinar.com/vexta-px243m-01aa.html Vexta PX243M-01AA]<br />
| [http://www.interinar.com/public_docs/PX243M-01AA.pdf PX243M-01AA Datasheet]<br />
| 17 || 15 N-cm || Single || '''?''' || Not strong enough for direct drive extruder, Uses Imperial #4-40 TPI mounting holes instead of M3 metric<br />
|-<br />
| [http://www.alltronics.com/cgi-bin/category.cgi?category=55 Alltronics.com] || US || Lin Engineering<br />
| [http://www.alltronics.com/cgi-bin/item/28M035/search/Lin-Engineering-4218L-01-10-bipolar-stepper-motor 4218L-01-10]<br />
| [http://www.alltronics.com/mas_assets/acrobat/28M035.pdf 4218L-01-10 Datasheet]<br />
| 17 || ~53 N-cm || 3/16 inch = 4.7625 mm (Round) || {{true}} || None<br />
|-<br />
| [http://www.alltronics.com/cgi-bin/category.cgi?category=55 Alltronics.com] || US || Lin Engineering<br />
| [http://www.alltronics.com/cgi-bin/item/24M014/search/Lin-Engineering-Nema-17-1.8deg-24V-2A-bipolar-stepper-motor 4218L-01-11]<br />
| [http://www.alltronics.com/mas_assets/acrobat/24M014.pdf 4218L-01-11 Datasheet]<br />
| 17 (?) || ~53 N-cm || ~5 mm = 0.1968 inches (D-Shape) || {{true}} || None<br />
|-<br />
| [http://www.phidgets.com/products.php?category=23 Phidgets.com] || US || Wantai<br />
| [http://www.phidgets.com/products.php?category=23&product_id=3303 42BYGHW811]<br />
| [http://www.phidgets.com/documentation/Phidgets/3303Datasheet.pdf 42BYGHW811 Datasheet]<br />
| 17 || ~47.1 N-cm || 4.9mm || '''?''' || None<br />
|-<br />
| [http://www.sparkfun.com/ SparkFun] || US || Mercury Motor || SM-42BYG011 || [http://www.sparkfun.com/datasheets/Robotics/SM-42BYG011-25.pdf SM-42BYG011 Datasheet] || 17 || 23 N-cm || 5mm || {{true}} || None<br />
|-<br />
| [http://www.robotgear.com.au Robot Gear] || AU || Mercury Motor || SM-42BYG011-25<br />
| [http://www.robotgear.com.au/Cache/Files/Files/118_Stepper%20Motor%20Datasheet%20SM-42BYG011-25.pdf SM-42BYG011 Datasheet]<br />
| 17 || 23 N-cm || 5mm || {{true}} || None<br />
|-<br />
| [http://mindkits.co.nz/ Mindkits] || NZ || Mercury Motor || SM-42BYG011 || [http://www.sparkfun.com/datasheets/Robotics/SM-42BYG011-25.pdf SM-42BYG011 Datasheet] || 17 || 23 N-cm || 5mm || {{true}} || None<br />
|-<br />
| [http://ausxmods.com.au/ AusXMods] || AU || Rugao Xinhe || 17H185H-04A || ? || 17 || ~43.8 N-cm || ? || '''?''' || None<br />
|-<br />
| [http://store.kysanelectronics.com Kysan] || China || [http://store.kysanelectronics.com Kysan] || 42BYGH4803 || [http://store.kysanelectronics.com/servlet/-strse-68835/42BYGH4803/Detail Datasheet]|| 17 || 49 N-cm || 5mm || {{true}} || Successfully tested with [http://objects.reprap.org/wiki/Geared_Nema17_Extruder Wade's Geared Nema 17] extruder - high flow rates.<br />
|}<br />
<br />
[[Category:Suppliers by Part]]<br />
<br />
<br />
=Unscientific rules of thumb for motor purchases=<br />
<br />
1) The longer the motor body generally the more torque the motor has.<br />
<br />
2) If a motor is rated 2.5A and your stepper driver produces only 2A your motor may not produce the manufactures rated torque.<br />
<br />
3) If a motor is rated 35 volts and your stepper produces only 12 volts your motor may not produce the manufactures rated torque.<br />
<br />
4) A motor can exceed it's rated voltage but will produce more heat. This may not be a problem in Bath/England but may be a problem in warmer climes.<br />
<br />
5) Stepper Motors should not exceed 65c.<br />
<br />
6) ABS melts at 120C but softens at 80C.<br />
<br />
7) Power is measured in Watts and is calculated at Volts X Current.<br />
<br />
8) Power made available to a motor will be turned into heat and motion.<br />
<br />
9) The more power made available to the motor the higher the amount of heat and motion.<br />
<br />
10) Power and torque are related. The more power the more torque.<br />
<br />
<br />
<br />
<br />
<br />
<br />
[[Category:Twiki]]</div>Stephen Georgehttps://reprap.org/mediawiki/index.php?title=Stepper_motor&diff=16612Stepper motor2010-06-03T05:13:24Z<p>Stephen George: added terms</p>
<hr />
<div><br style="clear:both"/><br />
[[image:StepperMotor-reprap-stepper.jpg|thumb]]<br />
__TOC__<br />
<br />
== What is a Stepper Motor ?==<br />
Stepper motors are an electric motor used in the robotics industry.<br />
Stepper motors move a known interval for each pulse of power. These pulses of power are provided by a stepper driver and is referred to as a step. As each step moves the motor a known distance it makes them handy devices for repeatable positioning. <br />
<br />
There are two major types of stepper motor known as bipolar and unipolar. Wikipedia has further information on stepper motors. Please see [http://en.wikipedia.org/wiki/Stepper_motor Wikipedia].<br />
<br />
<br />
== Terms==<br />
Nema refers to the size of the motor. It specifies the “face” size of the motor but not it’s length. For example a Nema 23 stepper has a face of 2.3 inches by 2.3 inches with screw holes to match. Note just because a motor is bigger does not mean it is more powerful in terms of torque. It is perfectly possible for a Nema 14 to “out pull” a Nema 17 or a Nema 23.<br />
<br />
Bi polar and uni polar - These terms refers to the internals of the motor. Each type has a different stepper driver circuit board to control them. In theory a reprap could use either but in practise most are bipolar.<br />
<br />
<br />
== Stepper Motor History for repraps Darwin (V1.0 reprap)==<br />
The darwin reprap type used a Nema 23 stepper motor. This stepper motor was a unipolar stepper motor which could be configured as a bipolar. This design used 3 stepper motors for each axis and a DC motor for it's extruder. Later many people upgraded their extruders to increase their control of the extruder. <br />
<br />
Note the Generation 2 electronics supported the first configuration with 3 stepper driver circuit boards for the steppers and a PWM circuit board to control the DC motor.<br />
<br />
== Stepper Motor History for repraps Mendel (V2.0 reprap)==<br />
The Mendel reprap type used either a Nema 17 or a Nema 14 Bi polar stepper motor. It uses four stepper motors. One for each axis and one for the extruder. <br />
<br />
Note this configuration of four stepper motors was supported by the 3rd generation electronics.<br />
<br />
== Stepper Motor Requirements ==<br />
<br />
These are the general requirements so far for a RepRap machine. You could probably get by with less, especially for the lighter X axis, but this is what we recommend. Always choose a high torque motor for the extruder.<br />
<br />
{| border="1"<br />
|-<br />
| '''Parameter''' || '''Specification''' <br />
|-<br />
| Size || NEMA 23 <br />
|-<br />
| Type || Bipolar <br />
|-<br />
| Shaft || dual-output shaft <br />
|-<br />
| Torque || 100 oz-in or abount 0.71 Nm <br />
|-<br />
| Resistance || about 10 ohms, or 1 to 30 ohms <br />
<br />
|}<br />
<br />
If you are using the [[DarwinStepperController_1_2|PIC controller]] you need a motor that will use about 1A per winding at 12v, that is - around 10 ohms. The Arduino circuit can be adjusted to accommodate a wider range of steppers, but remember that if you specify a low-resistance one and the Arduino controller has to chop the voltage to limit the current going through it, that will also limit the torque.<br />
<br />
== Bipolar Motors ==<br />
<br />
[[image:StepperMotor-bipolar_stepper_sch.png|thumb]]<br />
<br />
These motors are the strongest type of stepper motor. You identify them by counting the leads - there should be four or eight. They are also the type of motors we are using in the RepRap Project's Darwin design. They have two coils inside, and stepping the motor round is achieved by energising the coils and changing the direction of the current within those coils. This requires more complex electronics than a unipolar motor, so we use a special driver chip to take care of all that for us. Some designs (the eight-wire ones) split each coil in the middle so you can wire the motor either as bipolar (short the middles) or unipolar (short the middles and treat the link as the centre tap - see below).<br />
<br />
<br clear="all"><br />
<br />
== Unipolar Motors ==<br />
<br />
[[image:StepperMotor-unipolar_stepper_sch.png|thumb]]<br />
<br />
Unipolar motors have two coils, each one has a centre tap. They are readily recognizable because they have 5, 6 or even 8 leads. It is possible to drive some unipolar motors as bipolar motors if you ignore the centre tap wires. Their main beauty though is that you can step them without having to reverse the direction of current in any coil, which makes the electronics simpler. Some early RepRap prototypes used this trick. Because the centre tap is used to energise only half of each coil at a time, unipolar motors generally have less torque than bipolar motors.<br />
<br />
<br clear="all"><br />
<br />
== Wiring Your Stepper ==<br />
<br />
Pretty much all of our RepRap electronics are designed for Bipolar stepper motors. Every bipolar stepper motor has 4 wires that need to be wired to the driver board. These are labeled A, B, C, and D for lack of better terms. A and B are connected, as well as C and D. You can generally find out which wires are connected using a multimeter to measure the resistance. If you measure a small resistance (1-30 ohm) then they are connected. Generally, they are color coded and we have datasheets available, so things are easy.<br />
<br />
=== NEMA 17 Motors ===<br />
<br />
==== Lin Engineering / 4118S-62-07 ====<br />
<br />
[[image:cache-stepper-motor-nema17.jpg|link=http://store.makerbot.com/featured-products/nema-17-stepper-motor.html]]<br />
<br />
This is an awesome little NEMA17 stepper motor. It is the primary motor used on the Cupcake CNC. It has good torque and a small size. Here are some of the specs:<br />
<br />
* 200 steps per revolution (1.8 deg/step)<br />
* 2.5A / phase<br />
* Phase Resistance: 0.6ohm<br />
* Phase inductance: .93mH<br />
* Holding torque: 3240g-cm or about 0.31 Nm<br />
* Shaft diameter: 0.190"<br />
* Shaft length: 0.50"<br />
* Motor depth: 1.34"<br />
<br />
NEMA-17 is a standard motor mounting geometry. The outside of the motor housing is 1.7"x1.7".<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Red <br />
|-<br />
| B || Blue <br />
|-<br />
| C || Green <br />
|-<br />
| D || Black <br />
|}<br />
<br />
'''Suppliers'''<br />
<br />
* [http://store.rrrf.org/product_info.php?products_id=59 MakerBot Industries]<br />
<br />
'''Technical Information'''<br />
<br />
* [http://svn.makerbot.com/assets/datasheets/4118S-62-07.pdf Datasheet]<br />
<br />
<br clear="all"/><br />
<br />
==== Zapp Automation / SY42STH47-1684B ====<br />
<br />
* 200 steps per revolution (1.8 deg/step)<br />
* Rated Current 1.68A<br />
* Phase Resistance: 1.65ohm<br />
* Phase inductance: 2.8mH<br />
* Holding torque: 4.4Kg-cm<br />
* Shaft diameter: 5mm<br />
* Shaft length: 22mm<br />
* Motor depth: 47mm<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Black <br />
|-<br />
| B || Red<br />
|-<br />
| C || Green <br />
|-<br />
| D || Blue <br />
|}<br />
<br />
'''Suppliers'''<br />
<br />
'''Technical Information'''<br />
<br />
* [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1684B.pdf Datasheet]<br />
<br />
=== NEMA 23 Motors ===<br />
<br />
==== Nanotec ST5709S1208-B ====<br />
<br />
This was the original standard RepRap stepper motor. It has 400 steps to one revolution (0.9<sup>o</sup> per step). It actually has 4 coils (which means it can be wired as both a bipolar and unipolar), but we join up the wires to turn it into a bipolar motor.<br />
<br />
'''Bipolar - Serial'''<br />
<br />
This configuration is suited for our driver boards. It has higher impedance and higher ohms which means it draws less current. In this mode its ideally matched to our L298 based boards. In this wiring setup it can handle 0.85 amps, which is just right. We recommend wiring it in this configuration.<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Red <br />
|-<br />
| B || Black <br />
|-<br />
| C || Green <br />
|-<br />
| D || Yellow <br />
<br />
|}<br />
<br />
You will also need to splice the following wires together:<br />
<br />
* '''Red/White''' and '''Black/White'''<br />
* '''Green/White''' and '''Yellow/White'''<br />
<br />
[[image:cache-dsc03106.jpg|link=http://picasaweb.google.co.uk/VikOlliver/RepRap02/photo#5072881971638806162]]<br />
<br />
'''Bipolar - Parallel'''<br />
<br />
This configuration offers higher performance. It has lower impedance, and lower resistance. That means you can push more electrons through, at a faster rate. That basically means it will operate much better. However, it will draw about 1.7 amps, which at the upper end of what the L298 is capable of delivering. We do not recommend wiring it like this.<br />
<br />
Keep in mind that two wires make up the start and end of each coil.<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Red and Black/White <br />
|-<br />
| B || Black and Red/White <br />
|-<br />
| C || Green and Yellow/White <br />
|-<br />
| D || Yellow and Green/White <br />
<br />
|}<br />
<br />
'''Suppliers'''<br />
<br />
* [http://uk.farnell.com/jsp/endecaSearch/partDetail.jsp?SKU=4743155 ST5709S1208-B stepper motor from Farnell]<br />
* [http://www.nanotec.com/page_product__st5709__en.html Nanotec Gmbh] - Supplier / Manufacturer<br />
<br />
'''Technical Information'''<br />
* [http://www.nanotec.com/downloads/pdf/1349/ST5709S1208.pdf Datasheet]<br />
* [http://www.nanotec.com/steppermotor_st5709.html#kennlinien Torque/Speed Curve]<br />
<br />
==== Keling KL23H51-24-08B ====<br />
<br />
[[image:cache-2122608287_2c91e1ae6e_m.jpg|link=http://flickr.com/photos/hoeken/2122608287/]]<br />
<br />
This is the RepRap stepper motor for the Arduino controller. It has 200 steps to one revolution (1.8<sup>o</sup> per step). It actually has 4 coils (which means it can be wired as both a bipolar and unipolar), but we join up the wires to turn it into a bipolar motor. It is much cheaper than the Nanotec, and with half-stepping it is almost as accurate.<br />
<br />
<br />
'''Bipolar - Serial'''<br />
<br />
This configuration is suited for our driver boards. It has higher impedance and higher ohms which means it draws less current. In this mode its ideally matched to our L298 based boards. In this wiring setup it can handle 1.5 amps, which is just right. We recommend wiring it in this configuration.<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Blue <br />
|-<br />
| B || Green <br />
|-<br />
| C || Brown <br />
|-<br />
| D || White <br />
<br />
|}<br />
<br />
You will also need to splice the following wires together:<br />
<br />
* '''Red''' and '''Yellow'''<br />
* '''Black''' and '''Orange'''<br />
<br />
'''Bipolar - Parallel'''<br />
<br />
This configuration offers higher performance. It has lower impedance, and lower resistance. That means you can push more electrons through, at a faster rate. That basically means it will operate much better. However, it will draw about 3 amps, which our L298 is just not capable of delivering. We do not recommend wiring it like this.<br />
<br />
Keep in mind that two wires make up the start and end of each coil.<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Blue and Yellow <br />
|-<br />
| B || Red and Green <br />
|-<br />
| C || Brown and Orange <br />
|-<br />
| D || Black and White <br />
<br />
|}<br />
<br />
'''Suppliers'''<br />
<br />
* [http://store.makerbot.com/stepper-motor-nema-23-keling-kl23h51-24-08b.html MakerBot Industries]<br />
* [http://www.kelinginc.net/NEMA23Motor.html Keling Inc.] - The manufacturer/supplier. #5 on the list.<br />
<br />
'''Technical Information'''<br />
<br />
* [http://www.kelinginc.net/KL23H255-21-8A.pdf Datasheet]<br />
* [http://www.kelinginc.net/KL23H251-24-8BT.pdf Torque/Speed Curve]<br />
<br />
<br clear="all"><br />
<br />
==== FL57STH51-2808A (axis extending 1 way) and FL57STH51-3008B (axis 2 ways like the picture) ====<br />
<br />
[[image:StepperMotor-StepperFL57STH51-2808A.jpg|thumb]]<br />
<br />
The stepper motors are provided by [http://www.bitsfrombytes.com/ Bits From Bytes]. They come in two variations. Bought three from Bits From Bytes and I got one with the axis through and extending from both ends, and two with the axis extending one side. Their weight is slightly above 0.6 kg (I measured 619 gram).<br />
<br />
To make the unipolar stepper a bipolar one, connect these wires together:<br />
<br />
* Blue and Red/White<br />
* Green and Black/white <br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Blue/white <br />
|-<br />
| B || Red <br />
|-<br />
| C || Green/white <br />
|-<br />
| D || Black <br />
<br />
|}<br />
<br />
Datasheets: <br />
[http://www.motioncontrolproducts.co.uk/pdf/FL57STH51-3008B.pdf FL57STH51-3008B].<br />
[http://www.motioncontrolproducts.co.uk/pdf/FL57STH56-2008B.pdf FL57STH56-2008B]<br />
<br />
<br clear="all"><br />
<br />
==== Lin Engineering 5718X-05S ====<br />
<br />
[[image:StepperMotor-motor_5704.jpg|thumb]]<br />
<br />
The [http://www.linengineering.com//site/products/5718.html 5718X-05S] has the right specification to drive RepRap from the [[DarwinStepperController_1_2|PIC controllers]] '''but we haven't tested it yet'''. It should work with the Arduino electronics too. It has 200 steps per revolution, so you need to set the controller to half-step it to get the resolution needed. Take care to get the model where the output shaft comes out front and back, not just at the front.<br />
<br />
<br clear="all"><br />
<br />
== Open Source Stepper Motor Drivers ==<br />
<br />
=== RepRap Stepper Motor Driver v1.x ===<br />
<br />
[[image:cache-2950488044_8ba115bd24_m.jpg|link=http://make.rrrf.org/smd-1.2]]<br />
<br />
The first generation of RepRap stepper motor drivers. Uses the L297/L298 stepper motor driver combo. Half-stepping. Handles up to 2A. All through hole. A nice, solid driver. It uses some old technology, so its not as fancy as the newer stepper drivers, but it gets the job done. [[Stepper_Motor_Driver_1_2|Read the documentation page here]].<br />
<br />
<br clear="all"/><br />
<br />
=== RepRap Stepper Motor Driver v2.x ===<br />
<br />
[[image:cache-3218206144_6461b3e2c0_m.jpg|link=http://make.rrrf.org/smd-2.3]]<br />
<br />
The second generation of RepRap stepper motor drivers. Uses the Allegro A3982 chip which does a bunch of nice things and makes the board much simpler. It also drops the price by $10 compared to the v1.x series. It can handle up to 2A, does half-stepping. The only downside is that its SMT, which can be a bit scary for people. Its all large SMT parts, so its pretty simple to solder it, especially with the solder paste / hotplate method. [[Stepper_Motor_Driver_2_3|Read the documentation page here]].<br />
<br />
<br clear="all"/><br />
<br />
=== AVRSTMD ===<br />
<br />
[http://www.avrstmd.com/ AVRSTMD] - An open source microstepping driver that uses an atmega168 and current limited h-bridges. Very rad circuit.<br />
<br />
----<br />
<br />
=Holding Torque=<br />
<br />
It is recommended that you get approximately 13.7 N-cm (that is 1400 g-cm or 19.4 oz-in) of Holding Torque (or more) to avoid issues, although one stepper with less has been used successfully (see below). If in doubt, higher is better. If you need to convert between different units for the torque you can use the torque unit converter [http://www.numberfactory.com/nf%20torque.htm here].<br />
<br />
=Stepping Angle=<br />
<br />
Most stepper motors used for a Mendel have a step angle of 1.8 Degrees. It is sometimes possible to use motors with larger step angles, however for printing to be accurate, they will need to be geared down to reduce the angle moved per step, which may lead to a slower maximum speed.<br />
<br />
=Size=<br />
<br />
If going for the smaller NEMA 14 motors, aim for the high torque option. NEMA 14s are neater, lighter and smaller, but can be hard to get hold of with the appropriate holding torque. NEMA 17s are quite easy to get in the specification that Mendel needs, but are bulkier and less neat. NEMA 14s are running near the edge of their envelope: they will get warm. NEMA 17s are well inside what they can do, and will run much cooler.<br />
<br />
Note that any Mendel part that goes on to a Stepper Motor shaft expects the shaft to be roughly 5mm. If the shaft is a different size, you will need to make allowances for this in the parts you obtain/make.<br />
<br />
=Wiring=<br />
<br />
Steppers motors come in several wiring configurations. 4,6, and 8 wires are all fairly common. 5-wire version have been reported to exist. 5 wire versions won't work, the others will. See [[stepper wiring]] for more details.<br />
<br />
=Suppliers=<br />
<br />
Below is a list of possible suppliers and motors. Please add to it. If you have built a Mendel successfully with a given motor, remember to put {{true}} in the tested field.<br />
<br />
{| class="wikitable sortable"<br />
|+ ''Stepper Motors - Nema 14 (Smaller, neater and used on the Mendel prototype)''<br />
|-<br />
| Vendor (with link) || Shipping location || Manufacturer || Model # || Datasheet || NEMA (Size) || Holding Torque || Shaft || Tested || Additional notes<br />
|-<br />
| [http://www.motioncontrolproducts.com/ Motion Control Products] || ? || Fulling Motor<br />
| FL35ST36-1004B<br />
| [[Media:NEMA14-high-torque.pdf|FL35ST36-1004B Datasheet]]<br />
| 14 || ~13.7 N-cm || Dual || {{true}} || Used in mendel prototype<br />
|-<br />
| [http://www.active-robots.com/ Active Robots] || UK || Wantai<br />
| [http://www.phidgets.com/products.php?category=23&product_id=3301 35BYHG04]<br />
| [http://www.phidgets.com/documentation/Phidgets/3301Datasheet.pdf 35BYHG04 Datasheet]<br />
| 14 || ~12.3 N-cm || 4.9mm || {{true}} || Less Holding Torque than recommended, but has apparently been used successfully<br />
|-<br />
| [http://www.pololu.com/ Pololu] || US || [http://www.cnsoyo.com/ SOYO] || SY35ST36-1004A || ? || 14 || ~13.7 N-cm || 5mm || '''?''' || Note: Pololu list this motor as 1400 g-cm AND as 20 oz-in (converts to 19.44 oz-in). According to supplier information, the metric value is correct.<br />
|}<br />
<br />
<br />
<br />
{| class="wikitable sortable"<br />
|+ ''Stepper Motors - Nema 17 (larger and generally heavier but with more room to put a higher torque than a Nema 14)''<br />
|-<br />
| Vendor (with link) || Shipping location || Manufacturer || Model # || Datasheet || NEMA (Size) || Holding Torque || Shaft || Tested || Additional notes<br />
|-<br />
| [http://www.slidesandballscrews.com/stepper-motors-c-45.html Zapp Automation]<br />
| UK || [http://www.cnsoyo.com/ SOYO] || SY42STH47-1206A<br />
| [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1206A.pdf SY42STH47-1206A Datasheet]<br />
| 17 || ~31.1 N-cm || Single || {{true}} || None<br />
|-<br />
| [http://www.slidesandballscrews.com/stepper-motors-c-45.html Zapp Automation]<br />
| UK || [http://www.cnsoyo.com/ SOYO] || [http://www.slidesandballscrews.com/sy42sth471684b-p-255.html?cPath=45_80 SY42STH47-1684B]<br />
| [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1684B.pdf SY42STH47-1684B Datasheet]<br />
| 17 || ~43.1 N-cm || Dual || {{true}} || Round Ø5mm Shafts<br />
|-<br />
| [http://www.slidesandballscrews.com/stepper-motors-c-45.html Zapp Automation]<br />
| UK || [http://www.cnsoyo.com/ SOYO] || [http://www.slidesandballscrews.com/sy42sth471684a-p-315.html?cPath=45_80 SY42STH47-1684A]<br />
| [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1684A.pdf SY42STH47-1684A Datasheet]<br />
| 17 || ~43.1 N-cm || Single || '''?''' || D-Shape 5mm shaft with 4.5mm flat<br />
|-<br />
| [http://www.coolcomponents.co.uk/ Cool Components] || UK || Mercury Motor || [http://www.coolcomponents.co.uk/catalog/product_info.php?products_id=469 SM-42BYGH011-25]<br />
| [http://www.sparkfun.com/datasheets/Robotics/SM-42BYG011-25.pdf SM-42BYG011 Datasheet]<br />
| 17 || 23 N-cm || 5mm || ? || None<br />
|-<br />
| [http://www.interinar.com/step-motors.html Interinar Electronics, LLC] || US || Oriental Motors<br />
| [http://www.interinar.com/vexta-px243m-01aa.html Vexta PX243M-01AA]<br />
| [http://www.interinar.com/public_docs/PX243M-01AA.pdf PX243M-01AA Datasheet]<br />
| 17 || 15 N-cm || Single || '''?''' || Not strong enough for direct drive extruder, Uses Imperial #4-40 TPI mounting holes instead of M3 metric<br />
|-<br />
| [http://www.alltronics.com/cgi-bin/category.cgi?category=55 Alltronics.com] || US || Lin Engineering<br />
| [http://www.alltronics.com/cgi-bin/item/28M035/search/Lin-Engineering-4218L-01-10-bipolar-stepper-motor 4218L-01-10]<br />
| [http://www.alltronics.com/mas_assets/acrobat/28M035.pdf 4218L-01-10 Datasheet]<br />
| 17 || ~53 N-cm || 3/16 inch = 4.7625 mm (Round) || {{true}} || None<br />
|-<br />
| [http://www.alltronics.com/cgi-bin/category.cgi?category=55 Alltronics.com] || US || Lin Engineering<br />
| [http://www.alltronics.com/cgi-bin/item/24M014/search/Lin-Engineering-Nema-17-1.8deg-24V-2A-bipolar-stepper-motor 4218L-01-11]<br />
| [http://www.alltronics.com/mas_assets/acrobat/24M014.pdf 4218L-01-11 Datasheet]<br />
| 17 (?) || ~53 N-cm || ~5 mm = 0.1968 inches (D-Shape) || {{true}} || None<br />
|-<br />
| [http://www.phidgets.com/products.php?category=23 Phidgets.com] || US || Wantai<br />
| [http://www.phidgets.com/products.php?category=23&product_id=3303 42BYGHW811]<br />
| [http://www.phidgets.com/documentation/Phidgets/3303Datasheet.pdf 42BYGHW811 Datasheet]<br />
| 17 || ~47.1 N-cm || 4.9mm || '''?''' || None<br />
|-<br />
| [http://www.sparkfun.com/ SparkFun] || US || Mercury Motor || SM-42BYG011 || [http://www.sparkfun.com/datasheets/Robotics/SM-42BYG011-25.pdf SM-42BYG011 Datasheet] || 17 || 23 N-cm || 5mm || {{true}} || None<br />
|-<br />
| [http://www.robotgear.com.au Robot Gear] || AU || Mercury Motor || SM-42BYG011-25<br />
| [http://www.robotgear.com.au/Cache/Files/Files/118_Stepper%20Motor%20Datasheet%20SM-42BYG011-25.pdf SM-42BYG011 Datasheet]<br />
| 17 || 23 N-cm || 5mm || {{true}} || None<br />
|-<br />
| [http://mindkits.co.nz/ Mindkits] || NZ || Mercury Motor || SM-42BYG011 || [http://www.sparkfun.com/datasheets/Robotics/SM-42BYG011-25.pdf SM-42BYG011 Datasheet] || 17 || 23 N-cm || 5mm || {{true}} || None<br />
|-<br />
| [http://ausxmods.com.au/ AusXMods] || AU || Rugao Xinhe || 17H185H-04A || ? || 17 || ~43.8 N-cm || ? || '''?''' || None<br />
|-<br />
| [http://store.kysanelectronics.com Kysan] || China || [http://store.kysanelectronics.com Kysan] || 42BYGH4803 || [http://store.kysanelectronics.com/servlet/-strse-68835/42BYGH4803/Detail Datasheet]|| 17 || 49 N-cm || 5mm || {{true}} || Successfully tested with [http://objects.reprap.org/wiki/Geared_Nema17_Extruder Wade's Geared Nema 17] extruder - high flow rates.<br />
|}<br />
<br />
[[Category:Suppliers by Part]]<br />
<br />
<br />
=Unscientific rules of thumb for motor purchases=<br />
<br />
1) The longer the motor body generally the more torque the motor has.<br />
<br />
2) If a motor is rated 2.5A and your stepper driver produces only 2A your motor may not produce the manufactures rated torque.<br />
<br />
3) If a motor is rated 35 volts and your stepper produces only 12 volts your motor may not produce the manufactures rated torque.<br />
<br />
4) A motor can exceed it's rated voltage but will produce more heat. This may not be a problem in Bath/England but may be a problem in warmer climes.<br />
<br />
5) Stepper Motors should not exceed 65c.<br />
<br />
6) ABS melts at 120C but softens at 80C.<br />
<br />
7) Power is measured in Watts and is calculated at Volts X Current.<br />
<br />
8) Power made available to a motor will be turned into heat and motion.<br />
<br />
9) The more power made available to the motor the higher the amount of heat and motion.<br />
<br />
10) Power and torque are related. The more power the more torque.<br />
<br />
<br />
<br />
<br />
<br />
<br />
[[Category:Twiki]]</div>Stephen Georgehttps://reprap.org/mediawiki/index.php?title=Stepper_motor&diff=16611Stepper motor2010-06-03T04:56:35Z<p>Stephen George: updated history and stepper info</p>
<hr />
<div><br style="clear:both"/><br />
[[image:StepperMotor-reprap-stepper.jpg|thumb]]<br />
__TOC__<br />
<br />
== What is a Stepper Motor ?==<br />
Stepper motors are an electric motor used in the robotics industry.<br />
Stepper motors move a known interval for each pulse of power. These pulses of power are provided by a stepper driver and is referred to as a step. As each step moves the motor a known distance it makes them handy devices for repeatable positioning. <br />
<br />
There are two major types of stepper motor known as bipolar and unipolar. Wikipedia has further information on stepper motors. Please see [http://en.wikipedia.org/wiki/Stepper_motor Wikipedia].<br />
<br />
== Stepper Motor History for repraps Darwin (V1.0 reprap)==<br />
The darwin reprap type used a Nema 23 stepper motor. This stepper motor was a unipolar stepper motor which could be configured as a bipolar. This design used 3 stepper motors for each axis and a DC motor for it's extruder. Later many people upgraded their extruders to increase their control of the extruder. <br />
<br />
Note the Generation 2 electronics supported the first configuration with 3 stepper driver circuit boards for the steppers and a PWM circuit board to control the DC motor.<br />
<br />
== Stepper Motor History for repraps Mendel (V2.0 reprap)==<br />
The Mendel reprap type used either a Nema 17 or a Nema 14 Bi polar stepper motor. It uses four stepper motors. One for each axis and one for the extruder. <br />
<br />
Note this configuration of four stepper motors was supported by the 3rd generation electronics.<br />
<br />
== Stepper Motor Requirements ==<br />
<br />
These are the general requirements so far for a RepRap machine. You could probably get by with less, especially for the lighter X axis, but this is what we recommend. Always choose a high torque motor for the extruder.<br />
<br />
{| border="1"<br />
|-<br />
| '''Parameter''' || '''Specification''' <br />
|-<br />
| Size || NEMA 23 <br />
|-<br />
| Type || Bipolar <br />
|-<br />
| Shaft || dual-output shaft <br />
|-<br />
| Torque || 100 oz-in or abount 0.71 Nm <br />
|-<br />
| Resistance || about 10 ohms, or 1 to 30 ohms <br />
<br />
|}<br />
<br />
If you are using the [[DarwinStepperController_1_2|PIC controller]] you need a motor that will use about 1A per winding at 12v, that is - around 10 ohms. The Arduino circuit can be adjusted to accommodate a wider range of steppers, but remember that if you specify a low-resistance one and the Arduino controller has to chop the voltage to limit the current going through it, that will also limit the torque.<br />
<br />
== Bipolar Motors ==<br />
<br />
[[image:StepperMotor-bipolar_stepper_sch.png|thumb]]<br />
<br />
These motors are the strongest type of stepper motor. You identify them by counting the leads - there should be four or eight. They are also the type of motors we are using in the RepRap Project's Darwin design. They have two coils inside, and stepping the motor round is achieved by energising the coils and changing the direction of the current within those coils. This requires more complex electronics than a unipolar motor, so we use a special driver chip to take care of all that for us. Some designs (the eight-wire ones) split each coil in the middle so you can wire the motor either as bipolar (short the middles) or unipolar (short the middles and treat the link as the centre tap - see below).<br />
<br />
<br clear="all"><br />
<br />
== Unipolar Motors ==<br />
<br />
[[image:StepperMotor-unipolar_stepper_sch.png|thumb]]<br />
<br />
Unipolar motors have two coils, each one has a centre tap. They are readily recognizable because they have 5, 6 or even 8 leads. It is possible to drive some unipolar motors as bipolar motors if you ignore the centre tap wires. Their main beauty though is that you can step them without having to reverse the direction of current in any coil, which makes the electronics simpler. Some early RepRap prototypes used this trick. Because the centre tap is used to energise only half of each coil at a time, unipolar motors generally have less torque than bipolar motors.<br />
<br />
<br clear="all"><br />
<br />
== Wiring Your Stepper ==<br />
<br />
Pretty much all of our RepRap electronics are designed for Bipolar stepper motors. Every bipolar stepper motor has 4 wires that need to be wired to the driver board. These are labeled A, B, C, and D for lack of better terms. A and B are connected, as well as C and D. You can generally find out which wires are connected using a multimeter to measure the resistance. If you measure a small resistance (1-30 ohm) then they are connected. Generally, they are color coded and we have datasheets available, so things are easy.<br />
<br />
=== NEMA 17 Motors ===<br />
<br />
==== Lin Engineering / 4118S-62-07 ====<br />
<br />
[[image:cache-stepper-motor-nema17.jpg|link=http://store.makerbot.com/featured-products/nema-17-stepper-motor.html]]<br />
<br />
This is an awesome little NEMA17 stepper motor. It is the primary motor used on the Cupcake CNC. It has good torque and a small size. Here are some of the specs:<br />
<br />
* 200 steps per revolution (1.8 deg/step)<br />
* 2.5A / phase<br />
* Phase Resistance: 0.6ohm<br />
* Phase inductance: .93mH<br />
* Holding torque: 3240g-cm or about 0.31 Nm<br />
* Shaft diameter: 0.190"<br />
* Shaft length: 0.50"<br />
* Motor depth: 1.34"<br />
<br />
NEMA-17 is a standard motor mounting geometry. The outside of the motor housing is 1.7"x1.7".<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Red <br />
|-<br />
| B || Blue <br />
|-<br />
| C || Green <br />
|-<br />
| D || Black <br />
|}<br />
<br />
'''Suppliers'''<br />
<br />
* [http://store.rrrf.org/product_info.php?products_id=59 MakerBot Industries]<br />
<br />
'''Technical Information'''<br />
<br />
* [http://svn.makerbot.com/assets/datasheets/4118S-62-07.pdf Datasheet]<br />
<br />
<br clear="all"/><br />
<br />
==== Zapp Automation / SY42STH47-1684B ====<br />
<br />
* 200 steps per revolution (1.8 deg/step)<br />
* Rated Current 1.68A<br />
* Phase Resistance: 1.65ohm<br />
* Phase inductance: 2.8mH<br />
* Holding torque: 4.4Kg-cm<br />
* Shaft diameter: 5mm<br />
* Shaft length: 22mm<br />
* Motor depth: 47mm<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Black <br />
|-<br />
| B || Red<br />
|-<br />
| C || Green <br />
|-<br />
| D || Blue <br />
|}<br />
<br />
'''Suppliers'''<br />
<br />
'''Technical Information'''<br />
<br />
* [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1684B.pdf Datasheet]<br />
<br />
=== NEMA 23 Motors ===<br />
<br />
==== Nanotec ST5709S1208-B ====<br />
<br />
This was the original standard RepRap stepper motor. It has 400 steps to one revolution (0.9<sup>o</sup> per step). It actually has 4 coils (which means it can be wired as both a bipolar and unipolar), but we join up the wires to turn it into a bipolar motor.<br />
<br />
'''Bipolar - Serial'''<br />
<br />
This configuration is suited for our driver boards. It has higher impedance and higher ohms which means it draws less current. In this mode its ideally matched to our L298 based boards. In this wiring setup it can handle 0.85 amps, which is just right. We recommend wiring it in this configuration.<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Red <br />
|-<br />
| B || Black <br />
|-<br />
| C || Green <br />
|-<br />
| D || Yellow <br />
<br />
|}<br />
<br />
You will also need to splice the following wires together:<br />
<br />
* '''Red/White''' and '''Black/White'''<br />
* '''Green/White''' and '''Yellow/White'''<br />
<br />
[[image:cache-dsc03106.jpg|link=http://picasaweb.google.co.uk/VikOlliver/RepRap02/photo#5072881971638806162]]<br />
<br />
'''Bipolar - Parallel'''<br />
<br />
This configuration offers higher performance. It has lower impedance, and lower resistance. That means you can push more electrons through, at a faster rate. That basically means it will operate much better. However, it will draw about 1.7 amps, which at the upper end of what the L298 is capable of delivering. We do not recommend wiring it like this.<br />
<br />
Keep in mind that two wires make up the start and end of each coil.<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Red and Black/White <br />
|-<br />
| B || Black and Red/White <br />
|-<br />
| C || Green and Yellow/White <br />
|-<br />
| D || Yellow and Green/White <br />
<br />
|}<br />
<br />
'''Suppliers'''<br />
<br />
* [http://uk.farnell.com/jsp/endecaSearch/partDetail.jsp?SKU=4743155 ST5709S1208-B stepper motor from Farnell]<br />
* [http://www.nanotec.com/page_product__st5709__en.html Nanotec Gmbh] - Supplier / Manufacturer<br />
<br />
'''Technical Information'''<br />
* [http://www.nanotec.com/downloads/pdf/1349/ST5709S1208.pdf Datasheet]<br />
* [http://www.nanotec.com/steppermotor_st5709.html#kennlinien Torque/Speed Curve]<br />
<br />
==== Keling KL23H51-24-08B ====<br />
<br />
[[image:cache-2122608287_2c91e1ae6e_m.jpg|link=http://flickr.com/photos/hoeken/2122608287/]]<br />
<br />
This is the RepRap stepper motor for the Arduino controller. It has 200 steps to one revolution (1.8<sup>o</sup> per step). It actually has 4 coils (which means it can be wired as both a bipolar and unipolar), but we join up the wires to turn it into a bipolar motor. It is much cheaper than the Nanotec, and with half-stepping it is almost as accurate.<br />
<br />
<br />
'''Bipolar - Serial'''<br />
<br />
This configuration is suited for our driver boards. It has higher impedance and higher ohms which means it draws less current. In this mode its ideally matched to our L298 based boards. In this wiring setup it can handle 1.5 amps, which is just right. We recommend wiring it in this configuration.<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Blue <br />
|-<br />
| B || Green <br />
|-<br />
| C || Brown <br />
|-<br />
| D || White <br />
<br />
|}<br />
<br />
You will also need to splice the following wires together:<br />
<br />
* '''Red''' and '''Yellow'''<br />
* '''Black''' and '''Orange'''<br />
<br />
'''Bipolar - Parallel'''<br />
<br />
This configuration offers higher performance. It has lower impedance, and lower resistance. That means you can push more electrons through, at a faster rate. That basically means it will operate much better. However, it will draw about 3 amps, which our L298 is just not capable of delivering. We do not recommend wiring it like this.<br />
<br />
Keep in mind that two wires make up the start and end of each coil.<br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Blue and Yellow <br />
|-<br />
| B || Red and Green <br />
|-<br />
| C || Brown and Orange <br />
|-<br />
| D || Black and White <br />
<br />
|}<br />
<br />
'''Suppliers'''<br />
<br />
* [http://store.makerbot.com/stepper-motor-nema-23-keling-kl23h51-24-08b.html MakerBot Industries]<br />
* [http://www.kelinginc.net/NEMA23Motor.html Keling Inc.] - The manufacturer/supplier. #5 on the list.<br />
<br />
'''Technical Information'''<br />
<br />
* [http://www.kelinginc.net/KL23H255-21-8A.pdf Datasheet]<br />
* [http://www.kelinginc.net/KL23H251-24-8BT.pdf Torque/Speed Curve]<br />
<br />
<br clear="all"><br />
<br />
==== FL57STH51-2808A (axis extending 1 way) and FL57STH51-3008B (axis 2 ways like the picture) ====<br />
<br />
[[image:StepperMotor-StepperFL57STH51-2808A.jpg|thumb]]<br />
<br />
The stepper motors are provided by [http://www.bitsfrombytes.com/ Bits From Bytes]. They come in two variations. Bought three from Bits From Bytes and I got one with the axis through and extending from both ends, and two with the axis extending one side. Their weight is slightly above 0.6 kg (I measured 619 gram).<br />
<br />
To make the unipolar stepper a bipolar one, connect these wires together:<br />
<br />
* Blue and Red/White<br />
* Green and Black/white <br />
<br />
{| border="1"<br />
|-<br />
| '''Name''' || '''Color''' <br />
|-<br />
| A || Blue/white <br />
|-<br />
| B || Red <br />
|-<br />
| C || Green/white <br />
|-<br />
| D || Black <br />
<br />
|}<br />
<br />
Datasheets: <br />
[http://www.motioncontrolproducts.co.uk/pdf/FL57STH51-3008B.pdf FL57STH51-3008B].<br />
[http://www.motioncontrolproducts.co.uk/pdf/FL57STH56-2008B.pdf FL57STH56-2008B]<br />
<br />
<br clear="all"><br />
<br />
==== Lin Engineering 5718X-05S ====<br />
<br />
[[image:StepperMotor-motor_5704.jpg|thumb]]<br />
<br />
The [http://www.linengineering.com//site/products/5718.html 5718X-05S] has the right specification to drive RepRap from the [[DarwinStepperController_1_2|PIC controllers]] '''but we haven't tested it yet'''. It should work with the Arduino electronics too. It has 200 steps per revolution, so you need to set the controller to half-step it to get the resolution needed. Take care to get the model where the output shaft comes out front and back, not just at the front.<br />
<br />
<br clear="all"><br />
<br />
== Open Source Stepper Motor Drivers ==<br />
<br />
=== RepRap Stepper Motor Driver v1.x ===<br />
<br />
[[image:cache-2950488044_8ba115bd24_m.jpg|link=http://make.rrrf.org/smd-1.2]]<br />
<br />
The first generation of RepRap stepper motor drivers. Uses the L297/L298 stepper motor driver combo. Half-stepping. Handles up to 2A. All through hole. A nice, solid driver. It uses some old technology, so its not as fancy as the newer stepper drivers, but it gets the job done. [[Stepper_Motor_Driver_1_2|Read the documentation page here]].<br />
<br />
<br clear="all"/><br />
<br />
=== RepRap Stepper Motor Driver v2.x ===<br />
<br />
[[image:cache-3218206144_6461b3e2c0_m.jpg|link=http://make.rrrf.org/smd-2.3]]<br />
<br />
The second generation of RepRap stepper motor drivers. Uses the Allegro A3982 chip which does a bunch of nice things and makes the board much simpler. It also drops the price by $10 compared to the v1.x series. It can handle up to 2A, does half-stepping. The only downside is that its SMT, which can be a bit scary for people. Its all large SMT parts, so its pretty simple to solder it, especially with the solder paste / hotplate method. [[Stepper_Motor_Driver_2_3|Read the documentation page here]].<br />
<br />
<br clear="all"/><br />
<br />
=== AVRSTMD ===<br />
<br />
[http://www.avrstmd.com/ AVRSTMD] - An open source microstepping driver that uses an atmega168 and current limited h-bridges. Very rad circuit.<br />
<br />
----<br />
<br />
=Holding Torque=<br />
<br />
It is recommended that you get approximately 13.7 N-cm (that is 1400 g-cm or 19.4 oz-in) of Holding Torque (or more) to avoid issues, although one stepper with less has been used successfully (see below). If in doubt, higher is better. If you need to convert between different units for the torque you can use the torque unit converter [http://www.numberfactory.com/nf%20torque.htm here].<br />
<br />
=Stepping Angle=<br />
<br />
Most stepper motors used for a Mendel have a step angle of 1.8 Degrees. It is sometimes possible to use motors with larger step angles, however for printing to be accurate, they will need to be geared down to reduce the angle moved per step, which may lead to a slower maximum speed.<br />
<br />
=Size=<br />
<br />
If going for the smaller NEMA 14 motors, aim for the high torque option. NEMA 14s are neater, lighter and smaller, but can be hard to get hold of with the appropriate holding torque. NEMA 17s are quite easy to get in the specification that Mendel needs, but are bulkier and less neat. NEMA 14s are running near the edge of their envelope: they will get warm. NEMA 17s are well inside what they can do, and will run much cooler.<br />
<br />
Note that any Mendel part that goes on to a Stepper Motor shaft expects the shaft to be roughly 5mm. If the shaft is a different size, you will need to make allowances for this in the parts you obtain/make.<br />
<br />
=Wiring=<br />
<br />
Steppers motors come in several wiring configurations. 4,6, and 8 wires are all fairly common. 5-wire version have been reported to exist. 5 wire versions won't work, the others will. See [[stepper wiring]] for more details.<br />
<br />
=Suppliers=<br />
<br />
Below is a list of possible suppliers and motors. Please add to it. If you have built a Mendel successfully with a given motor, remember to put {{true}} in the tested field.<br />
<br />
{| class="wikitable sortable"<br />
|+ ''Stepper Motors - Nema 14 (Smaller, neater and used on the Mendel prototype)''<br />
|-<br />
| Vendor (with link) || Shipping location || Manufacturer || Model # || Datasheet || NEMA (Size) || Holding Torque || Shaft || Tested || Additional notes<br />
|-<br />
| [http://www.motioncontrolproducts.com/ Motion Control Products] || ? || Fulling Motor<br />
| FL35ST36-1004B<br />
| [[Media:NEMA14-high-torque.pdf|FL35ST36-1004B Datasheet]]<br />
| 14 || ~13.7 N-cm || Dual || {{true}} || Used in mendel prototype<br />
|-<br />
| [http://www.active-robots.com/ Active Robots] || UK || Wantai<br />
| [http://www.phidgets.com/products.php?category=23&product_id=3301 35BYHG04]<br />
| [http://www.phidgets.com/documentation/Phidgets/3301Datasheet.pdf 35BYHG04 Datasheet]<br />
| 14 || ~12.3 N-cm || 4.9mm || {{true}} || Less Holding Torque than recommended, but has apparently been used successfully<br />
|-<br />
| [http://www.pololu.com/ Pololu] || US || [http://www.cnsoyo.com/ SOYO] || SY35ST36-1004A || ? || 14 || ~13.7 N-cm || 5mm || '''?''' || Note: Pololu list this motor as 1400 g-cm AND as 20 oz-in (converts to 19.44 oz-in). According to supplier information, the metric value is correct.<br />
|}<br />
<br />
<br />
<br />
{| class="wikitable sortable"<br />
|+ ''Stepper Motors - Nema 17 (larger and generally heavier but with more room to put a higher torque than a Nema 14)''<br />
|-<br />
| Vendor (with link) || Shipping location || Manufacturer || Model # || Datasheet || NEMA (Size) || Holding Torque || Shaft || Tested || Additional notes<br />
|-<br />
| [http://www.slidesandballscrews.com/stepper-motors-c-45.html Zapp Automation]<br />
| UK || [http://www.cnsoyo.com/ SOYO] || SY42STH47-1206A<br />
| [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1206A.pdf SY42STH47-1206A Datasheet]<br />
| 17 || ~31.1 N-cm || Single || {{true}} || None<br />
|-<br />
| [http://www.slidesandballscrews.com/stepper-motors-c-45.html Zapp Automation]<br />
| UK || [http://www.cnsoyo.com/ SOYO] || [http://www.slidesandballscrews.com/sy42sth471684b-p-255.html?cPath=45_80 SY42STH47-1684B]<br />
| [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1684B.pdf SY42STH47-1684B Datasheet]<br />
| 17 || ~43.1 N-cm || Dual || {{true}} || Round Ø5mm Shafts<br />
|-<br />
| [http://www.slidesandballscrews.com/stepper-motors-c-45.html Zapp Automation]<br />
| UK || [http://www.cnsoyo.com/ SOYO] || [http://www.slidesandballscrews.com/sy42sth471684a-p-315.html?cPath=45_80 SY42STH47-1684A]<br />
| [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1684A.pdf SY42STH47-1684A Datasheet]<br />
| 17 || ~43.1 N-cm || Single || '''?''' || D-Shape 5mm shaft with 4.5mm flat<br />
|-<br />
| [http://www.coolcomponents.co.uk/ Cool Components] || UK || Mercury Motor || [http://www.coolcomponents.co.uk/catalog/product_info.php?products_id=469 SM-42BYGH011-25]<br />
| [http://www.sparkfun.com/datasheets/Robotics/SM-42BYG011-25.pdf SM-42BYG011 Datasheet]<br />
| 17 || 23 N-cm || 5mm || ? || None<br />
|-<br />
| [http://www.interinar.com/step-motors.html Interinar Electronics, LLC] || US || Oriental Motors<br />
| [http://www.interinar.com/vexta-px243m-01aa.html Vexta PX243M-01AA]<br />
| [http://www.interinar.com/public_docs/PX243M-01AA.pdf PX243M-01AA Datasheet]<br />
| 17 || 15 N-cm || Single || '''?''' || Not strong enough for direct drive extruder, Uses Imperial #4-40 TPI mounting holes instead of M3 metric<br />
|-<br />
| [http://www.alltronics.com/cgi-bin/category.cgi?category=55 Alltronics.com] || US || Lin Engineering<br />
| [http://www.alltronics.com/cgi-bin/item/28M035/search/Lin-Engineering-4218L-01-10-bipolar-stepper-motor 4218L-01-10]<br />
| [http://www.alltronics.com/mas_assets/acrobat/28M035.pdf 4218L-01-10 Datasheet]<br />
| 17 || ~53 N-cm || 3/16 inch = 4.7625 mm (Round) || {{true}} || None<br />
|-<br />
| [http://www.alltronics.com/cgi-bin/category.cgi?category=55 Alltronics.com] || US || Lin Engineering<br />
| [http://www.alltronics.com/cgi-bin/item/24M014/search/Lin-Engineering-Nema-17-1.8deg-24V-2A-bipolar-stepper-motor 4218L-01-11]<br />
| [http://www.alltronics.com/mas_assets/acrobat/24M014.pdf 4218L-01-11 Datasheet]<br />
| 17 (?) || ~53 N-cm || ~5 mm = 0.1968 inches (D-Shape) || {{true}} || None<br />
|-<br />
| [http://www.phidgets.com/products.php?category=23 Phidgets.com] || US || Wantai<br />
| [http://www.phidgets.com/products.php?category=23&product_id=3303 42BYGHW811]<br />
| [http://www.phidgets.com/documentation/Phidgets/3303Datasheet.pdf 42BYGHW811 Datasheet]<br />
| 17 || ~47.1 N-cm || 4.9mm || '''?''' || None<br />
|-<br />
| [http://www.sparkfun.com/ SparkFun] || US || Mercury Motor || SM-42BYG011 || [http://www.sparkfun.com/datasheets/Robotics/SM-42BYG011-25.pdf SM-42BYG011 Datasheet] || 17 || 23 N-cm || 5mm || {{true}} || None<br />
|-<br />
| [http://www.robotgear.com.au Robot Gear] || AU || Mercury Motor || SM-42BYG011-25<br />
| [http://www.robotgear.com.au/Cache/Files/Files/118_Stepper%20Motor%20Datasheet%20SM-42BYG011-25.pdf SM-42BYG011 Datasheet]<br />
| 17 || 23 N-cm || 5mm || {{true}} || None<br />
|-<br />
| [http://mindkits.co.nz/ Mindkits] || NZ || Mercury Motor || SM-42BYG011 || [http://www.sparkfun.com/datasheets/Robotics/SM-42BYG011-25.pdf SM-42BYG011 Datasheet] || 17 || 23 N-cm || 5mm || {{true}} || None<br />
|-<br />
| [http://ausxmods.com.au/ AusXMods] || AU || Rugao Xinhe || 17H185H-04A || ? || 17 || ~43.8 N-cm || ? || '''?''' || None<br />
|-<br />
| [http://store.kysanelectronics.com Kysan] || China || [http://store.kysanelectronics.com Kysan] || 42BYGH4803 || [http://store.kysanelectronics.com/servlet/-strse-68835/42BYGH4803/Detail Datasheet]|| 17 || 49 N-cm || 5mm || {{true}} || Successfully tested with [http://objects.reprap.org/wiki/Geared_Nema17_Extruder Wade's Geared Nema 17] extruder - high flow rates.<br />
|}<br />
<br />
[[Category:Suppliers by Part]]<br />
<br />
<br />
=Unscientific rules of thumb for motor purchases=<br />
<br />
1) The longer the motor body generally the more torque the motor has.<br />
<br />
2) If a motor is rated 2.5A and your stepper driver produces only 2A your motor may not produce the manufactures rated torque.<br />
<br />
3) If a motor is rated 35 volts and your stepper produces only 12 volts your motor may not produce the manufactures rated torque.<br />
<br />
4) A motor can exceed it's rated voltage but will produce more heat. This may not be a problem in Bath/England but may be a problem in warmer climes.<br />
<br />
5) Stepper Motors should not exceed 65c.<br />
<br />
6) ABS melts at 120C but softens at 80C.<br />
<br />
7) Power is measured in Watts and is calculated at Volts X Current.<br />
<br />
8) Power made available to a motor will be turned into heat and motion.<br />
<br />
9) The more power made available to the motor the higher the amount of heat and motion.<br />
<br />
10) Power and torque are related. The more power the more torque.<br />
<br />
<br />
<br />
<br />
<br />
<br />
[[Category:Twiki]]</div>Stephen Georgehttps://reprap.org/mediawiki/index.php?title=User_talk:Stephen_George&diff=16595User talk:Stephen George2010-06-03T02:14:28Z<p>Stephen George: Reply</p>
<hr />
<div>----<br />
<br />
Dear Stephen George,<br />
<br />
Thank you for posting your progress on the [[SGBot]].<br />
It looks much stronger and less fiddly than other [[RepStrap]] machines I've heard about.<br />
<br />
Also: good work on the [[Stepper Motors]] page.<br />
--[[User:DavidCary|DavidCary]] 18:19, 2 June 2010 (UTC)<br />
<br />
----<br />
<br />
Thanks for the kind words. I am very pleased with it. It is very reliable. <br />
Do you think anyone else would be interested in building it?<br />
I have a set of notes which could easily be turned into instructions.</div>Stephen Georgehttps://reprap.org/mediawiki/index.php?title=Stepper_Motors&diff=16398Stepper Motors2010-05-28T01:39:28Z<p>Stephen George: /* Unscientific rules of thumb for motor purchases */</p>
<hr />
<div>{{Merge|StepperMotor}}<br />
<br />
<br />
__TOC__<br />
=Holding Torque=<br />
<br />
It is recommended that you get approximately 13.7 N-cm (that is 1400 g-cm or 19.4 oz-in) of Holding Torque (or more) to avoid issues, although one stepper with less has been used successfully (see below). If in doubt, higher is better. If you need to convert between different units for the torque you can use the torque unit converter [http://www.numberfactory.com/nf%20torque.htm here].<br />
<br />
=Stepping Angle=<br />
<br />
Most stepper motors used for a Mendel have a step angle of 1.8 Degrees. It is sometimes possible to use motors with larger step angles, however for printing to be accurate, they will need to be geared down to reduce the angle moved per step, which may lead to a slower maximum speed.<br />
<br />
=Size=<br />
<br />
If going for the smaller NEMA 14 motors, aim for the high torque option. NEMA 14s are neater, lighter and smaller, but can be hard to get hold of with the appropriate holding torque. NEMA 17s are quite easy to get in the specification that Mendel needs, but are bulkier and less neat. NEMA 14s are running near the edge of their envelope: they will get warm. NEMA 17s are well inside what they can do, and will run much cooler.<br />
<br />
Note that any Mendel part that goes on to a Stepper Motor shaft expects the shaft to be roughly 5mm. If the shaft is a different size, you will need to make allowances for this in the parts you obtain/make.<br />
<br />
=Wiring=<br />
<br />
Steppers motors come in several wiring configurations. 4,6, and 8 wires are all fairly common. 5-wire version have been reported to exist. 5 wire versions won't work, the others will. See [[stepper wiring]] for more details.<br />
<br />
=Suppliers=<br />
<br />
Below is a list of possible suppliers and motors. Please add to it. If you have built a Mendel successfully with a given motor, remember to put {{true}} in the tested field.<br />
<br />
{| class="wikitable sortable"<br />
|+ ''Stepper Motors - Nema 14 (Smaller, neater and used on the Mendel prototype)''<br />
|-<br />
| Vendor (with link) || Shipping location || Manufacturer || Model # || Datasheet || NEMA (Size) || Holding Torque || Shaft || Tested || Additional notes<br />
|-<br />
| [http://www.motioncontrolproducts.com/ Motion Control Products] || ? || Fulling Motor<br />
| FL35ST36-1004B<br />
| [[Media:NEMA14-high-torque.pdf|FL35ST36-1004B Datasheet]]<br />
| 14 || ~13.7 N-cm || Dual || {{true}} || Used in mendel prototype<br />
|-<br />
| [http://www.active-robots.com/ Active Robots] || UK || Wantai<br />
| [http://www.phidgets.com/products.php?category=23&product_id=3301 35BYHG04]<br />
| [http://www.phidgets.com/documentation/Phidgets/3301Datasheet.pdf 35BYHG04 Datasheet]<br />
| 14 || ~12.3 N-cm || 4.9mm || {{true}} || Less Holding Torque than recommended, but has apparently been used successfully<br />
|-<br />
| [http://www.pololu.com/ Pololu] || US || [http://www.cnsoyo.com/ SOYO] || SY35ST36-1004A || ? || 14 || ~13.7 N-cm || 5mm || '''?''' || Note: Pololu list this motor as 1400 g-cm AND as 20 oz-in (converts to 19.44 oz-in). According to supplier information, the metric value is correct.<br />
|}<br />
<br />
<br />
<br />
{| class="wikitable sortable"<br />
|+ ''Stepper Motors - Nema 17 (larger and generally heavier but with more room to put a higher torque than a Nema 14)''<br />
|-<br />
| Vendor (with link) || Shipping location || Manufacturer || Model # || Datasheet || NEMA (Size) || Holding Torque || Shaft || Tested || Additional notes<br />
|-<br />
| [http://www.slidesandballscrews.com/stepper-motors-c-45.html Zapp Automation]<br />
| UK || [http://www.cnsoyo.com/ SOYO] || SY42STH47-1206A<br />
| [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1206A.pdf SY42STH47-1206A Datasheet]<br />
| 17 || ~31.1 N-cm || Single || {{true}} || None<br />
|-<br />
| [http://www.slidesandballscrews.com/stepper-motors-c-45.html Zapp Automation]<br />
| UK || [http://www.cnsoyo.com/ SOYO] || [http://www.slidesandballscrews.com/sy42sth471684b-p-255.html?cPath=45_80 SY42STH47-1684B]<br />
| [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1684B.pdf SY42STH47-1684B Datasheet]<br />
| 17 || ~43.1 N-cm || Dual || {{true}} || Round Ø5mm Shafts<br />
|-<br />
| [http://www.slidesandballscrews.com/stepper-motors-c-45.html Zapp Automation]<br />
| UK || [http://www.cnsoyo.com/ SOYO] || [http://www.slidesandballscrews.com/sy42sth471684a-p-315.html?cPath=45_80 SY42STH47-1684A]<br />
| [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1684A.pdf SY42STH47-1684A Datasheet]<br />
| 17 || ~43.1 N-cm || Single || '''?''' || D-Shape 5mm shaft with 4.5mm flat<br />
|-<br />
| [http://www.coolcomponents.co.uk/ Cool Components] || UK || Mercury Motor || [http://www.coolcomponents.co.uk/catalog/product_info.php?products_id=469 SM-42BYGH011-25]<br />
| [http://www.sparkfun.com/datasheets/Robotics/SM-42BYG011-25.pdf SM-42BYG011 Datasheet]<br />
| 17 || 23 N-cm || 5mm || ? || None<br />
|-<br />
| [http://www.interinar.com/step-motors.html Interinar Electronics, LLC] || US || Oriental Motors<br />
| [http://www.interinar.com/vexta-px243m-01aa.html Vexta PX243M-01AA]<br />
| [http://www.interinar.com/public_docs/PX243M-01AA.pdf PX243M-01AA Datasheet]<br />
| 17 || 15 N-cm || Single || '''?''' || Not strong enough for direct drive extruder, Uses Imperial #4-40 TPI mounting holes instead of M3 metric<br />
|-<br />
| [http://www.alltronics.com/cgi-bin/category.cgi?category=55 Alltronics.com] || US || Lin Engineering<br />
| [http://www.alltronics.com/cgi-bin/item/28M035/search/Lin-Engineering-4218L-01-10-bipolar-stepper-motor 4218L-01-10]<br />
| [http://www.alltronics.com/mas_assets/acrobat/28M035.pdf 4218L-01-10 Datasheet]<br />
| 17 || ~53 N-cm || 3/16 inch = 4.7625 mm (Round) || {{true}} || None<br />
|-<br />
| [http://www.alltronics.com/cgi-bin/category.cgi?category=55 Alltronics.com] || US || Lin Engineering<br />
| [http://www.alltronics.com/cgi-bin/item/24M014/search/Lin-Engineering-Nema-17-1.8deg-24V-2A-bipolar-stepper-motor 4218L-01-11]<br />
| [http://www.alltronics.com/mas_assets/acrobat/24M014.pdf 4218L-01-11 Datasheet]<br />
| 17 (?) || ~53 N-cm || ~5 mm = 0.1968 inches (D-Shape) || {{true}} || None<br />
|-<br />
| [http://www.phidgets.com/products.php?category=23 Phidgets.com] || US || Wantai<br />
| [http://www.phidgets.com/products.php?category=23&product_id=3303 42BYGHW811]<br />
| [http://www.phidgets.com/documentation/Phidgets/3303Datasheet.pdf 42BYGHW811 Datasheet]<br />
| 17 || ~47.1 N-cm || 4.9mm || '''?''' || None<br />
|-<br />
| [http://www.sparkfun.com/ SparkFun] || US || Mercury Motor || SM-42BYG011 || [http://www.sparkfun.com/datasheets/Robotics/SM-42BYG011-25.pdf SM-42BYG011 Datasheet] || 17 || 23 N-cm || 5mm || {{true}} || None<br />
|-<br />
| [http://www.robotgear.com.au Robot Gear] || AU || Mercury Motor || SM-42BYG011-25<br />
| [http://www.robotgear.com.au/Cache/Files/Files/118_Stepper%20Motor%20Datasheet%20SM-42BYG011-25.pdf SM-42BYG011 Datasheet]<br />
| 17 || 23 N-cm || 5mm || {{true}} || None<br />
|-<br />
| [http://mindkits.co.nz/ Mindkits] || NZ || Mercury Motor || SM-42BYG011 || [http://www.sparkfun.com/datasheets/Robotics/SM-42BYG011-25.pdf SM-42BYG011 Datasheet] || 17 || 23 N-cm || 5mm || {{true}} || None<br />
|-<br />
| [http://ausxmods.com.au/ AusXMods] || AU || Rugao Xinhe || 17H185H-04A || ? || 17 || ~43.8 N-cm || ? || '''?''' || None<br />
|-<br />
| [http://store.kysanelectronics.com Kysan] || China || [http://store.kysanelectronics.com Kysan] || 42BYGH4803 || [http://store.kysanelectronics.com/servlet/-strse-68835/42BYGH4803/Detail Datasheet]|| 17 || 49 N-cm || 5mm || {{true}} || Successfully tested with [http://objects.reprap.org/wiki/Geared_Nema17_Extruder Wade's Geared Nema 17] extruder - high flow rates.<br />
|}<br />
<br />
[[Category:Suppliers by Part]]<br />
<br />
<br />
=Unscientific rules of thumb for motor purchases=<br />
<br />
1) The longer the motor body generally the more torque the motor has.<br />
<br />
2) If a motor is rated 2.5A and your stepper driver produces only 2A your motor may not produce the manufactures rated torque.<br />
<br />
3) If a motor is rated 35 volts and your stepper produces only 12 volts your motor may not produce the manufactures rated torque.<br />
<br />
4) A motor can exceed it's rated voltage but will produce more heat. This may not be a problem in Bath/England but may be a problem in warmer climes.<br />
<br />
5) Stepper Motors should not exceed 65c.<br />
<br />
6) ABS melts at 120C but softens at 80C.<br />
<br />
7) Power is measured in Watts and is calculated at Volts X Current.<br />
<br />
8) Power made available to a motor will be turned into heat and motion.<br />
<br />
9) The more power made available to the motor the higher the amount of heat and motion.<br />
<br />
10) Power and torque are related. The more power the more torque.</div>Stephen Georgehttps://reprap.org/mediawiki/index.php?title=Stepper_Motors&diff=16397Stepper Motors2010-05-28T01:37:56Z<p>Stephen George: Added a number of rules of thumb to help with purchases</p>
<hr />
<div>{{Merge|StepperMotor}}<br />
<br />
<br />
__TOC__<br />
=Holding Torque=<br />
<br />
It is recommended that you get approximately 13.7 N-cm (that is 1400 g-cm or 19.4 oz-in) of Holding Torque (or more) to avoid issues, although one stepper with less has been used successfully (see below). If in doubt, higher is better. If you need to convert between different units for the torque you can use the torque unit converter [http://www.numberfactory.com/nf%20torque.htm here].<br />
<br />
=Stepping Angle=<br />
<br />
Most stepper motors used for a Mendel have a step angle of 1.8 Degrees. It is sometimes possible to use motors with larger step angles, however for printing to be accurate, they will need to be geared down to reduce the angle moved per step, which may lead to a slower maximum speed.<br />
<br />
=Size=<br />
<br />
If going for the smaller NEMA 14 motors, aim for the high torque option. NEMA 14s are neater, lighter and smaller, but can be hard to get hold of with the appropriate holding torque. NEMA 17s are quite easy to get in the specification that Mendel needs, but are bulkier and less neat. NEMA 14s are running near the edge of their envelope: they will get warm. NEMA 17s are well inside what they can do, and will run much cooler.<br />
<br />
Note that any Mendel part that goes on to a Stepper Motor shaft expects the shaft to be roughly 5mm. If the shaft is a different size, you will need to make allowances for this in the parts you obtain/make.<br />
<br />
=Wiring=<br />
<br />
Steppers motors come in several wiring configurations. 4,6, and 8 wires are all fairly common. 5-wire version have been reported to exist. 5 wire versions won't work, the others will. See [[stepper wiring]] for more details.<br />
<br />
=Suppliers=<br />
<br />
Below is a list of possible suppliers and motors. Please add to it. If you have built a Mendel successfully with a given motor, remember to put {{true}} in the tested field.<br />
<br />
{| class="wikitable sortable"<br />
|+ ''Stepper Motors - Nema 14 (Smaller, neater and used on the Mendel prototype)''<br />
|-<br />
| Vendor (with link) || Shipping location || Manufacturer || Model # || Datasheet || NEMA (Size) || Holding Torque || Shaft || Tested || Additional notes<br />
|-<br />
| [http://www.motioncontrolproducts.com/ Motion Control Products] || ? || Fulling Motor<br />
| FL35ST36-1004B<br />
| [[Media:NEMA14-high-torque.pdf|FL35ST36-1004B Datasheet]]<br />
| 14 || ~13.7 N-cm || Dual || {{true}} || Used in mendel prototype<br />
|-<br />
| [http://www.active-robots.com/ Active Robots] || UK || Wantai<br />
| [http://www.phidgets.com/products.php?category=23&product_id=3301 35BYHG04]<br />
| [http://www.phidgets.com/documentation/Phidgets/3301Datasheet.pdf 35BYHG04 Datasheet]<br />
| 14 || ~12.3 N-cm || 4.9mm || {{true}} || Less Holding Torque than recommended, but has apparently been used successfully<br />
|-<br />
| [http://www.pololu.com/ Pololu] || US || [http://www.cnsoyo.com/ SOYO] || SY35ST36-1004A || ? || 14 || ~13.7 N-cm || 5mm || '''?''' || Note: Pololu list this motor as 1400 g-cm AND as 20 oz-in (converts to 19.44 oz-in). According to supplier information, the metric value is correct.<br />
|}<br />
<br />
<br />
<br />
{| class="wikitable sortable"<br />
|+ ''Stepper Motors - Nema 17 (larger and generally heavier but with more room to put a higher torque than a Nema 14)''<br />
|-<br />
| Vendor (with link) || Shipping location || Manufacturer || Model # || Datasheet || NEMA (Size) || Holding Torque || Shaft || Tested || Additional notes<br />
|-<br />
| [http://www.slidesandballscrews.com/stepper-motors-c-45.html Zapp Automation]<br />
| UK || [http://www.cnsoyo.com/ SOYO] || SY42STH47-1206A<br />
| [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1206A.pdf SY42STH47-1206A Datasheet]<br />
| 17 || ~31.1 N-cm || Single || {{true}} || None<br />
|-<br />
| [http://www.slidesandballscrews.com/stepper-motors-c-45.html Zapp Automation]<br />
| UK || [http://www.cnsoyo.com/ SOYO] || [http://www.slidesandballscrews.com/sy42sth471684b-p-255.html?cPath=45_80 SY42STH47-1684B]<br />
| [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1684B.pdf SY42STH47-1684B Datasheet]<br />
| 17 || ~43.1 N-cm || Dual || {{true}} || Round Ø5mm Shafts<br />
|-<br />
| [http://www.slidesandballscrews.com/stepper-motors-c-45.html Zapp Automation]<br />
| UK || [http://www.cnsoyo.com/ SOYO] || [http://www.slidesandballscrews.com/sy42sth471684a-p-315.html?cPath=45_80 SY42STH47-1684A]<br />
| [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1684A.pdf SY42STH47-1684A Datasheet]<br />
| 17 || ~43.1 N-cm || Single || '''?''' || D-Shape 5mm shaft with 4.5mm flat<br />
|-<br />
| [http://www.coolcomponents.co.uk/ Cool Components] || UK || Mercury Motor || [http://www.coolcomponents.co.uk/catalog/product_info.php?products_id=469 SM-42BYGH011-25]<br />
| [http://www.sparkfun.com/datasheets/Robotics/SM-42BYG011-25.pdf SM-42BYG011 Datasheet]<br />
| 17 || 23 N-cm || 5mm || ? || None<br />
|-<br />
| [http://www.interinar.com/step-motors.html Interinar Electronics, LLC] || US || Oriental Motors<br />
| [http://www.interinar.com/vexta-px243m-01aa.html Vexta PX243M-01AA]<br />
| [http://www.interinar.com/public_docs/PX243M-01AA.pdf PX243M-01AA Datasheet]<br />
| 17 || 15 N-cm || Single || '''?''' || Not strong enough for direct drive extruder, Uses Imperial #4-40 TPI mounting holes instead of M3 metric<br />
|-<br />
| [http://www.alltronics.com/cgi-bin/category.cgi?category=55 Alltronics.com] || US || Lin Engineering<br />
| [http://www.alltronics.com/cgi-bin/item/28M035/search/Lin-Engineering-4218L-01-10-bipolar-stepper-motor 4218L-01-10]<br />
| [http://www.alltronics.com/mas_assets/acrobat/28M035.pdf 4218L-01-10 Datasheet]<br />
| 17 || ~53 N-cm || 3/16 inch = 4.7625 mm (Round) || {{true}} || None<br />
|-<br />
| [http://www.alltronics.com/cgi-bin/category.cgi?category=55 Alltronics.com] || US || Lin Engineering<br />
| [http://www.alltronics.com/cgi-bin/item/24M014/search/Lin-Engineering-Nema-17-1.8deg-24V-2A-bipolar-stepper-motor 4218L-01-11]<br />
| [http://www.alltronics.com/mas_assets/acrobat/24M014.pdf 4218L-01-11 Datasheet]<br />
| 17 (?) || ~53 N-cm || ~5 mm = 0.1968 inches (D-Shape) || {{true}} || None<br />
|-<br />
| [http://www.phidgets.com/products.php?category=23 Phidgets.com] || US || Wantai<br />
| [http://www.phidgets.com/products.php?category=23&product_id=3303 42BYGHW811]<br />
| [http://www.phidgets.com/documentation/Phidgets/3303Datasheet.pdf 42BYGHW811 Datasheet]<br />
| 17 || ~47.1 N-cm || 4.9mm || '''?''' || None<br />
|-<br />
| [http://www.sparkfun.com/ SparkFun] || US || Mercury Motor || SM-42BYG011 || [http://www.sparkfun.com/datasheets/Robotics/SM-42BYG011-25.pdf SM-42BYG011 Datasheet] || 17 || 23 N-cm || 5mm || {{true}} || None<br />
|-<br />
| [http://www.robotgear.com.au Robot Gear] || AU || Mercury Motor || SM-42BYG011-25<br />
| [http://www.robotgear.com.au/Cache/Files/Files/118_Stepper%20Motor%20Datasheet%20SM-42BYG011-25.pdf SM-42BYG011 Datasheet]<br />
| 17 || 23 N-cm || 5mm || {{true}} || None<br />
|-<br />
| [http://mindkits.co.nz/ Mindkits] || NZ || Mercury Motor || SM-42BYG011 || [http://www.sparkfun.com/datasheets/Robotics/SM-42BYG011-25.pdf SM-42BYG011 Datasheet] || 17 || 23 N-cm || 5mm || {{true}} || None<br />
|-<br />
| [http://ausxmods.com.au/ AusXMods] || AU || Rugao Xinhe || 17H185H-04A || ? || 17 || ~43.8 N-cm || ? || '''?''' || None<br />
|-<br />
| [http://store.kysanelectronics.com Kysan] || China || [http://store.kysanelectronics.com Kysan] || 42BYGH4803 || [http://store.kysanelectronics.com/servlet/-strse-68835/42BYGH4803/Detail Datasheet]|| 17 || 49 N-cm || 5mm || {{true}} || Successfully tested with [http://objects.reprap.org/wiki/Geared_Nema17_Extruder Wade's Geared Nema 17] extruder - high flow rates.<br />
|}<br />
<br />
[[Category:Suppliers by Part]]<br />
<br />
<br />
=Unscientific rules of thumb for motor purchases=<br />
<br />
1) The longer the motor body generally the more torque the motor has.<br />
2) If a motor is rated 2.5A and your stepper driver produces only 2A your motor may not produce the manufactures rated torque.<br />
3) If a motor is rated 35 volts and your stepper produces only 12 volts your motor may not produce the manufactures rated torque.<br />
4) A motor can exceed it's rated voltage but will produce more heat. This may not be a problem in Bath/England but may be a problem in warmer climes.<br />
5) Stepper Motors should not exceed 65c.<br />
6) ABS melts at 120C but softens at 80C.<br />
7) Power is measured in Watts and is calculated at Volts X Current.<br />
8) Power made available to a motor will be turned into heat and motion.<br />
9) The more power made available to the motor the higher the amount of heat and motion.<br />
10) Power and torque are related. The more power the more torque.</div>Stephen Georgehttps://reprap.org/mediawiki/index.php?title=Stepper_Motors&diff=16362Stepper Motors2010-05-27T06:55:49Z<p>Stephen George: /* Suppliers */</p>
<hr />
<div>{{Merge|StepperMotor}}<br />
<br />
<br />
__TOC__<br />
=Holding Torque=<br />
<br />
It is recommended that you get approximately 13.7 N-cm (that is 1400 g-cm or 19.4 oz-in) of Holding Torque (or more) to avoid issues, although one stepper with less has been used successfully (see below). If in doubt, higher is better. If you need to convert between different units for the torque you can use the torque unit converter [http://www.numberfactory.com/nf%20torque.htm here].<br />
<br />
=Stepping Angle=<br />
<br />
Most stepper motors used for a Mendel have a step angle of 1.8 Degrees. It is sometimes possible to use motors with larger step angles, however for printing to be accurate, they will need to be geared down to reduce the angle moved per step, which may lead to a slower maximum speed.<br />
<br />
=Size=<br />
<br />
If going for the smaller NEMA 14 motors, aim for the high torque option. NEMA 14s are neater, lighter and smaller, but can be hard to get hold of with the appropriate holding torque. NEMA 17s are quite easy to get in the specification that Mendel needs, but are bulkier and less neat. NEMA 14s are running near the edge of their envelope: they will get warm. NEMA 17s are well inside what they can do, and will run much cooler.<br />
<br />
Note that any Mendel part that goes on to a Stepper Motor shaft expects the shaft to be roughly 5mm. If the shaft is a different size, you will need to make allowances for this in the parts you obtain/make.<br />
<br />
=Wiring=<br />
<br />
Steppers motors come in several wiring configurations. 4,6, and 8 wires are all fairly common. 5-wire version have been reported to exist. 5 wire versions won't work, the others will. See [[stepper wiring]] for more details.<br />
<br />
=Suppliers=<br />
<br />
Below is a list of possible suppliers and motors. Please add to it. If you have built a Mendel successfully with a given motor, remember to put {{true}} in the tested field.<br />
<br />
{| class="wikitable sortable"<br />
|+ ''Stepper Motors - Nema 14 (Smaller, neater and used on the Mendel prototype)''<br />
|-<br />
| Vendor (with link) || Shipping location || Manufacturer || Model # || Datasheet || NEMA (Size) || Holding Torque || Shaft || Tested || Additional notes<br />
|-<br />
| [http://www.motioncontrolproducts.com/ Motion Control Products] || ? || Fulling Motor<br />
| FL35ST36-1004B<br />
| [[Media:NEMA14-high-torque.pdf|FL35ST36-1004B Datasheet]]<br />
| 14 || ~13.7 N-cm || Dual || {{true}} || Used in mendel prototype<br />
|-<br />
| [http://www.active-robots.com/ Active Robots] || UK || Wantai<br />
| [http://www.phidgets.com/products.php?category=23&product_id=3301 35BYHG04]<br />
| [http://www.phidgets.com/documentation/Phidgets/3301Datasheet.pdf 35BYHG04 Datasheet]<br />
| 14 || ~12.3 N-cm || 4.9mm || {{true}} || Less Holding Torque than recommended, but has apparently been used successfully<br />
|-<br />
| [http://www.pololu.com/ Pololu] || US || [http://www.cnsoyo.com/ SOYO] || SY35ST36-1004A || ? || 14 || ~13.7 N-cm || 5mm || '''?''' || Note: Pololu list this motor as 1400 g-cm AND as 20 oz-in (converts to 19.44 oz-in). According to supplier information, the metric value is correct.<br />
|}<br />
<br />
<br />
<br />
{| class="wikitable sortable"<br />
|+ ''Stepper Motors - Nema 17 (larger and generally heavier but with more room to put a higher torque than a Nema 14)''<br />
|-<br />
| Vendor (with link) || Shipping location || Manufacturer || Model # || Datasheet || NEMA (Size) || Holding Torque || Shaft || Tested || Additional notes<br />
|-<br />
| [http://www.slidesandballscrews.com/stepper-motors-c-45.html Zapp Automation]<br />
| UK || [http://www.cnsoyo.com/ SOYO] || SY42STH47-1206A<br />
| [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1206A.pdf SY42STH47-1206A Datasheet]<br />
| 17 || ~31.1 N-cm || Single || {{true}} || None<br />
|-<br />
| [http://www.slidesandballscrews.com/stepper-motors-c-45.html Zapp Automation]<br />
| UK || [http://www.cnsoyo.com/ SOYO] || [http://www.slidesandballscrews.com/sy42sth471684b-p-255.html?cPath=45_80 SY42STH47-1684B]<br />
| [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1684B.pdf SY42STH47-1684B Datasheet]<br />
| 17 || ~43.1 N-cm || Dual || {{true}} || Round Ø5mm Shafts<br />
|-<br />
| [http://www.slidesandballscrews.com/stepper-motors-c-45.html Zapp Automation]<br />
| UK || [http://www.cnsoyo.com/ SOYO] || [http://www.slidesandballscrews.com/sy42sth471684a-p-315.html?cPath=45_80 SY42STH47-1684A]<br />
| [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1684A.pdf SY42STH47-1684A Datasheet]<br />
| 17 || ~43.1 N-cm || Single || '''?''' || D-Shape 5mm shaft with 4.5mm flat<br />
|-<br />
| [http://www.coolcomponents.co.uk/ Cool Components] || UK || Mercury Motor || [http://www.coolcomponents.co.uk/catalog/product_info.php?products_id=469 SM-42BYGH011-25]<br />
| [http://www.sparkfun.com/datasheets/Robotics/SM-42BYG011-25.pdf SM-42BYG011 Datasheet]<br />
| 17 || 23 N-cm || 5mm || ? || None<br />
|-<br />
| [http://www.interinar.com/step-motors.html Interinar Electronics, LLC] || US || Oriental Motors<br />
| [http://www.interinar.com/vexta-px243m-01aa.html Vexta PX243M-01AA]<br />
| [http://www.interinar.com/public_docs/PX243M-01AA.pdf PX243M-01AA Datasheet]<br />
| 17 || 15 N-cm || Single || '''?''' || Not strong enough for direct drive extruder, Uses Imperial #4-40 TPI mounting holes instead of M3 metric<br />
|-<br />
| [http://www.alltronics.com/cgi-bin/category.cgi?category=55 Alltronics.com] || US || Lin Engineering<br />
| [http://www.alltronics.com/cgi-bin/item/28M035/search/Lin-Engineering-4218L-01-10-bipolar-stepper-motor 4218L-01-10]<br />
| [http://www.alltronics.com/mas_assets/acrobat/28M035.pdf 4218L-01-10 Datasheet]<br />
| 17 || ~53 N-cm || 3/16 inch = 4.7625 mm (Round) || {{true}} || None<br />
|-<br />
| [http://www.alltronics.com/cgi-bin/category.cgi?category=55 Alltronics.com] || US || Lin Engineering<br />
| [http://www.alltronics.com/cgi-bin/item/24M014/search/Lin-Engineering-Nema-17-1.8deg-24V-2A-bipolar-stepper-motor 4218L-01-11]<br />
| [http://www.alltronics.com/mas_assets/acrobat/24M014.pdf 4218L-01-11 Datasheet]<br />
| 17 (?) || ~53 N-cm || ~5 mm = 0.1968 inches (D-Shape) || {{true}} || None<br />
|-<br />
| [http://www.phidgets.com/products.php?category=23 Phidgets.com] || US || Wantai<br />
| [http://www.phidgets.com/products.php?category=23&product_id=3303 42BYGHW811]<br />
| [http://www.phidgets.com/documentation/Phidgets/3303Datasheet.pdf 42BYGHW811 Datasheet]<br />
| 17 || ~47.1 N-cm || 4.9mm || '''?''' || None<br />
|-<br />
| [http://www.sparkfun.com/ SparkFun] || US || Mercury Motor || SM-42BYG011 || [http://www.sparkfun.com/datasheets/Robotics/SM-42BYG011-25.pdf SM-42BYG011 Datasheet] || 17 || 23 N-cm || 5mm || {{true}} || None<br />
|-<br />
| [http://www.robotgear.com.au Robot Gear] || AU || Mercury Motor || SM-42BYG011-25<br />
| [http://www.robotgear.com.au/Cache/Files/Files/118_Stepper%20Motor%20Datasheet%20SM-42BYG011-25.pdf SM-42BYG011 Datasheet]<br />
| 17 || 23 N-cm || 5mm || {{true}} || None<br />
|-<br />
| [http://mindkits.co.nz/ Mindkits] || NZ || Mercury Motor || SM-42BYG011 || [http://www.sparkfun.com/datasheets/Robotics/SM-42BYG011-25.pdf SM-42BYG011 Datasheet] || 17 || 23 N-cm || 5mm || {{true}} || None<br />
|-<br />
| [http://ausxmods.com.au/ AusXMods] || AU || Rugao Xinhe || 17H185H-04A || ? || 17 || ~43.8 N-cm || ? || '''?''' || None<br />
|-<br />
| [http://store.kysanelectronics.com Kysan] || China || [http://store.kysanelectronics.com Kysan] || 42BYGH4803 || [http://store.kysanelectronics.com/servlet/-strse-68835/42BYGH4803/Detail Datasheet]|| 17 || 49 N-cm || 5mm || {{true}} || Successfully tested with [http://objects.reprap.org/wiki/Geared_Nema17_Extruder Wade's Geared Nema 17] extruder - high flow rates.<br />
|}<br />
<br />
[[Category:Suppliers by Part]]</div>Stephen Georgehttps://reprap.org/mediawiki/index.php?title=Stepper_Motors&diff=16361Stepper Motors2010-05-27T06:53:20Z<p>Stephen George: /* Suppliers */</p>
<hr />
<div>{{Merge|StepperMotor}}<br />
<br />
<br />
__TOC__<br />
=Holding Torque=<br />
<br />
It is recommended that you get approximately 13.7 N-cm (that is 1400 g-cm or 19.4 oz-in) of Holding Torque (or more) to avoid issues, although one stepper with less has been used successfully (see below). If in doubt, higher is better. If you need to convert between different units for the torque you can use the torque unit converter [http://www.numberfactory.com/nf%20torque.htm here].<br />
<br />
=Stepping Angle=<br />
<br />
Most stepper motors used for a Mendel have a step angle of 1.8 Degrees. It is sometimes possible to use motors with larger step angles, however for printing to be accurate, they will need to be geared down to reduce the angle moved per step, which may lead to a slower maximum speed.<br />
<br />
=Size=<br />
<br />
If going for the smaller NEMA 14 motors, aim for the high torque option. NEMA 14s are neater, lighter and smaller, but can be hard to get hold of with the appropriate holding torque. NEMA 17s are quite easy to get in the specification that Mendel needs, but are bulkier and less neat. NEMA 14s are running near the edge of their envelope: they will get warm. NEMA 17s are well inside what they can do, and will run much cooler.<br />
<br />
Note that any Mendel part that goes on to a Stepper Motor shaft expects the shaft to be roughly 5mm. If the shaft is a different size, you will need to make allowances for this in the parts you obtain/make.<br />
<br />
=Wiring=<br />
<br />
Steppers motors come in several wiring configurations. 4,6, and 8 wires are all fairly common. 5-wire version have been reported to exist. 5 wire versions won't work, the others will. See [[stepper wiring]] for more details.<br />
<br />
=Suppliers=<br />
<br />
Below is a list of possible suppliers and motors. Please add to it. If you have built a Mendel successfully with a given motor, remember to put {{true}} in the tested field.<br />
<br />
{| class="wikitable sortable"<br />
|+ ''Stepper Motors - Nema 14 (Smaller, neater and used on the Mendel prototype but less powerful)''<br />
|-<br />
| Vendor (with link) || Shipping location || Manufacturer || Model # || Datasheet || NEMA (Size) || Holding Torque || Shaft || Tested || Additional notes<br />
|-<br />
| [http://www.motioncontrolproducts.com/ Motion Control Products] || ? || Fulling Motor<br />
| FL35ST36-1004B<br />
| [[Media:NEMA14-high-torque.pdf|FL35ST36-1004B Datasheet]]<br />
| 14 || ~13.7 N-cm || Dual || {{true}} || Used in mendel prototype<br />
|-<br />
| [http://www.active-robots.com/ Active Robots] || UK || Wantai<br />
| [http://www.phidgets.com/products.php?category=23&product_id=3301 35BYHG04]<br />
| [http://www.phidgets.com/documentation/Phidgets/3301Datasheet.pdf 35BYHG04 Datasheet]<br />
| 14 || ~12.3 N-cm || 4.9mm || {{true}} || Less Holding Torque than recommended, but has apparently been used successfully<br />
|-<br />
| [http://www.pololu.com/ Pololu] || US || [http://www.cnsoyo.com/ SOYO] || SY35ST36-1004A || ? || 14 || ~13.7 N-cm || 5mm || '''?''' || Note: Pololu list this motor as 1400 g-cm AND as 20 oz-in (converts to 19.44 oz-in). According to supplier information, the metric value is correct.<br />
|}<br />
<br />
<br />
<br />
{| class="wikitable sortable"<br />
|+ ''Stepper Motors - Nema 17 (larger and generally heavier but with more room to put a higher torque)''<br />
|-<br />
| Vendor (with link) || Shipping location || Manufacturer || Model # || Datasheet || NEMA (Size) || Holding Torque || Shaft || Tested || Additional notes<br />
|-<br />
| [http://www.slidesandballscrews.com/stepper-motors-c-45.html Zapp Automation]<br />
| UK || [http://www.cnsoyo.com/ SOYO] || SY42STH47-1206A<br />
| [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1206A.pdf SY42STH47-1206A Datasheet]<br />
| 17 || ~31.1 N-cm || Single || {{true}} || None<br />
|-<br />
| [http://www.slidesandballscrews.com/stepper-motors-c-45.html Zapp Automation]<br />
| UK || [http://www.cnsoyo.com/ SOYO] || [http://www.slidesandballscrews.com/sy42sth471684b-p-255.html?cPath=45_80 SY42STH47-1684B]<br />
| [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1684B.pdf SY42STH47-1684B Datasheet]<br />
| 17 || ~43.1 N-cm || Dual || {{true}} || Round Ø5mm Shafts<br />
|-<br />
| [http://www.slidesandballscrews.com/stepper-motors-c-45.html Zapp Automation]<br />
| UK || [http://www.cnsoyo.com/ SOYO] || [http://www.slidesandballscrews.com/sy42sth471684a-p-315.html?cPath=45_80 SY42STH47-1684A]<br />
| [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1684A.pdf SY42STH47-1684A Datasheet]<br />
| 17 || ~43.1 N-cm || Single || '''?''' || D-Shape 5mm shaft with 4.5mm flat<br />
|-<br />
| [http://www.coolcomponents.co.uk/ Cool Components] || UK || Mercury Motor || [http://www.coolcomponents.co.uk/catalog/product_info.php?products_id=469 SM-42BYGH011-25]<br />
| [http://www.sparkfun.com/datasheets/Robotics/SM-42BYG011-25.pdf SM-42BYG011 Datasheet]<br />
| 17 || 23 N-cm || 5mm || ? || None<br />
|-<br />
| [http://www.interinar.com/step-motors.html Interinar Electronics, LLC] || US || Oriental Motors<br />
| [http://www.interinar.com/vexta-px243m-01aa.html Vexta PX243M-01AA]<br />
| [http://www.interinar.com/public_docs/PX243M-01AA.pdf PX243M-01AA Datasheet]<br />
| 17 || 15 N-cm || Single || '''?''' || Not strong enough for direct drive extruder, Uses Imperial #4-40 TPI mounting holes instead of M3 metric<br />
|-<br />
| [http://www.alltronics.com/cgi-bin/category.cgi?category=55 Alltronics.com] || US || Lin Engineering<br />
| [http://www.alltronics.com/cgi-bin/item/28M035/search/Lin-Engineering-4218L-01-10-bipolar-stepper-motor 4218L-01-10]<br />
| [http://www.alltronics.com/mas_assets/acrobat/28M035.pdf 4218L-01-10 Datasheet]<br />
| 17 || ~53 N-cm || 3/16 inch = 4.7625 mm (Round) || {{true}} || None<br />
|-<br />
| [http://www.alltronics.com/cgi-bin/category.cgi?category=55 Alltronics.com] || US || Lin Engineering<br />
| [http://www.alltronics.com/cgi-bin/item/24M014/search/Lin-Engineering-Nema-17-1.8deg-24V-2A-bipolar-stepper-motor 4218L-01-11]<br />
| [http://www.alltronics.com/mas_assets/acrobat/24M014.pdf 4218L-01-11 Datasheet]<br />
| 17 (?) || ~53 N-cm || ~5 mm = 0.1968 inches (D-Shape) || {{true}} || None<br />
|-<br />
| [http://www.phidgets.com/products.php?category=23 Phidgets.com] || US || Wantai<br />
| [http://www.phidgets.com/products.php?category=23&product_id=3303 42BYGHW811]<br />
| [http://www.phidgets.com/documentation/Phidgets/3303Datasheet.pdf 42BYGHW811 Datasheet]<br />
| 17 || ~47.1 N-cm || 4.9mm || '''?''' || None<br />
|-<br />
| [http://www.sparkfun.com/ SparkFun] || US || Mercury Motor || SM-42BYG011 || [http://www.sparkfun.com/datasheets/Robotics/SM-42BYG011-25.pdf SM-42BYG011 Datasheet] || 17 || 23 N-cm || 5mm || {{true}} || None<br />
|-<br />
| [http://www.robotgear.com.au Robot Gear] || AU || Mercury Motor || SM-42BYG011-25<br />
| [http://www.robotgear.com.au/Cache/Files/Files/118_Stepper%20Motor%20Datasheet%20SM-42BYG011-25.pdf SM-42BYG011 Datasheet]<br />
| 17 || 23 N-cm || 5mm || {{true}} || None<br />
|-<br />
| [http://mindkits.co.nz/ Mindkits] || NZ || Mercury Motor || SM-42BYG011 || [http://www.sparkfun.com/datasheets/Robotics/SM-42BYG011-25.pdf SM-42BYG011 Datasheet] || 17 || 23 N-cm || 5mm || {{true}} || None<br />
|-<br />
| [http://ausxmods.com.au/ AusXMods] || AU || Rugao Xinhe || 17H185H-04A || ? || 17 || ~43.8 N-cm || ? || '''?''' || None<br />
|-<br />
| [http://store.kysanelectronics.com Kysan] || China || [http://store.kysanelectronics.com Kysan] || 42BYGH4803 || [http://store.kysanelectronics.com/servlet/-strse-68835/42BYGH4803/Detail Datasheet]|| 17 || 49 N-cm || 5mm || {{true}} || Successfully tested with [http://objects.reprap.org/wiki/Geared_Nema17_Extruder Wade's Geared Nema 17] extruder - high flow rates.<br />
|}<br />
<br />
[[Category:Suppliers by Part]]</div>Stephen Georgehttps://reprap.org/mediawiki/index.php?title=Stepper_Motors&diff=16360Stepper Motors2010-05-27T06:50:02Z<p>Stephen George: Put the Nema 14 steppers in it's own table to help comprehension</p>
<hr />
<div>{{Merge|StepperMotor}}<br />
<br />
<br />
__TOC__<br />
=Holding Torque=<br />
<br />
It is recommended that you get approximately 13.7 N-cm (that is 1400 g-cm or 19.4 oz-in) of Holding Torque (or more) to avoid issues, although one stepper with less has been used successfully (see below). If in doubt, higher is better. If you need to convert between different units for the torque you can use the torque unit converter [http://www.numberfactory.com/nf%20torque.htm here].<br />
<br />
=Stepping Angle=<br />
<br />
Most stepper motors used for a Mendel have a step angle of 1.8 Degrees. It is sometimes possible to use motors with larger step angles, however for printing to be accurate, they will need to be geared down to reduce the angle moved per step, which may lead to a slower maximum speed.<br />
<br />
=Size=<br />
<br />
If going for the smaller NEMA 14 motors, aim for the high torque option. NEMA 14s are neater, lighter and smaller, but can be hard to get hold of with the appropriate holding torque. NEMA 17s are quite easy to get in the specification that Mendel needs, but are bulkier and less neat. NEMA 14s are running near the edge of their envelope: they will get warm. NEMA 17s are well inside what they can do, and will run much cooler.<br />
<br />
Note that any Mendel part that goes on to a Stepper Motor shaft expects the shaft to be roughly 5mm. If the shaft is a different size, you will need to make allowances for this in the parts you obtain/make.<br />
<br />
=Wiring=<br />
<br />
Steppers motors come in several wiring configurations. 4,6, and 8 wires are all fairly common. 5-wire version have been reported to exist. 5 wire versions won't work, the others will. See [[stepper wiring]] for more details.<br />
<br />
=Suppliers=<br />
<br />
Below is a list of possible suppliers and motors. Please add to it. If you have built a Mendel successfully with a given motor, remember to put {{true}} in the tested field.<br />
<br />
{| class="wikitable sortable"<br />
|+ ''Stepper Motors - Nema 14''<br />
|-<br />
| Vendor (with link) || Shipping location || Manufacturer || Model # || Datasheet || NEMA (Size) || Holding Torque || Shaft || Tested || Additional notes<br />
|-<br />
| [http://www.motioncontrolproducts.com/ Motion Control Products] || ? || Fulling Motor<br />
| FL35ST36-1004B<br />
| [[Media:NEMA14-high-torque.pdf|FL35ST36-1004B Datasheet]]<br />
| 14 || ~13.7 N-cm || Dual || {{true}} || Used in mendel prototype<br />
|-<br />
| [http://www.active-robots.com/ Active Robots] || UK || Wantai<br />
| [http://www.phidgets.com/products.php?category=23&product_id=3301 35BYHG04]<br />
| [http://www.phidgets.com/documentation/Phidgets/3301Datasheet.pdf 35BYHG04 Datasheet]<br />
| 14 || ~12.3 N-cm || 4.9mm || {{true}} || Less Holding Torque than recommended, but has apparently been used successfully<br />
|-<br />
| [http://www.pololu.com/ Pololu] || US || [http://www.cnsoyo.com/ SOYO] || SY35ST36-1004A || ? || 14 || ~13.7 N-cm || 5mm || '''?''' || Note: Pololu list this motor as 1400 g-cm AND as 20 oz-in (converts to 19.44 oz-in). According to supplier information, the metric value is correct.<br />
|}<br />
<br />
<br />
<br />
{| class="wikitable sortable"<br />
|+ ''Stepper Motors - Nema 17''<br />
|-<br />
| Vendor (with link) || Shipping location || Manufacturer || Model # || Datasheet || NEMA (Size) || Holding Torque || Shaft || Tested || Additional notes<br />
|-<br />
| [http://www.slidesandballscrews.com/stepper-motors-c-45.html Zapp Automation]<br />
| UK || [http://www.cnsoyo.com/ SOYO] || SY42STH47-1206A<br />
| [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1206A.pdf SY42STH47-1206A Datasheet]<br />
| 17 || ~31.1 N-cm || Single || {{true}} || None<br />
|-<br />
| [http://www.slidesandballscrews.com/stepper-motors-c-45.html Zapp Automation]<br />
| UK || [http://www.cnsoyo.com/ SOYO] || [http://www.slidesandballscrews.com/sy42sth471684b-p-255.html?cPath=45_80 SY42STH47-1684B]<br />
| [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1684B.pdf SY42STH47-1684B Datasheet]<br />
| 17 || ~43.1 N-cm || Dual || {{true}} || Round Ø5mm Shafts<br />
|-<br />
| [http://www.slidesandballscrews.com/stepper-motors-c-45.html Zapp Automation]<br />
| UK || [http://www.cnsoyo.com/ SOYO] || [http://www.slidesandballscrews.com/sy42sth471684a-p-315.html?cPath=45_80 SY42STH47-1684A]<br />
| [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1684A.pdf SY42STH47-1684A Datasheet]<br />
| 17 || ~43.1 N-cm || Single || '''?''' || D-Shape 5mm shaft with 4.5mm flat<br />
|-<br />
| [http://www.coolcomponents.co.uk/ Cool Components] || UK || Mercury Motor || [http://www.coolcomponents.co.uk/catalog/product_info.php?products_id=469 SM-42BYGH011-25]<br />
| [http://www.sparkfun.com/datasheets/Robotics/SM-42BYG011-25.pdf SM-42BYG011 Datasheet]<br />
| 17 || 23 N-cm || 5mm || ? || None<br />
|-<br />
| [http://www.interinar.com/step-motors.html Interinar Electronics, LLC] || US || Oriental Motors<br />
| [http://www.interinar.com/vexta-px243m-01aa.html Vexta PX243M-01AA]<br />
| [http://www.interinar.com/public_docs/PX243M-01AA.pdf PX243M-01AA Datasheet]<br />
| 17 || 15 N-cm || Single || '''?''' || Not strong enough for direct drive extruder, Uses Imperial #4-40 TPI mounting holes instead of M3 metric<br />
|-<br />
| [http://www.alltronics.com/cgi-bin/category.cgi?category=55 Alltronics.com] || US || Lin Engineering<br />
| [http://www.alltronics.com/cgi-bin/item/28M035/search/Lin-Engineering-4218L-01-10-bipolar-stepper-motor 4218L-01-10]<br />
| [http://www.alltronics.com/mas_assets/acrobat/28M035.pdf 4218L-01-10 Datasheet]<br />
| 17 || ~53 N-cm || 3/16 inch = 4.7625 mm (Round) || {{true}} || None<br />
|-<br />
| [http://www.alltronics.com/cgi-bin/category.cgi?category=55 Alltronics.com] || US || Lin Engineering<br />
| [http://www.alltronics.com/cgi-bin/item/24M014/search/Lin-Engineering-Nema-17-1.8deg-24V-2A-bipolar-stepper-motor 4218L-01-11]<br />
| [http://www.alltronics.com/mas_assets/acrobat/24M014.pdf 4218L-01-11 Datasheet]<br />
| 17 (?) || ~53 N-cm || ~5 mm = 0.1968 inches (D-Shape) || {{true}} || None<br />
|-<br />
| [http://www.phidgets.com/products.php?category=23 Phidgets.com] || US || Wantai<br />
| [http://www.phidgets.com/products.php?category=23&product_id=3303 42BYGHW811]<br />
| [http://www.phidgets.com/documentation/Phidgets/3303Datasheet.pdf 42BYGHW811 Datasheet]<br />
| 17 || ~47.1 N-cm || 4.9mm || '''?''' || None<br />
|-<br />
| [http://www.sparkfun.com/ SparkFun] || US || Mercury Motor || SM-42BYG011 || [http://www.sparkfun.com/datasheets/Robotics/SM-42BYG011-25.pdf SM-42BYG011 Datasheet] || 17 || 23 N-cm || 5mm || {{true}} || None<br />
|-<br />
| [http://www.robotgear.com.au Robot Gear] || AU || Mercury Motor || SM-42BYG011-25<br />
| [http://www.robotgear.com.au/Cache/Files/Files/118_Stepper%20Motor%20Datasheet%20SM-42BYG011-25.pdf SM-42BYG011 Datasheet]<br />
| 17 || 23 N-cm || 5mm || {{true}} || None<br />
|-<br />
| [http://mindkits.co.nz/ Mindkits] || NZ || Mercury Motor || SM-42BYG011 || [http://www.sparkfun.com/datasheets/Robotics/SM-42BYG011-25.pdf SM-42BYG011 Datasheet] || 17 || 23 N-cm || 5mm || {{true}} || None<br />
|-<br />
| [http://ausxmods.com.au/ AusXMods] || AU || Rugao Xinhe || 17H185H-04A || ? || 17 || ~43.8 N-cm || ? || '''?''' || None<br />
|-<br />
| [http://store.kysanelectronics.com Kysan] || China || [http://store.kysanelectronics.com Kysan] || 42BYGH4803 || [http://store.kysanelectronics.com/servlet/-strse-68835/42BYGH4803/Detail Datasheet]|| 17 || 49 N-cm || 5mm || {{true}} || Successfully tested with [http://objects.reprap.org/wiki/Geared_Nema17_Extruder Wade's Geared Nema 17] extruder - high flow rates.<br />
|}<br />
<br />
[[Category:Suppliers by Part]]</div>Stephen Georgehttps://reprap.org/mediawiki/index.php?title=Stepper_Motors&diff=16359Stepper Motors2010-05-27T06:45:48Z<p>Stephen George: put a nema 14 in with the nema 14 motors and</p>
<hr />
<div>{{Merge|StepperMotor}}<br />
<br />
<br />
__TOC__<br />
=Holding Torque=<br />
<br />
It is recommended that you get approximately 13.7 N-cm (that is 1400 g-cm or 19.4 oz-in) of Holding Torque (or more) to avoid issues, although one stepper with less has been used successfully (see below). If in doubt, higher is better. If you need to convert between different units for the torque you can use the torque unit converter [http://www.numberfactory.com/nf%20torque.htm here].<br />
<br />
=Stepping Angle=<br />
<br />
Most stepper motors used for a Mendel have a step angle of 1.8 Degrees. It is sometimes possible to use motors with larger step angles, however for printing to be accurate, they will need to be geared down to reduce the angle moved per step, which may lead to a slower maximum speed.<br />
<br />
=Size=<br />
<br />
If going for the smaller NEMA 14 motors, aim for the high torque option. NEMA 14s are neater, lighter and smaller, but can be hard to get hold of with the appropriate holding torque. NEMA 17s are quite easy to get in the specification that Mendel needs, but are bulkier and less neat. NEMA 14s are running near the edge of their envelope: they will get warm. NEMA 17s are well inside what they can do, and will run much cooler.<br />
<br />
Note that any Mendel part that goes on to a Stepper Motor shaft expects the shaft to be roughly 5mm. If the shaft is a different size, you will need to make allowances for this in the parts you obtain/make.<br />
<br />
=Wiring=<br />
<br />
Steppers motors come in several wiring configurations. 4,6, and 8 wires are all fairly common. 5-wire version have been reported to exist. 5 wire versions won't work, the others will. See [[stepper wiring]] for more details.<br />
<br />
=Suppliers=<br />
<br />
Below is a list of possible suppliers and motors. Please add to it. If you have built a Mendel successfully with a given motor, remember to put {{true}} in the tested field.<br />
<br />
{| class="wikitable sortable"<br />
|+ ''Stepper Motors - Nema 14''<br />
|-<br />
| Vendor (with link) || Shipping location || Manufacturer || Model # || Datasheet || NEMA (Size) || Holding Torque || Shaft || Tested || Additional notes<br />
|-<br />
| [http://www.motioncontrolproducts.com/ Motion Control Products] || ? || Fulling Motor<br />
| FL35ST36-1004B<br />
| [[Media:NEMA14-high-torque.pdf|FL35ST36-1004B Datasheet]]<br />
| 14 || ~13.7 N-cm || Dual || {{true}} || Used in mendel prototype<br />
|-<br />
| [http://www.active-robots.com/ Active Robots] || UK || Wantai<br />
| [http://www.phidgets.com/products.php?category=23&product_id=3301 35BYHG04]<br />
| [http://www.phidgets.com/documentation/Phidgets/3301Datasheet.pdf 35BYHG04 Datasheet]<br />
| 14 || ~12.3 N-cm || 4.9mm || {{true}} || Less Holding Torque than recommended, but has apparently been used successfully<br />
|-<br />
| [http://www.pololu.com/ Pololu] || US || [http://www.cnsoyo.com/ SOYO] || SY35ST36-1004A || ? || 14 || ~13.7 N-cm || 5mm || '''?''' || Note: Pololu list this motor as 1400 g-cm AND as 20 oz-in (converts to 19.44 oz-in). According to supplier information, the metric value is correct.<br />
|-<br />
| [http://www.slidesandballscrews.com/stepper-motors-c-45.html Zapp Automation]<br />
| UK || [http://www.cnsoyo.com/ SOYO] || SY42STH47-1206A<br />
| [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1206A.pdf SY42STH47-1206A Datasheet]<br />
| 17 || ~31.1 N-cm || Single || {{true}} || None<br />
|-<br />
| [http://www.slidesandballscrews.com/stepper-motors-c-45.html Zapp Automation]<br />
| UK || [http://www.cnsoyo.com/ SOYO] || [http://www.slidesandballscrews.com/sy42sth471684b-p-255.html?cPath=45_80 SY42STH47-1684B]<br />
| [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1684B.pdf SY42STH47-1684B Datasheet]<br />
| 17 || ~43.1 N-cm || Dual || {{true}} || Round Ø5mm Shafts<br />
|-<br />
| [http://www.slidesandballscrews.com/stepper-motors-c-45.html Zapp Automation]<br />
| UK || [http://www.cnsoyo.com/ SOYO] || [http://www.slidesandballscrews.com/sy42sth471684a-p-315.html?cPath=45_80 SY42STH47-1684A]<br />
| [http://www.slidesandballscrews.com/pdf/steppermotors/SY42STH47-1684A.pdf SY42STH47-1684A Datasheet]<br />
| 17 || ~43.1 N-cm || Single || '''?''' || D-Shape 5mm shaft with 4.5mm flat<br />
|-<br />
| [http://www.coolcomponents.co.uk/ Cool Components] || UK || Mercury Motor || [http://www.coolcomponents.co.uk/catalog/product_info.php?products_id=469 SM-42BYGH011-25]<br />
| [http://www.sparkfun.com/datasheets/Robotics/SM-42BYG011-25.pdf SM-42BYG011 Datasheet]<br />
| 17 || 23 N-cm || 5mm || ? || None<br />
|-<br />
| [http://www.interinar.com/step-motors.html Interinar Electronics, LLC] || US || Oriental Motors<br />
| [http://www.interinar.com/vexta-px243m-01aa.html Vexta PX243M-01AA]<br />
| [http://www.interinar.com/public_docs/PX243M-01AA.pdf PX243M-01AA Datasheet]<br />
| 17 || 15 N-cm || Single || '''?''' || Not strong enough for direct drive extruder, Uses Imperial #4-40 TPI mounting holes instead of M3 metric<br />
|-<br />
| [http://www.alltronics.com/cgi-bin/category.cgi?category=55 Alltronics.com] || US || Lin Engineering<br />
| [http://www.alltronics.com/cgi-bin/item/28M035/search/Lin-Engineering-4218L-01-10-bipolar-stepper-motor 4218L-01-10]<br />
| [http://www.alltronics.com/mas_assets/acrobat/28M035.pdf 4218L-01-10 Datasheet]<br />
| 17 || ~53 N-cm || 3/16 inch = 4.7625 mm (Round) || {{true}} || None<br />
|-<br />
| [http://www.alltronics.com/cgi-bin/category.cgi?category=55 Alltronics.com] || US || Lin Engineering<br />
| [http://www.alltronics.com/cgi-bin/item/24M014/search/Lin-Engineering-Nema-17-1.8deg-24V-2A-bipolar-stepper-motor 4218L-01-11]<br />
| [http://www.alltronics.com/mas_assets/acrobat/24M014.pdf 4218L-01-11 Datasheet]<br />
| 17 (?) || ~53 N-cm || ~5 mm = 0.1968 inches (D-Shape) || {{true}} || None<br />
|-<br />
| [http://www.phidgets.com/products.php?category=23 Phidgets.com] || US || Wantai<br />
| [http://www.phidgets.com/products.php?category=23&product_id=3303 42BYGHW811]<br />
| [http://www.phidgets.com/documentation/Phidgets/3303Datasheet.pdf 42BYGHW811 Datasheet]<br />
| 17 || ~47.1 N-cm || 4.9mm || '''?''' || None<br />
|-<br />
| [http://www.sparkfun.com/ SparkFun] || US || Mercury Motor || SM-42BYG011 || [http://www.sparkfun.com/datasheets/Robotics/SM-42BYG011-25.pdf SM-42BYG011 Datasheet] || 17 || 23 N-cm || 5mm || {{true}} || None<br />
|-<br />
| [http://www.robotgear.com.au Robot Gear] || AU || Mercury Motor || SM-42BYG011-25<br />
| [http://www.robotgear.com.au/Cache/Files/Files/118_Stepper%20Motor%20Datasheet%20SM-42BYG011-25.pdf SM-42BYG011 Datasheet]<br />
| 17 || 23 N-cm || 5mm || {{true}} || None<br />
|-<br />
| [http://mindkits.co.nz/ Mindkits] || NZ || Mercury Motor || SM-42BYG011 || [http://www.sparkfun.com/datasheets/Robotics/SM-42BYG011-25.pdf SM-42BYG011 Datasheet] || 17 || 23 N-cm || 5mm || {{true}} || None<br />
|-<br />
| [http://ausxmods.com.au/ AusXMods] || AU || Rugao Xinhe || 17H185H-04A || ? || 17 || ~43.8 N-cm || ? || '''?''' || None<br />
|-<br />
| [http://store.kysanelectronics.com Kysan] || China || [http://store.kysanelectronics.com Kysan] || 42BYGH4803 || [http://store.kysanelectronics.com/servlet/-strse-68835/42BYGH4803/Detail Datasheet]|| 17 || 49 N-cm || 5mm || {{true}} || Successfully tested with [http://objects.reprap.org/wiki/Geared_Nema17_Extruder Wade's Geared Nema 17] extruder - high flow rates.<br />
|}<br />
<br />
[[Category:Suppliers by Part]]</div>Stephen Georgehttps://reprap.org/mediawiki/index.php?title=Useful_Software_Packages&diff=7128Useful Software Packages2010-03-02T05:40:23Z<p>Stephen George: /* OpenSCAD */</p>
<hr />
<div>This is the place to put details of software packages that are useful for RepRap (like CAD programs), but that are not part of the RepRap project itself. Give a paragraph or so of explanation on each package and a link to its home page. Please also say what platforms it runs on, what licence it is distributed under, and whether it is free.<br />
<br />
==2D and 3D CAD software==<br />
<br />
===OpenSCAD===<br />
<br />
OpenSCAD is a scripted modeller which produces CSG (Constructive Solid Geometry) and 2D outlines.<br />
It is free software and available for Linux/UNIX, MS Windows and Apples OS X.<br />
It supports DFX, STL and OFF file formats and is designed for the engineer not the artist.<br />
Can be used from the command line to generate bespoke STL objects. e.g. > openscad -m make -s gears_helical.stl -D teethNum=15 gears_helical.scad<br />
<br />
[http://openscad.org/ OpenSCAD main page and download]<br />
<br />
[http://rocklinux.net/mailman/listinfo/openscad Mailing list and archives]<br />
<br />
[http://en.wikibooks.org/wiki/OpenSCAD_User_Manual Manual]<br />
<br />
[http://blog.thingiverse.com/2009/11/06/in-which-openscad-wins-me-over/ Endorsement]<br />
<br />
===Archimedes===<br />
<br />
Brasilian 3D package. Apparently became orphanware in 2007.<br />
<br />
[http://archimedes.incubadora.fapesp.br/portal Archimedes]<br />
<br />
===Art of Illusion===<br />
<br />
Art of Illusion (AoI) is a 3D graphics design tool, but it is good for engineering design too. It has a very easy and quick-to-learn user interface. There is also a [http://reprap.org/bin/view/Main/AoI RepRap page on using it for engineering design]. AoI is written in Java, runs on Linux, Windows or Mac, and is freely available under the GPL.<br />
<br />
AoI, for all its shortcomings, is probably the most used 3D modeling package in the RepRap community, primarily because of its very short learning curve. V2.7 experiences problems with booleans, and 2.6 is currently recommended - particularly with the CSG Evaluator plugin.<br />
<br />
There is also a page on [[Reprap-specific plugins for AoI]].<br />
<br />
[http://www.artofillusion.org/ Art of Illusion]<br />
<br />
===AutoQ3D===<br />
<br />
AutoQ3D Animation is an easy 3D CAD with animation capabilities. It is suitable for anyone interested in learning 3D CAD and Animation before using more sophisticated packages.<br />
<br />
[http://autoq3d.ecuadra.com/ AutoQ3D]<br />
<br />
===Blender===<br />
<br />
Blender was originally intended for the same applications as AoI. It has a very 'efficient' user interface, which includes a number of single-key keyboard commands. This is a very powerful and fast way of working, but can intimidate would-be users. (Don't be scared, blender is fun!) It may be arguably more powerful than AoI, and has a huge user community. Blender is scriptable in Python, runs on Linux, Windows or Mac, and is freely available under the GPL.<br />
<br />
[http://www.blender.org/ Blender]<br />
<br />
Also See [http://homepage.ntlworld.com/r.burke2/precision_modelling1.html Blender Precision Modelling Tutorial]<br />
<br />
====BlenderCAD====<br />
BlenderCAD is a pre-alpha attempt to build CAD functionality into Blender.<br />
*[https://projects.blender.org/projects/blendercad/ Home Page ]<br />
*[https://projects.blender.org/forum/forum.php?thread_id=199203&forum_id=174 General Forum ]<br />
*[http://sourceforge.net/projects/blendercad/ Sourceforge page]<br />
*[http://lists.blender.org/mailman/listinfo/blendercad-dev Mailing List]<br />
*IRC: If you are interested the online meeting is on irc.freenode.net, channel #cad, and port 6667. The third Saturday of every month. 12:00 - 13:00, (GMT-7)<br />
<br />
===BRL-CAD===<br />
<br />
BRL-CAD is a cross-platform open source solid modeling system that includes interactive geometry editing, high-performance ray-tracing for rendering and geometric analysis, image and signal-processing tools, a system performance analysis benchmark suite, libraries for robust geometric representation, with more than 20 years of active development. The BRL-CAD runs on BSD, Irix, Linux, Mac OS X, Solaris, and Windows. BRL-CAD became an open source project in 2004, with portions licensed under the LGPL and BSD licenses.<br />
<br />
[http://brlcad.org/ BRL-CAD]<br />
<br />
===CoCreate===<br />
<br />
CoCreate Modeling Personal Edition is free for non-professional use. It is limited to 60 parts in one design and can only save designs in its own proprietary format, but it can export STL and VRML and import STEP and IGES. It is Windows only and needs an internet connection every three days. Apparently, very easy to use. {content abstracted from [http://hydraraptor.blogspot.com/2008/06/from-illusion-to-creation.html Hydraraptor]}<br />
<br />
[http://www.ptc.com/products/cocreate/ CoCreate]<br />
<br />
===FreeCAD===<br />
<br />
FreeCAD is still under development, but it is intended to be a full 3D mechanical engineering CAD package. FreeCAD is based on [http://www.opencascade.org/ OpenCasCade], QT and Python, runs on Linux and Windows, and is freely available under the GPL and LGPL.<br />
<br />
[http://sourceforge.net/apps/mediawiki/free-cad/index.php?title=Main_Page FreeCAD]<br />
<br />
===HeeksCAD===<br />
<br />
HeeksCAD, like FreeCAD, is based on [http://www.opencascade.org/ OpenCasCade], and has similar modeling functionality, for solids slightly more, less for meshes, with neutral IGES, STEP and STL file format exchange. It's much less dependent on parametric editing than FreeCAD and the GUI is more integrated, not modular. Windows and various Linux builds. Distributed under BSD license. <br />
<br />
[http://code.google.com/p/heekscad/]<br />
<br />
===QCAD===<br />
<br />
QCAD is an application for computer aided drafting in two dimensions (2D). With QCAD you can create technical drawings such as plans for buildings, interiors, mechanical parts or schemas and diagrams. QCAD works on Windows, Mac OS X and many Linux and Unix Systems. The source code of the free QCAD community edition is released under the GPL.<br />
<br />
[http://www.ribbonsoft.com/qcad.html QCAD]<br />
<br />
===Inkscape===<br />
<br />
Inkscape is an Open Source vector graphics editor, with capabilities similar to Illustrator, CorelDraw, or Xara X. It uses the W3C standard Scalable Vector Graphics (SVG) file format. Inkscape is released under GPL Version 2.<br />
<br />
[http://www.inkscape.org/ Inkscape]<br />
<br />
===iTracer===<br />
<br />
iTracer is a 3D modeling and rendering application for the iPhone. There are instructions for creating models for 3D printing using it [http://www.instructables.com/id/Creating-a-Model-for-3D-Printing-on-an-iPhoneiPod/ on Instructables here]. It costs $2.<br />
<br />
[http://fabio.policarpo.nom.br/Apps.html iTracer]<br />
<br />
==Software for dealing with STL files ==<br />
<br />
===MeshLab===<br />
<br />
An open source, portable, and extensible system for the processing and editing of unstructured 3D triangular meshes. It also has an as yet unexploited object slicing routine which is extremely quick.<br />
<br />
[http://meshlab.sourceforge.net/ MeshLab]<br />
<br />
===netfabb Studio===<br />
<br />
netfabb Studio is free, but not open source. It is Windows only.<br />
<br />
netfabb Studio is software tailored for additive fabrication, rapid prototyping and 3D printing. It includes the ability of viewing, editing, repairing and analyzing stl-files or slice-based files in various formats.<br />
<br />
[http://www.netfabb.com/ netfabb Studio]<br />
<br />
==CAD software for electronics==<br />
<br />
===Eagle===<br />
<br />
Proprietary circuit-diagram and PCB design system with a slightly reduced-capabilities freeware version. It includes an autorouter for PCB creation. This is the package that has been used to design the majority of the RepRap electronics. It is also used to design the open-source [http://arduino.cc/ Arduino microcontroller], derivatives of which are used in RepRap. It runs on Linux, Windows or Mac.<br />
<br />
[http://www.cadsoft.de Eagle]<br />
<br />
===KiCAD===<br />
<br />
An open source (GPL) software for the creation of electronic schematic diagrams and printed circuit board artwork. <br />
<br />
[http://www.lis.inpg.fr/realise_au_lis/kicad/ KiCAD]<br />
<br />
===Stripboard Designer 1.0===<br />
<br />
Open source (BSD) app written in freeware Visual Basic 2008 Express for Wintel machines<br />
<br />
[http://3dreplicators.com/New%20Front%20Page/Documentation/Tools/Stripboard%20designer.htm Stripboard Designer 1.0]<br />
<br />
===Stripes===<br />
<br />
Open source (GPL) version of Stripboard Designer written by Julian Skidmore in Java<br />
<br />
[http://sites.google.com/site/libby8dev/stripes Stripes]</div>Stephen Georgehttps://reprap.org/mediawiki/index.php?title=Useful_Software_Packages&diff=6613Useful Software Packages2010-02-20T17:44:17Z<p>Stephen George: /* OpenSCAD */</p>
<hr />
<div>This is the place to put details of software packages that are useful for RepRap (like CAD programs), but that are not part of the RepRap project itself. Give a paragraph or so of explanation on each package and a link to its home page. Please also say what platforms it runs on, what licence it is distributed under, and whether it is free.<br />
<br />
==2D and 3D CAD software==<br />
<br />
===OpenSCAD===<br />
<br />
OpenSCAD is a scripted modeller which produces CSG (Constructive Solid Geometry) and 2D outlines.<br />
It is free software and available for Linux/UNIX, MS Windows and Apples OS X.<br />
It supports DFX, STL and OFF file formats and is designed for the engineer not the artist.<br />
<br />
[http://openscad.org/ OpenSCAD main page and download]<br />
<br />
[http://rocklinux.net/mailman/listinfo/openscad Mailing list and archives]<br />
<br />
[http://en.wikibooks.org/wiki/OpenSCAD_User_Manual Manual]<br />
<br />
[http://blog.thingiverse.com/2009/11/06/in-which-openscad-wins-me-over/ Endorsement]<br />
<br />
===Archimedes===<br />
<br />
Brasilian 3D package. Apparently became orphanware in 2007.<br />
<br />
[http://archimedes.incubadora.fapesp.br/portal Archimedes]<br />
<br />
===Art of Illusion===<br />
<br />
Art of Illusion (AoI) is a 3D graphics design tool, but it is good for engineering design too. It has a very easy and quick-to-learn user interface. There is also a [http://reprap.org/bin/view/Main/AoI RepRap page on using it for engineering design]. AoI is written in Java, runs on Linux, Windows or Mac, and is freely available under the GPL.<br />
<br />
AoI, for all its shortcomings, is probably the most used 3D modeling package in the RepRap community, primarily because of its very short learning curve. V2.7 experiences problems with booleans, and 2.6 is currently recommended - particularly with the CSG Evaluator plugin.<br />
<br />
There is also a page on [[Reprap-specific plugins for AoI]].<br />
<br />
[http://www.artofillusion.org/ Art of Illusion]<br />
<br />
===AutoQ3D===<br />
<br />
AutoQ3D Animation is an easy 3D CAD with animation capabilities. It is suitable for anyone interested in learning 3D CAD and Animation before using more sophisticated packages.<br />
<br />
[http://autoq3d.ecuadra.com/ AutoQ3D]<br />
<br />
===Blender===<br />
<br />
Blender was originally intended for the same applications as AoI. It has a very 'efficient' user interface, which includes a number of single-key keyboard commands. This is a very powerful and fast way of working, but can intimidate would-be users. (Don't be scared, blender is fun!) It may be arguably more powerful than AoI, and has a huge user community. Blender is scriptable in Python, runs on Linux, Windows or Mac, and is freely available under the GPL.<br />
<br />
[http://www.blender.org/ Blender]<br />
<br />
Also See [http://homepage.ntlworld.com/r.burke2/precision_modelling1.html Blender Precision Modelling Tutorial]<br />
<br />
====BlenderCAD====<br />
BlenderCAD is a pre-alpha attempt to build CAD functionality into Blender.<br />
*[https://projects.blender.org/projects/blendercad/ Home Page ]<br />
*[https://projects.blender.org/forum/forum.php?thread_id=199203&forum_id=174 General Forum ]<br />
*[http://sourceforge.net/projects/blendercad/ Sourceforge page]<br />
*[http://lists.blender.org/mailman/listinfo/blendercad-dev Mailing List]<br />
*IRC: If you are interested the online meeting is on irc.freenode.net, channel #cad, and port 6667. The third Saturday of every month. 12:00 - 13:00, (GMT-7)<br />
<br />
===BRL-CAD===<br />
<br />
BRL-CAD is a cross-platform open source solid modeling system that includes interactive geometry editing, high-performance ray-tracing for rendering and geometric analysis, image and signal-processing tools, a system performance analysis benchmark suite, libraries for robust geometric representation, with more than 20 years of active development. The BRL-CAD runs on BSD, Irix, Linux, Mac OS X, Solaris, and Windows. BRL-CAD became an open source project in 2004, with portions licensed under the LGPL and BSD licenses.<br />
<br />
[http://brlcad.org/ BRL-CAD]<br />
<br />
===CoCreate===<br />
<br />
CoCreate Modeling Personal Edition is free for non-professional use. It is limited to 60 parts in one design and can only save designs in its own proprietary format, but it can export STL and VRML and import STEP and IGES. It is Windows only and needs an internet connection every three days. Apparently, very easy to use. {content abstracted from [http://hydraraptor.blogspot.com/2008/06/from-illusion-to-creation.html Hydraraptor]}<br />
<br />
[http://www.ptc.com/products/cocreate/ CoCreate]<br />
<br />
===FreeCAD===<br />
<br />
FreeCAD is still under development, but it is intended to be a full 3D mechanical engineering CAD package. FreeCAD is based on [http://www.opencascade.org/ OpenCasCade], QT and Python, runs on Linux and Windows, and is freely available under the GPL and LGPL.<br />
<br />
[http://sourceforge.net/apps/mediawiki/free-cad/index.php?title=Main_Page FreeCAD]<br />
<br />
===HeeksCAD===<br />
<br />
HeeksCAD, like FreeCAD, is based on [http://www.opencascade.org/ OpenCasCade], and has similar modeling functionality, for solids slightly more, less for meshes, with neutral IGES, STEP and STL file format exchange. It's much less dependent on parametric editing than FreeCAD and the GUI is more integrated, not modular. Windows and various Linux builds. Distributed under BSD license. <br />
<br />
[http://code.google.com/p/heekscad/]<br />
<br />
===QCAD===<br />
<br />
QCAD is an application for computer aided drafting in two dimensions (2D). With QCAD you can create technical drawings such as plans for buildings, interiors, mechanical parts or schemas and diagrams. QCAD works on Windows, Mac OS X and many Linux and Unix Systems. The source code of the free QCAD community edition is released under the GPL.<br />
<br />
[http://www.ribbonsoft.com/qcad.html QCAD]<br />
<br />
===Inkscape===<br />
<br />
Inkscape is an Open Source vector graphics editor, with capabilities similar to Illustrator, CorelDraw, or Xara X. It uses the W3C standard Scalable Vector Graphics (SVG) file format. Inkscape is released under GPL Version 2.<br />
<br />
[http://www.inkscape.org/ Inkscape]<br />
<br />
===iTracer===<br />
<br />
iTracer is a 3D modeling and rendering application for the iPhone. There are instructions for creating models for 3D printing using it [http://www.instructables.com/id/Creating-a-Model-for-3D-Printing-on-an-iPhoneiPod/ on Instructables here]. It costs $2.<br />
<br />
[http://fabio.policarpo.nom.br/Apps.html iTracer]<br />
<br />
==Software for dealing with STL files ==<br />
<br />
===MeshLab===<br />
<br />
An open source, portable, and extensible system for the processing and editing of unstructured 3D triangular meshes. It also has an as yet unexploited object slicing routine which is extremely quick.<br />
<br />
[http://meshlab.sourceforge.net/ MeshLab]<br />
<br />
===netfabb Studio===<br />
<br />
netfabb Studio is free, but not open source. It is Windows only.<br />
<br />
netfabb Studio is software tailored for additive fabrication, rapid prototyping and 3D printing. It includes the ability of viewing, editing, repairing and analyzing stl-files or slice-based files in various formats.<br />
<br />
[http://www.netfabb.com/ netfabb Studio]<br />
<br />
==CAD software for electronics==<br />
<br />
===Eagle===<br />
<br />
Proprietary circuit-diagram and PCB design system with a slightly reduced-capabilities freeware version. It includes an autorouter for PCB creation. This is the package that has been used to design the majority of the RepRap electronics. It is also used to design the open-source [http://arduino.cc/ Arduino microcontroller], derivatives of which are used in RepRap. It runs on Linux, Windows or Mac.<br />
<br />
[http://www.cadsoft.de Eagle]<br />
<br />
===KiCAD===<br />
<br />
An open source (GPL) software for the creation of electronic schematic diagrams and printed circuit board artwork. <br />
<br />
[http://www.lis.inpg.fr/realise_au_lis/kicad/ KiCAD]<br />
<br />
===Stripboard Designer 1.0===<br />
<br />
Open source (BSD) app written in freeware Visual Basic 2008 Express for Wintel machines<br />
<br />
[http://3dreplicators.com/New%20Front%20Page/Documentation/Tools/Stripboard%20designer.htm Stripboard Designer 1.0]<br />
<br />
===Stripes===<br />
<br />
Open source (GPL) version of Stripboard Designer written by Julian Skidmore in Java<br />
<br />
[http://sites.google.com/site/libby8dev/stripes Stripes]</div>Stephen Georgehttps://reprap.org/mediawiki/index.php?title=Useful_Software_Packages&diff=6611Useful Software Packages2010-02-20T17:42:43Z<p>Stephen George: /* OpenSCAD */</p>
<hr />
<div>This is the place to put details of software packages that are useful for RepRap (like CAD programs), but that are not part of the RepRap project itself. Give a paragraph or so of explanation on each package and a link to its home page. Please also say what platforms it runs on, what licence it is distributed under, and whether it is free.<br />
<br />
==2D and 3D CAD software==<br />
<br />
===OpenSCAD===<br />
<br />
OpenSCAD is a scripted modeller which produces CSG (Constructive Solid Geometry) and 2D outlines.<br />
It is free software and available for Linux/UNIX, MS Windows and Apples OS X.<br />
It supports DFX, STL and OFF file formats and is designed for the engineer not the artist.<br />
<br />
[http://openscad.org/ OpenSCAD main page and download]<br />
[http://rocklinux.net/mailman/listinfo/openscad Mailing list and archives]<br />
[http://en.wikibooks.org/wiki/OpenSCAD_User_Manual Manual]<br />
<br />
===Archimedes===<br />
<br />
Brasilian 3D package. Apparently became orphanware in 2007.<br />
<br />
[http://archimedes.incubadora.fapesp.br/portal Archimedes]<br />
<br />
===Art of Illusion===<br />
<br />
Art of Illusion (AoI) is a 3D graphics design tool, but it is good for engineering design too. It has a very easy and quick-to-learn user interface. There is also a [http://reprap.org/bin/view/Main/AoI RepRap page on using it for engineering design]. AoI is written in Java, runs on Linux, Windows or Mac, and is freely available under the GPL.<br />
<br />
AoI, for all its shortcomings, is probably the most used 3D modeling package in the RepRap community, primarily because of its very short learning curve. V2.7 experiences problems with booleans, and 2.6 is currently recommended - particularly with the CSG Evaluator plugin.<br />
<br />
There is also a page on [[Reprap-specific plugins for AoI]].<br />
<br />
[http://www.artofillusion.org/ Art of Illusion]<br />
<br />
===AutoQ3D===<br />
<br />
AutoQ3D Animation is an easy 3D CAD with animation capabilities. It is suitable for anyone interested in learning 3D CAD and Animation before using more sophisticated packages.<br />
<br />
[http://autoq3d.ecuadra.com/ AutoQ3D]<br />
<br />
===Blender===<br />
<br />
Blender was originally intended for the same applications as AoI. It has a very 'efficient' user interface, which includes a number of single-key keyboard commands. This is a very powerful and fast way of working, but can intimidate would-be users. (Don't be scared, blender is fun!) It may be arguably more powerful than AoI, and has a huge user community. Blender is scriptable in Python, runs on Linux, Windows or Mac, and is freely available under the GPL.<br />
<br />
[http://www.blender.org/ Blender]<br />
<br />
Also See [http://homepage.ntlworld.com/r.burke2/precision_modelling1.html Blender Precision Modelling Tutorial]<br />
<br />
====BlenderCAD====<br />
BlenderCAD is a pre-alpha attempt to build CAD functionality into Blender.<br />
*[https://projects.blender.org/projects/blendercad/ Home Page ]<br />
*[https://projects.blender.org/forum/forum.php?thread_id=199203&forum_id=174 General Forum ]<br />
*[http://sourceforge.net/projects/blendercad/ Sourceforge page]<br />
*[http://lists.blender.org/mailman/listinfo/blendercad-dev Mailing List]<br />
*IRC: If you are interested the online meeting is on irc.freenode.net, channel #cad, and port 6667. The third Saturday of every month. 12:00 - 13:00, (GMT-7)<br />
<br />
===BRL-CAD===<br />
<br />
BRL-CAD is a cross-platform open source solid modeling system that includes interactive geometry editing, high-performance ray-tracing for rendering and geometric analysis, image and signal-processing tools, a system performance analysis benchmark suite, libraries for robust geometric representation, with more than 20 years of active development. The BRL-CAD runs on BSD, Irix, Linux, Mac OS X, Solaris, and Windows. BRL-CAD became an open source project in 2004, with portions licensed under the LGPL and BSD licenses.<br />
<br />
[http://brlcad.org/ BRL-CAD]<br />
<br />
===CoCreate===<br />
<br />
CoCreate Modeling Personal Edition is free for non-professional use. It is limited to 60 parts in one design and can only save designs in its own proprietary format, but it can export STL and VRML and import STEP and IGES. It is Windows only and needs an internet connection every three days. Apparently, very easy to use. {content abstracted from [http://hydraraptor.blogspot.com/2008/06/from-illusion-to-creation.html Hydraraptor]}<br />
<br />
[http://www.ptc.com/products/cocreate/ CoCreate]<br />
<br />
===FreeCAD===<br />
<br />
FreeCAD is still under development, but it is intended to be a full 3D mechanical engineering CAD package. FreeCAD is based on [http://www.opencascade.org/ OpenCasCade], QT and Python, runs on Linux and Windows, and is freely available under the GPL and LGPL.<br />
<br />
[http://sourceforge.net/apps/mediawiki/free-cad/index.php?title=Main_Page FreeCAD]<br />
<br />
===HeeksCAD===<br />
<br />
HeeksCAD, like FreeCAD, is based on [http://www.opencascade.org/ OpenCasCade], and has similar modeling functionality, for solids slightly more, less for meshes, with neutral IGES, STEP and STL file format exchange. It's much less dependent on parametric editing than FreeCAD and the GUI is more integrated, not modular. Windows and various Linux builds. Distributed under BSD license. <br />
<br />
[http://code.google.com/p/heekscad/]<br />
<br />
===QCAD===<br />
<br />
QCAD is an application for computer aided drafting in two dimensions (2D). With QCAD you can create technical drawings such as plans for buildings, interiors, mechanical parts or schemas and diagrams. QCAD works on Windows, Mac OS X and many Linux and Unix Systems. The source code of the free QCAD community edition is released under the GPL.<br />
<br />
[http://www.ribbonsoft.com/qcad.html QCAD]<br />
<br />
===Inkscape===<br />
<br />
Inkscape is an Open Source vector graphics editor, with capabilities similar to Illustrator, CorelDraw, or Xara X. It uses the W3C standard Scalable Vector Graphics (SVG) file format. Inkscape is released under GPL Version 2.<br />
<br />
[http://www.inkscape.org/ Inkscape]<br />
<br />
===iTracer===<br />
<br />
iTracer is a 3D modeling and rendering application for the iPhone. There are instructions for creating models for 3D printing using it [http://www.instructables.com/id/Creating-a-Model-for-3D-Printing-on-an-iPhoneiPod/ on Instructables here]. It costs $2.<br />
<br />
[http://fabio.policarpo.nom.br/Apps.html iTracer]<br />
<br />
==Software for dealing with STL files ==<br />
<br />
===MeshLab===<br />
<br />
An open source, portable, and extensible system for the processing and editing of unstructured 3D triangular meshes. It also has an as yet unexploited object slicing routine which is extremely quick.<br />
<br />
[http://meshlab.sourceforge.net/ MeshLab]<br />
<br />
===netfabb Studio===<br />
<br />
netfabb Studio is free, but not open source. It is Windows only.<br />
<br />
netfabb Studio is software tailored for additive fabrication, rapid prototyping and 3D printing. It includes the ability of viewing, editing, repairing and analyzing stl-files or slice-based files in various formats.<br />
<br />
[http://www.netfabb.com/ netfabb Studio]<br />
<br />
==CAD software for electronics==<br />
<br />
===Eagle===<br />
<br />
Proprietary circuit-diagram and PCB design system with a slightly reduced-capabilities freeware version. It includes an autorouter for PCB creation. This is the package that has been used to design the majority of the RepRap electronics. It is also used to design the open-source [http://arduino.cc/ Arduino microcontroller], derivatives of which are used in RepRap. It runs on Linux, Windows or Mac.<br />
<br />
[http://www.cadsoft.de Eagle]<br />
<br />
===KiCAD===<br />
<br />
An open source (GPL) software for the creation of electronic schematic diagrams and printed circuit board artwork. <br />
<br />
[http://www.lis.inpg.fr/realise_au_lis/kicad/ KiCAD]<br />
<br />
===Stripboard Designer 1.0===<br />
<br />
Open source (BSD) app written in freeware Visual Basic 2008 Express for Wintel machines<br />
<br />
[http://3dreplicators.com/New%20Front%20Page/Documentation/Tools/Stripboard%20designer.htm Stripboard Designer 1.0]<br />
<br />
===Stripes===<br />
<br />
Open source (GPL) version of Stripboard Designer written by Julian Skidmore in Java<br />
<br />
[http://sites.google.com/site/libby8dev/stripes Stripes]</div>Stephen Georgehttps://reprap.org/mediawiki/index.php?title=Useful_Software_Packages&diff=6610Useful Software Packages2010-02-20T17:40:22Z<p>Stephen George: /* OpenSCAD */</p>
<hr />
<div>This is the place to put details of software packages that are useful for RepRap (like CAD programs), but that are not part of the RepRap project itself. Give a paragraph or so of explanation on each package and a link to its home page. Please also say what platforms it runs on, what licence it is distributed under, and whether it is free.<br />
<br />
==2D and 3D CAD software==<br />
<br />
===OpenSCAD===<br />
<br />
OpenSCAD is a scripted modeller which produces CSG (Constructive Solid Geometry) and 2D outlines.<br />
It is free software and available for Linux/UNIX, MS Windows and Apples OS X.<br />
It supports DFX, STL and OFF file formats and is designed for the engineer not the artist.<br />
<br />
Download - [http://openscad.org/ OpenSCAD]<br />
Mailing list - [http://rocklinux.net/mailman/listinfo/openscad]<br />
Manual - [http://en.wikibooks.org/wiki/OpenSCAD_User_Manual]<br />
<br />
===Archimedes===<br />
<br />
Brasilian 3D package. Apparently became orphanware in 2007.<br />
<br />
[http://archimedes.incubadora.fapesp.br/portal Archimedes]<br />
<br />
===Art of Illusion===<br />
<br />
Art of Illusion (AoI) is a 3D graphics design tool, but it is good for engineering design too. It has a very easy and quick-to-learn user interface. There is also a [http://reprap.org/bin/view/Main/AoI RepRap page on using it for engineering design]. AoI is written in Java, runs on Linux, Windows or Mac, and is freely available under the GPL.<br />
<br />
AoI, for all its shortcomings, is probably the most used 3D modeling package in the RepRap community, primarily because of its very short learning curve. V2.7 experiences problems with booleans, and 2.6 is currently recommended - particularly with the CSG Evaluator plugin.<br />
<br />
There is also a page on [[Reprap-specific plugins for AoI]].<br />
<br />
[http://www.artofillusion.org/ Art of Illusion]<br />
<br />
===AutoQ3D===<br />
<br />
AutoQ3D Animation is an easy 3D CAD with animation capabilities. It is suitable for anyone interested in learning 3D CAD and Animation before using more sophisticated packages.<br />
<br />
[http://autoq3d.ecuadra.com/ AutoQ3D]<br />
<br />
===Blender===<br />
<br />
Blender was originally intended for the same applications as AoI. It has a very 'efficient' user interface, which includes a number of single-key keyboard commands. This is a very powerful and fast way of working, but can intimidate would-be users. (Don't be scared, blender is fun!) It may be arguably more powerful than AoI, and has a huge user community. Blender is scriptable in Python, runs on Linux, Windows or Mac, and is freely available under the GPL.<br />
<br />
[http://www.blender.org/ Blender]<br />
<br />
Also See [http://homepage.ntlworld.com/r.burke2/precision_modelling1.html Blender Precision Modelling Tutorial]<br />
<br />
====BlenderCAD====<br />
BlenderCAD is a pre-alpha attempt to build CAD functionality into Blender.<br />
*[https://projects.blender.org/projects/blendercad/ Home Page ]<br />
*[https://projects.blender.org/forum/forum.php?thread_id=199203&forum_id=174 General Forum ]<br />
*[http://sourceforge.net/projects/blendercad/ Sourceforge page]<br />
*[http://lists.blender.org/mailman/listinfo/blendercad-dev Mailing List]<br />
*IRC: If you are interested the online meeting is on irc.freenode.net, channel #cad, and port 6667. The third Saturday of every month. 12:00 - 13:00, (GMT-7)<br />
<br />
===BRL-CAD===<br />
<br />
BRL-CAD is a cross-platform open source solid modeling system that includes interactive geometry editing, high-performance ray-tracing for rendering and geometric analysis, image and signal-processing tools, a system performance analysis benchmark suite, libraries for robust geometric representation, with more than 20 years of active development. The BRL-CAD runs on BSD, Irix, Linux, Mac OS X, Solaris, and Windows. BRL-CAD became an open source project in 2004, with portions licensed under the LGPL and BSD licenses.<br />
<br />
[http://brlcad.org/ BRL-CAD]<br />
<br />
===CoCreate===<br />
<br />
CoCreate Modeling Personal Edition is free for non-professional use. It is limited to 60 parts in one design and can only save designs in its own proprietary format, but it can export STL and VRML and import STEP and IGES. It is Windows only and needs an internet connection every three days. Apparently, very easy to use. {content abstracted from [http://hydraraptor.blogspot.com/2008/06/from-illusion-to-creation.html Hydraraptor]}<br />
<br />
[http://www.ptc.com/products/cocreate/ CoCreate]<br />
<br />
===FreeCAD===<br />
<br />
FreeCAD is still under development, but it is intended to be a full 3D mechanical engineering CAD package. FreeCAD is based on [http://www.opencascade.org/ OpenCasCade], QT and Python, runs on Linux and Windows, and is freely available under the GPL and LGPL.<br />
<br />
[http://sourceforge.net/apps/mediawiki/free-cad/index.php?title=Main_Page FreeCAD]<br />
<br />
===HeeksCAD===<br />
<br />
HeeksCAD, like FreeCAD, is based on [http://www.opencascade.org/ OpenCasCade], and has similar modeling functionality, for solids slightly more, less for meshes, with neutral IGES, STEP and STL file format exchange. It's much less dependent on parametric editing than FreeCAD and the GUI is more integrated, not modular. Windows and various Linux builds. Distributed under BSD license. <br />
<br />
[http://code.google.com/p/heekscad/]<br />
<br />
===QCAD===<br />
<br />
QCAD is an application for computer aided drafting in two dimensions (2D). With QCAD you can create technical drawings such as plans for buildings, interiors, mechanical parts or schemas and diagrams. QCAD works on Windows, Mac OS X and many Linux and Unix Systems. The source code of the free QCAD community edition is released under the GPL.<br />
<br />
[http://www.ribbonsoft.com/qcad.html QCAD]<br />
<br />
===Inkscape===<br />
<br />
Inkscape is an Open Source vector graphics editor, with capabilities similar to Illustrator, CorelDraw, or Xara X. It uses the W3C standard Scalable Vector Graphics (SVG) file format. Inkscape is released under GPL Version 2.<br />
<br />
[http://www.inkscape.org/ Inkscape]<br />
<br />
===iTracer===<br />
<br />
iTracer is a 3D modeling and rendering application for the iPhone. There are instructions for creating models for 3D printing using it [http://www.instructables.com/id/Creating-a-Model-for-3D-Printing-on-an-iPhoneiPod/ on Instructables here]. It costs $2.<br />
<br />
[http://fabio.policarpo.nom.br/Apps.html iTracer]<br />
<br />
==Software for dealing with STL files ==<br />
<br />
===MeshLab===<br />
<br />
An open source, portable, and extensible system for the processing and editing of unstructured 3D triangular meshes. It also has an as yet unexploited object slicing routine which is extremely quick.<br />
<br />
[http://meshlab.sourceforge.net/ MeshLab]<br />
<br />
===netfabb Studio===<br />
<br />
netfabb Studio is free, but not open source. It is Windows only.<br />
<br />
netfabb Studio is software tailored for additive fabrication, rapid prototyping and 3D printing. It includes the ability of viewing, editing, repairing and analyzing stl-files or slice-based files in various formats.<br />
<br />
[http://www.netfabb.com/ netfabb Studio]<br />
<br />
==CAD software for electronics==<br />
<br />
===Eagle===<br />
<br />
Proprietary circuit-diagram and PCB design system with a slightly reduced-capabilities freeware version. It includes an autorouter for PCB creation. This is the package that has been used to design the majority of the RepRap electronics. It is also used to design the open-source [http://arduino.cc/ Arduino microcontroller], derivatives of which are used in RepRap. It runs on Linux, Windows or Mac.<br />
<br />
[http://www.cadsoft.de Eagle]<br />
<br />
===KiCAD===<br />
<br />
An open source (GPL) software for the creation of electronic schematic diagrams and printed circuit board artwork. <br />
<br />
[http://www.lis.inpg.fr/realise_au_lis/kicad/ KiCAD]<br />
<br />
===Stripboard Designer 1.0===<br />
<br />
Open source (BSD) app written in freeware Visual Basic 2008 Express for Wintel machines<br />
<br />
[http://3dreplicators.com/New%20Front%20Page/Documentation/Tools/Stripboard%20designer.htm Stripboard Designer 1.0]<br />
<br />
===Stripes===<br />
<br />
Open source (GPL) version of Stripboard Designer written by Julian Skidmore in Java<br />
<br />
[http://sites.google.com/site/libby8dev/stripes Stripes]</div>Stephen Georgehttps://reprap.org/mediawiki/index.php?title=Useful_Software_Packages&diff=6499Useful Software Packages2010-02-19T17:22:06Z<p>Stephen George: /* OpenSCAD */</p>
<hr />
<div>This is the place to put details of software packages that are useful for RepRap (like CAD programs), but that are not part of the RepRap project itself. Give a paragraph or so of explanation on each package and a link to its home page. Please also say what platforms it runs on, what licence it is distributed under, and whether it is free.<br />
<br />
==2D and 3D CAD software==<br />
<br />
===OpenSCAD===<br />
<br />
OpenSCAD is a scripted modeller which produces CSG (Constructive Solid Geometry) and 2D outlines.<br />
It is free software and available for Linux/UNIX, MS Windows and Apples OS X.<br />
It supports DFX, STL and OFF file formats and is designed for the engineer not the artist.<br />
<br />
[http://openscad.org/ OpenSCAD]<br />
<br />
===Archimedes===<br />
<br />
Brasilian 3D package. Apparently became orphanware in 2007.<br />
<br />
[http://archimedes.incubadora.fapesp.br/portal Archimedes]<br />
<br />
===Art of Illusion===<br />
<br />
Art of Illusion (AoI) is a 3D graphics design tool, but it is good for engineering design too. It has a very easy and quick-to-learn user interface. There is also a [http://reprap.org/bin/view/Main/AoI RepRap page on using it for engineering design]. AoI is written in Java, runs on Linux, Windows or Mac, and is freely available under the GPL.<br />
<br />
AoI, for all its shortcomings, is probably the most used 3D modeling package in the RepRap community, primarily because of its very short learning curve. V2.7 experiences problems with booleans, and 2.6 is currently recommended - particularly with the CSG Evaluator plugin.<br />
<br />
There is also a page on [[Reprap-specific plugins for AoI]].<br />
<br />
[http://www.artofillusion.org/ Art of Illusion]<br />
<br />
===AutoQ3D===<br />
<br />
AutoQ3D Animation is an easy 3D CAD with animation capabilities. It is suitable for anyone interested in learning 3D CAD and Animation before using more sophisticated packages.<br />
<br />
[http://autoq3d.ecuadra.com/ AutoQ3D]<br />
<br />
===Blender===<br />
<br />
Blender was originally intended for the same applications as AoI. It has a very 'efficient' user interface, which includes a number of single-key keyboard commands. This is a very powerful and fast way of working, but can intimidate would-be users. (Don't be scared, blender is fun!) It may be arguably more powerful than AoI, and has a huge user community. Blender is scriptable in Python, runs on Linux, Windows or Mac, and is freely available under the GPL.<br />
<br />
[http://www.blender.org/ Blender]<br />
<br />
Also See [http://homepage.ntlworld.com/r.burke2/precision_modelling1.html Blender Precision Modelling Tutorial]<br />
<br />
====BlenderCAD====<br />
BlenderCAD is a pre-alpha attempt to build CAD functionality into Blender.<br />
*[https://projects.blender.org/projects/blendercad/ Home Page ]<br />
*[https://projects.blender.org/forum/forum.php?thread_id=199203&forum_id=174 General Forum ]<br />
*[http://sourceforge.net/projects/blendercad/ Sourceforge page]<br />
*[http://lists.blender.org/mailman/listinfo/blendercad-dev Mailing List]<br />
*IRC: If you are interested the online meeting is on irc.freenode.net, channel #cad, and port 6667. The third Saturday of every month. 12:00 - 13:00, (GMT-7)<br />
<br />
===BRL-CAD===<br />
<br />
BRL-CAD is a cross-platform open source solid modeling system that includes interactive geometry editing, high-performance ray-tracing for rendering and geometric analysis, image and signal-processing tools, a system performance analysis benchmark suite, libraries for robust geometric representation, with more than 20 years of active development. The BRL-CAD runs on BSD, Irix, Linux, Mac OS X, Solaris, and Windows. BRL-CAD became an open source project in 2004, with portions licensed under the LGPL and BSD licenses.<br />
<br />
[http://brlcad.org/ BRL-CAD]<br />
<br />
===CoCreate===<br />
<br />
CoCreate Modeling Personal Edition is free for non-professional use. It is limited to 60 parts in one design and can only save designs in its own proprietary format, but it can export STL and VRML and import STEP and IGES. It is Windows only and needs an internet connection every three days. Apparently, very easy to use. {content abstracted from [http://hydraraptor.blogspot.com/2008/06/from-illusion-to-creation.html Hydraraptor]}<br />
<br />
[http://www.ptc.com/products/cocreate/ CoCreate]<br />
<br />
===FreeCAD===<br />
<br />
FreeCAD is still under development, but it is intended to be a full 3D mechanical engineering CAD package. FreeCAD is based on [http://www.opencascade.org/ OpenCasCade], QT and Python, runs on Linux and Windows, and is freely available under the GPL and LGPL.<br />
<br />
[http://sourceforge.net/apps/mediawiki/free-cad/index.php?title=Main_Page FreeCAD]<br />
<br />
===HeeksCAD===<br />
<br />
HeeksCAD, like FreeCAD, is based on [http://www.opencascade.org/ OpenCasCade], and has similar modeling functionality, for solids slightly more, less for meshes, with neutral IGES, STEP and STL file format exchange. It's much less dependent on parametric editing than FreeCAD and the GUI is more integrated, not modular. Windows and various Linux builds. Distributed under BSD license. <br />
<br />
[http://code.google.com/p/heekscad/]<br />
<br />
===QCAD===<br />
<br />
QCAD is an application for computer aided drafting in two dimensions (2D). With QCAD you can create technical drawings such as plans for buildings, interiors, mechanical parts or schemas and diagrams. QCAD works on Windows, Mac OS X and many Linux and Unix Systems. The source code of the free QCAD community edition is released under the GPL.<br />
<br />
[http://www.ribbonsoft.com/qcad.html QCAD]<br />
<br />
===Inkscape===<br />
<br />
Inkscape is an Open Source vector graphics editor, with capabilities similar to Illustrator, CorelDraw, or Xara X. It uses the W3C standard Scalable Vector Graphics (SVG) file format. Inkscape is released under GPL Version 2.<br />
<br />
[http://www.inkscape.org/ Inkscape]<br />
<br />
===iTracer===<br />
<br />
iTracer is a 3D modeling and rendering application for the iPhone. There are instructions for creating models for 3D printing using it [http://www.instructables.com/id/Creating-a-Model-for-3D-Printing-on-an-iPhoneiPod/ on Instructables here]. It costs $2.<br />
<br />
[http://fabio.policarpo.nom.br/Apps.html iTracer]<br />
<br />
==Software for dealing with STL files ==<br />
<br />
===MeshLab===<br />
<br />
An open source, portable, and extensible system for the processing and editing of unstructured 3D triangular meshes. It also has an as yet unexploited object slicing routine which is extremely quick.<br />
<br />
[http://meshlab.sourceforge.net/ MeshLab]<br />
<br />
===netfabb Studio===<br />
<br />
netfabb Studio is free, but not open source. It is Windows only.<br />
<br />
netfabb Studio is software tailored for additive fabrication, rapid prototyping and 3D printing. It includes the ability of viewing, editing, repairing and analyzing stl-files or slice-based files in various formats.<br />
<br />
[http://www.netfabb.com/ netfabb Studio]<br />
<br />
==CAD software for electronics==<br />
<br />
===Eagle===<br />
<br />
Proprietary circuit-diagram and PCB design system with a slightly reduced-capabilities freeware version. It includes an autorouter for PCB creation. This is the package that has been used to design the majority of the RepRap electronics. It is also used to design the open-source [http://arduino.cc/ Arduino microcontroller], derivatives of which are used in RepRap. It runs on Linux, Windows or Mac.<br />
<br />
[http://www.cadsoft.de Eagle]<br />
<br />
===KiCAD===<br />
<br />
An open source (GPL) software for the creation of electronic schematic diagrams and printed circuit board artwork. <br />
<br />
[http://www.lis.inpg.fr/realise_au_lis/kicad/ KiCAD]<br />
<br />
===Stripboard Designer 1.0===<br />
<br />
Open source (BSD) app written in freeware Visual Basic 2008 Express for Wintel machines<br />
<br />
[http://3dreplicators.com/New%20Front%20Page/Documentation/Tools/Stripboard%20designer.htm Stripboard Designer 1.0]<br />
<br />
===Stripes===<br />
<br />
Open source (GPL) version of Stripboard Designer written by Julian Skidmore in Java<br />
<br />
[http://sites.google.com/site/libby8dev/stripes Stripes]</div>Stephen Georgehttps://reprap.org/mediawiki/index.php?title=SGBot&diff=6495SGBot2010-02-19T15:19:32Z<p>Stephen George: /* Design Principles */</p>
<hr />
<div>{{Development:Stub}}<br />
{{Development<br />
|name = Example Development<br />
|description = documenting a generic tool/artpiece<br />
|license = [[GPL]]<br />
|author = Mr. Bunny<br />
|reprap = ?<br />
|categories = [[:Category:RepStrap|RepStrap]]<br />
}}<br />
<br />
'''Create your new page by logging in, editing the URL of any wiki page, and then clicking "edit". Please use this page as a model, or copy. You can get the "mediawiki text" by clicking "edit" on this page.'''<br />
<br />
This page represents an example [[:Category:Development|development page]] and showcases many features that can be used in creating new development pages.<br />
__TOC__<br />
<br />
=Working Notes. This is a stub!=<br />
''Everything below this point is working notes.''<br />
<br />
=Discussion=<br />
http://dev.forums.reprap.org/read.php?1,36581<br />
=Photos and Drawings=<br />
http://www.mediawiki.org/wiki/Help:Images<br />
[[Image:sg_bot1.jpg|frame|caption 1]]<br />
[[Image:sg_bot2.jpg|frame|caption 2]]<br />
<br />
=Design Principles=<br />
<br />
This repSTrap is based on the Darwin. Unlike the Darwin it uses bearings not sliders and there are no trapped nuts. Not even one. <br />
<br />
I have developed / stolen the following design principles while building the sgbot.<br />
<br />
'''Set and Forget''' – No adjustment hell.<br />
<br />
Once something has been adjusted and set that is it. There is no readjustment.<br />
There is a clear line of dependencies. I.e. no circular dependencies where you adjust something which means something else is adjusted which requires you to adjust the original adjusted thing.<br />
<br />
<br />
'''No adjustment'''<br />
<br />
If something can be set in the build phased for the life of the machine it is. For example the threaded rods which drive the Z axis are fixed and cannot be adjusted.<br />
Either they work or they don’t and you get it right before building the XY mechanics.<br />
<br />
'''Small steps'''<br />
<br />
As each bits is made it is tested and tested and tested. Only when it passes all of it’s tests do we move on to the next thing and never test it again.<br />
<br />
'''Hard vs Soft''' <br />
<br />
Where there is a moving interfaces. One surface is hard and the other soft. This means you know where the wear is. For example the bearings are made of steel (hard) and run on aluminium slides (soft) so the bearings over time will wear a track into the aluminium and bed in.<br />
<br />
'''Kebab technology''' – i.e. No trapped nuts<br />
<br />
Basically there are no trapped nuts. Components are kept in place by a M8 nut on each side. I.e. like the bread in a kebab. <br />
<br />
'''Single use.'''<br />
<br />
Each component does one thing and one thing well. I have broken this rule a few times and each time I regret it. For example I have the X stepper motor fixed by the Y carrage. Every time I touch either one results in me having to realign both. <br />
<br />
'''Simplicity'''<br />
<br />
For example the stepper motors directly drive their respective components without gearing. (which will wear and require maintenance)<br />
<br />
'''Bought accuracy.'''<br />
<br />
My wood sawing accuracy leaves a lot to be desired. It just ain’t pretty. Hence the MDF size determine the size of this reprap. E.g. the MDF comes in 450x900 size. And 800x600. as a result my reprap has a xy bed of 800x600 and sits exactly 450mm off the base plate. If the MDF came in 400x900 then my reprap would sit 400mm off the base plate.<br />
<br />
'''Screws not nuts and bolts.'''<br />
<br />
I use 50mm screws. Cheap and freely available and more importantly left over for another project.<br />
<br />
=Results=<br />
<br />
The result of all these rules of thumb are a reprap which is <br />
<br />
1) Low cost. Uses screws instead of nuts and bolts and MDF not plastic and steel.<br />
<br />
2) Bearing count 23. But I recon I can get it down to 12.<br />
<br />
3) 8 threaded rods+2 unthreaded rods but it can be reduced to 5 + 2 unthreaded<br />
<br />
4) 300 x 400 Z axis build area. With a Z axis of 250mm<br />
<br />
5) Prints well at 25m/s with a Makerbot MK4 extruder.<br />
<br />
6) Happily go to 50m/s but the extruder can't keep up<br />
<br />
7) Darwin design but uses only three threaded rods on Z axis.<br />
<br />
8) Z axis is rock solid.<br />
<br />
9) Big red emergency stop button to be wired into Reset pin of Arduino<br />
<br />
10) Nice area in the Z axis to dump spanners and often used tools.<br />
<br />
11) It is so robust I can sit on it. (I am about 95kg)<br />
<br />
<br />
=====Entrepreneurship (Kits)=====<br />
There is no kit. This machine was built using two Saws, Pillar drill, a Screw driver, two 13mm spanners, a big metal ruler, glue and lots of G clamps.<br />
<br />
=Files and Parts=<br />
[[Generic/Daughter_part]] and [[CarrotStraightener]]. (As a gentle style recommendation, it's good to try to keep all your parts and files on the RepRap wiki rather than scattered around so that Mr. Bunny doesn't have to use a scripts and so on to get stuff back onto the wiki.)<br />
[[Image:uploaded_files_example.zip]]<br />
<br />
<br />
<br />
=Flicker Example=<br />
<flickr>2967868906|right</flickr><br />
<br />
=Working Notes=<br />
Project Lead(s): Mr. Bunny<br />
Wiki-maintainers and helpers:<br />
<br />
=Forum thread?=<br />
http://dev.forums.reprap.org/<br />
<br />
=Tooling=<br />
Description of tooling requirements.<br />
<br />
=Process=<br />
What is making the part like?<br />
<br />
=Notes=</div>Stephen Georgehttps://reprap.org/mediawiki/index.php?title=SGBot&diff=6494SGBot2010-02-19T14:56:10Z<p>Stephen George: /* Design Principles */</p>
<hr />
<div>{{Development:Stub}}<br />
{{Development<br />
|name = Example Development<br />
|description = documenting a generic tool/artpiece<br />
|license = [[GPL]]<br />
|author = Mr. Bunny<br />
|reprap = ?<br />
|categories = [[:Category:RepStrap|RepStrap]]<br />
}}<br />
<br />
'''Create your new page by logging in, editing the URL of any wiki page, and then clicking "edit". Please use this page as a model, or copy. You can get the "mediawiki text" by clicking "edit" on this page.'''<br />
<br />
This page represents an example [[:Category:Development|development page]] and showcases many features that can be used in creating new development pages.<br />
__TOC__<br />
<br />
=Working Notes. This is a stub!=<br />
''Everything below this point is working notes.''<br />
<br />
=Discussion=<br />
http://dev.forums.reprap.org/read.php?1,36581<br />
=Photos and Drawings=<br />
http://www.mediawiki.org/wiki/Help:Images<br />
[[Image:sg_bot1.jpg|frame|caption 1]]<br />
[[Image:sg_bot2.jpg|frame|caption 2]]<br />
<br />
=Design Principles=<br />
<br />
This repSTrap is based on the Darwin. Unlike the Darwin it uses bearings not sliders and there are no trapped nuts. Not even one. <br />
<br />
I have developed / stolen the following design principles while building the sgbot.<br />
<br />
'''Set and Forget''' – No adjustment hell.<br />
<br />
Once something has been adjusted and set that is it. There is no readjustment.<br />
There is a clear line of dependencies. I.e. no circular dependencies where you adjust something which means something else is adjusted which requires you to adjust the original adjusted thing.<br />
<br />
<br />
'''No adjustment'''<br />
<br />
If something can be set in the build phased for the life of the machine it is. For example the threaded rods which drive the Z axis are fixed and cannot be adjusted.<br />
Either they work or they don’t and you get it right before building the XY mechanics.<br />
<br />
'''Small steps'''<br />
<br />
As each bits is made it is tested and tested and tested. Only when it passes all of it’s tests do we move on to the next thing and never test it again.<br />
<br />
'''//Hard vs Soft''' <br />
<br />
Where there is a moving interfaces. One surface is hard and the other soft. This means you know where the wear is. For example the bearings are made of steel (hard) and run on aluminium slides (soft) so the bearings over time will wear a track into the aluminium and bed in.<br />
<br />
'''//Kebab technology''' – i.e. No trapped nuts<br />
<br />
Basically there are no trapped nuts. Components are kept in place by a M8 nut on each side. I.e. like the bread in a kebab. <br />
<br />
'''//Single use.'''<br />
<br />
Each component does one thing and one thing well. I have broken this rule a few times and each time I regret it.<br />
<br />
'''//Simplicity'''<br />
<br />
For example the stepper motors directly drive their respective components without gearing. (which will wear and require maintenance)<br />
<br />
'''//Bought accuracy.'''<br />
<br />
My wood sawing accuracy leaves a lot to be desired. It just ain’t pretty. Hence the MDF size determine the size of this reprap. E.g. the MDF comes in 450x900 size. And 800x600. as a result my reprap has a xy bed of 800x600 and sits exactly 450mm off the base plate. If the MDF came in 400x900 then my reprap would sit 400mm off the base plate.<br />
<br />
'''//Screws not nuts and bolts.'''<br />
<br />
I use 50mm screws. Cheap and freely available and more importantly left over for another project.<br />
<br />
=Results=<br />
<br />
The result of all these rules of thumb are a reprap which is <br />
<br />
1) Low cost. Uses screws instead of nuts and bolts and MDF not plastic and steel.<br />
<br />
2) Bearing count 23. But I recon I can get it down to 12.<br />
<br />
3) 8 threaded rods+2 unthreaded rods but it can be reduced to 5 + 2 unthreaded<br />
<br />
4) 300 x 400 Z axis build area. With a Z axis of 250mm<br />
<br />
5) Prints well at 25m/s with a Makerbot MK4 extruder.<br />
<br />
6) Happily go to 50m/s but the extruder can't keep up<br />
<br />
7) Darwin design but uses only three threaded rods on Z axis.<br />
<br />
8) Z axis is rock solid.<br />
<br />
9) Big red emergency stop button to be wired into Reset pin of Arduino<br />
<br />
10) Nice area in the Z axis to dump spanners and often used tools.<br />
<br />
11) It is so robust I can sit on it. (I am about 95kg)<br />
<br />
<br />
=====Entrepreneurship (Kits)=====<br />
There is no kit. This machine was built using two Saws, Pillar drill, a Screw driver, two 13mm spanners, a big metal ruler, glue and lots of G clamps.<br />
<br />
=Files and Parts=<br />
[[Generic/Daughter_part]] and [[CarrotStraightener]]. (As a gentle style recommendation, it's good to try to keep all your parts and files on the RepRap wiki rather than scattered around so that Mr. Bunny doesn't have to use a scripts and so on to get stuff back onto the wiki.)<br />
[[Image:uploaded_files_example.zip]]<br />
<br />
<br />
<br />
=Flicker Example=<br />
<flickr>2967868906|right</flickr><br />
<br />
=Working Notes=<br />
Project Lead(s): Mr. Bunny<br />
Wiki-maintainers and helpers:<br />
<br />
=Forum thread?=<br />
http://dev.forums.reprap.org/<br />
<br />
=Tooling=<br />
Description of tooling requirements.<br />
<br />
=Process=<br />
What is making the part like?<br />
<br />
=Notes=</div>Stephen Georgehttps://reprap.org/mediawiki/index.php?title=SGBot&diff=6493SGBot2010-02-19T14:54:46Z<p>Stephen George: /* Design Principles */</p>
<hr />
<div>{{Development:Stub}}<br />
{{Development<br />
|name = Example Development<br />
|description = documenting a generic tool/artpiece<br />
|license = [[GPL]]<br />
|author = Mr. Bunny<br />
|reprap = ?<br />
|categories = [[:Category:RepStrap|RepStrap]]<br />
}}<br />
<br />
'''Create your new page by logging in, editing the URL of any wiki page, and then clicking "edit". Please use this page as a model, or copy. You can get the "mediawiki text" by clicking "edit" on this page.'''<br />
<br />
This page represents an example [[:Category:Development|development page]] and showcases many features that can be used in creating new development pages.<br />
__TOC__<br />
<br />
=Working Notes. This is a stub!=<br />
''Everything below this point is working notes.''<br />
<br />
=Discussion=<br />
http://dev.forums.reprap.org/read.php?1,36581<br />
=Photos and Drawings=<br />
http://www.mediawiki.org/wiki/Help:Images<br />
[[Image:sg_bot1.jpg|frame|caption 1]]<br />
[[Image:sg_bot2.jpg|frame|caption 2]]<br />
<br />
=Design Principles=<br />
<br />
This repSTrap is based on the Darwin. Unlike the Darwin it uses bearings not sliders and there are no trapped nuts. Not even one. <br />
<br />
I have developed/ stolen the following technologies / design principles while building the sgbot.<br />
<br />
'''Set and Forget''' – No adjustment hell.<br />
<br />
Once something has been adjusted and set that is it. There is no readjustment.<br />
There is a clear line of dependencies. I.e. no circular dependencies where you adjust something which means something else is adjusted which requires you to adjust the original adjusted thing.<br />
<br />
<br />
'''No adjustment'''<br />
<br />
If something can be set in the build phased for the life of the machine it is. For example the threaded rods which drive the Z axis are fixed and cannot be adjusted.<br />
Either they work or they don’t and you get it right before building the XY mechanics.<br />
<br />
'''Small steps'''<br />
<br />
As each bits is made it is tested and tested and tested. Only when it passes all of it’s tests do we move on to the next thing and never test it again.<br />
<br />
'''//Hard vs Soft''' [[Link title]]<br />
Where there is a moving interfaces. One surface is hard and the other soft. This means you know where the wear is. For example the bearings are made of steel (hard) and run on aluminium slides (soft) so the bearings over time will wear a track into the aluminium and bed in.<br />
<br />
'''//Kebab technology'''[[Link title]] – i.e. No trapped nuts<br />
Basically there are no trapped nuts. Components are kept in place by a M8 nut on each side. I.e. like the bread in a kebab. <br />
<br />
'''//Single use.''' [[Link title]]<br />
Each component does one thing and one thing well. I have broken this rule a few times and each time I regret it.<br />
<br />
'''//Simplicity'''[[Link title]]<br />
For example the stepper motors directly drive their respective components without gearing. (which will wear and require maintenance)<br />
<br />
'''//Bought accuracy.'''[[Link title]]<br />
My wood sawing accuracy leaves a lot to be desired. It just ain’t pretty. Hence the MDF size determine the size of this reprap. E.g. the MDF comes in 450x900 size. And 800x600. as a result my reprap has a xy bed of 800x600 and sits exactly 450mm off the base plate. If the MDF came in 400x900 then my reprap would sit 400mm off the base plate.<br />
<br />
'''//Screws not nuts and bolts.'''[[Link title]]<br />
I use 50mm screws. Cheap and freely available and more importantly left over for another project.<br />
<br />
=Results=<br />
<br />
The result of all these rules of thumb are a reprap which is <br />
<br />
1) Low cost. Uses screws instead of nuts and bolts and MDF not plastic and steel.<br />
<br />
2) Bearing count 23. But I recon I can get it down to 12.<br />
<br />
3) 8 threaded rods+2 unthreaded rods but it can be reduced to 5 + 2 unthreaded<br />
<br />
4) 300 x 400 Z axis build area. With a Z axis of 250mm<br />
<br />
5) Prints well at 25m/s with a Makerbot MK4 extruder.<br />
<br />
6) Happily go to 50m/s but the extruder can't keep up<br />
<br />
7) Darwin design but uses only three threaded rods on Z axis.<br />
<br />
8) Z axis is rock solid.<br />
<br />
9) Big red emergency stop button to be wired into Reset pin of Arduino<br />
<br />
10) Nice area in the Z axis to dump spanners and often used tools.<br />
<br />
11) It is so robust I can sit on it. (I am about 95kg)<br />
<br />
<br />
=====Entrepreneurship (Kits)=====<br />
There is no kit. This machine was built using two Saws, Pillar drill, a Screw driver, two 13mm spanners, a big metal ruler, glue and lots of G clamps.<br />
<br />
=Files and Parts=<br />
[[Generic/Daughter_part]] and [[CarrotStraightener]]. (As a gentle style recommendation, it's good to try to keep all your parts and files on the RepRap wiki rather than scattered around so that Mr. Bunny doesn't have to use a scripts and so on to get stuff back onto the wiki.)<br />
[[Image:uploaded_files_example.zip]]<br />
<br />
<br />
<br />
=Flicker Example=<br />
<flickr>2967868906|right</flickr><br />
<br />
=Working Notes=<br />
Project Lead(s): Mr. Bunny<br />
Wiki-maintainers and helpers:<br />
<br />
=Forum thread?=<br />
http://dev.forums.reprap.org/<br />
<br />
=Tooling=<br />
Description of tooling requirements.<br />
<br />
=Process=<br />
What is making the part like?<br />
<br />
=Notes=</div>Stephen Georgehttps://reprap.org/mediawiki/index.php?title=SGBot&diff=6492SGBot2010-02-19T14:52:30Z<p>Stephen George: /* Design Principles */</p>
<hr />
<div>{{Development:Stub}}<br />
{{Development<br />
|name = Example Development<br />
|description = documenting a generic tool/artpiece<br />
|license = [[GPL]]<br />
|author = Mr. Bunny<br />
|reprap = ?<br />
|categories = [[:Category:RepStrap|RepStrap]]<br />
}}<br />
<br />
'''Create your new page by logging in, editing the URL of any wiki page, and then clicking "edit". Please use this page as a model, or copy. You can get the "mediawiki text" by clicking "edit" on this page.'''<br />
<br />
This page represents an example [[:Category:Development|development page]] and showcases many features that can be used in creating new development pages.<br />
__TOC__<br />
<br />
=Working Notes. This is a stub!=<br />
''Everything below this point is working notes.''<br />
<br />
=Discussion=<br />
http://dev.forums.reprap.org/read.php?1,36581<br />
=Photos and Drawings=<br />
http://www.mediawiki.org/wiki/Help:Images<br />
[[Image:sg_bot1.jpg|frame|caption 1]]<br />
[[Image:sg_bot2.jpg|frame|caption 2]]<br />
<br />
=Design Principles=<br />
<br />
This repSTrap is based on the Darwin. Unlike the Darwin it uses bearings not sliders and there are no trapped nuts. Not even one. <br />
<br />
I have developed/ stolen the following technologies / design principles while building the sgbot.<br />
<br />
[[///Set and Forget.]]'''Bold text''' – No adjustment hell.<br />
Once something has been adjusted and set that is it. There is no readjustment.<br />
There is a clear line of dependencies. I.e. no circular dependencies where you adjust something which means something else is adjusted which requires you to adjust the original adjusted thing.<br />
<br />
'''// No adjustment'''[[Link title]] <br />
If something can be set in the build phased for the life of the machine it is. For example the threaded rods which drive the Z axis are fixed and cannot be adjusted.<br />
Either they work or they don’t and you get it right before building the XY mechanics.<br />
<br />
'''//Small steps'''[[Link title]]<br />
As each bits is made it is tested and tested and tested. Only when it passes all of it’s tests do we move on to the next thing and never test it again.<br />
<br />
'''//Hard vs Soft''' [[Link title]]<br />
Where there is a moving interfaces. One surface is hard and the other soft. This means you know where the wear is. For example the bearings are made of steel (hard) and run on aluminium slides (soft) so the bearings over time will wear a track into the aluminium and bed in.<br />
<br />
'''//Kebab technology'''[[Link title]] – i.e. No trapped nuts<br />
Basically there are no trapped nuts. Components are kept in place by a M8 nut on each side. I.e. like the bread in a kebab. <br />
<br />
'''//Single use.''' [[Link title]]<br />
Each component does one thing and one thing well. I have broken this rule a few times and each time I regret it.<br />
<br />
'''//Simplicity'''[[Link title]]<br />
For example the stepper motors directly drive their respective components without gearing. (which will wear and require maintenance)<br />
<br />
'''//Bought accuracy.'''[[Link title]]<br />
My wood sawing accuracy leaves a lot to be desired. It just ain’t pretty. Hence the MDF size determine the size of this reprap. E.g. the MDF comes in 450x900 size. And 800x600. as a result my reprap has a xy bed of 800x600 and sits exactly 450mm off the base plate. If the MDF came in 400x900 then my reprap would sit 400mm off the base plate.<br />
<br />
'''//Screws not nuts and bolts.'''[[Link title]]<br />
I use 50mm screws. Cheap and freely available and more importantly left over for another project.<br />
<br />
=Results=<br />
<br />
The result of all these rules of thumb are a reprap which is <br />
<br />
1) Low cost. Uses screws instead of nuts and bolts and MDF not plastic and steel.<br />
<br />
2) Bearing count 23. But I recon I can get it down to 12.<br />
<br />
3) 8 threaded rods+2 unthreaded rods but it can be reduced to 5 + 2 unthreaded<br />
<br />
4) 300 x 400 Z axis build area. With a Z axis of 250mm<br />
<br />
5) Prints well at 25m/s with a Makerbot MK4 extruder.<br />
<br />
6) Happily go to 50m/s but the extruder can't keep up<br />
<br />
7) Darwin design but uses only three threaded rods on Z axis.<br />
<br />
8) Z axis is rock solid.<br />
<br />
9) Big red emergency stop button to be wired into Reset pin of Arduino<br />
<br />
10) Nice area in the Z axis to dump spanners and often used tools.<br />
<br />
11) It is so robust I can sit on it. (I am about 95kg)<br />
<br />
<br />
=====Entrepreneurship (Kits)=====<br />
There is no kit. This machine was built using two Saws, Pillar drill, a Screw driver, two 13mm spanners, a big metal ruler, glue and lots of G clamps.<br />
<br />
=Files and Parts=<br />
[[Generic/Daughter_part]] and [[CarrotStraightener]]. (As a gentle style recommendation, it's good to try to keep all your parts and files on the RepRap wiki rather than scattered around so that Mr. Bunny doesn't have to use a scripts and so on to get stuff back onto the wiki.)<br />
[[Image:uploaded_files_example.zip]]<br />
<br />
<br />
<br />
=Flicker Example=<br />
<flickr>2967868906|right</flickr><br />
<br />
=Working Notes=<br />
Project Lead(s): Mr. Bunny<br />
Wiki-maintainers and helpers:<br />
<br />
=Forum thread?=<br />
http://dev.forums.reprap.org/<br />
<br />
=Tooling=<br />
Description of tooling requirements.<br />
<br />
=Process=<br />
What is making the part like?<br />
<br />
=Notes=</div>Stephen Georgehttps://reprap.org/mediawiki/index.php?title=SGBot&diff=6491SGBot2010-02-19T14:50:22Z<p>Stephen George: /* Text */</p>
<hr />
<div>{{Development:Stub}}<br />
{{Development<br />
|name = Example Development<br />
|description = documenting a generic tool/artpiece<br />
|license = [[GPL]]<br />
|author = Mr. Bunny<br />
|reprap = ?<br />
|categories = [[:Category:RepStrap|RepStrap]]<br />
}}<br />
<br />
'''Create your new page by logging in, editing the URL of any wiki page, and then clicking "edit". Please use this page as a model, or copy. You can get the "mediawiki text" by clicking "edit" on this page.'''<br />
<br />
This page represents an example [[:Category:Development|development page]] and showcases many features that can be used in creating new development pages.<br />
__TOC__<br />
<br />
=Working Notes. This is a stub!=<br />
''Everything below this point is working notes.''<br />
<br />
=Discussion=<br />
http://dev.forums.reprap.org/read.php?1,36581<br />
=Photos and Drawings=<br />
http://www.mediawiki.org/wiki/Help:Images<br />
[[Image:sg_bot1.jpg|frame|caption 1]]<br />
[[Image:sg_bot2.jpg|frame|caption 2]]<br />
<br />
=Design Principles=<br />
<br />
This repSTrap is based on the Darwin. Unlike the Darwin it uses bearings not sliders and there are no trapped nuts. Not even one. <br />
<br />
I have developed/ stolen the following technologies / design principles while building the sgbot.<br />
<br />
///Set and Forget. – No adjustment hell.<br />
Once something has been adjusted and set that is it. There is no readjustment.<br />
There is a clear line of dependencies. I.e. no circular dependencies where you adjust something which means something else is adjusted which requires you to adjust the original adjusted thing.<br />
<br />
// No adjustment <br />
If something can be set in the build phased for the life of the machine it is. For example the threaded rods which drive the Z axis are fixed and cannot be adjusted.<br />
Either they work or they don’t and you get it right before building the XY mechanics.<br />
<br />
//Small steps<br />
As each bits is made it is tested and tested and tested. Only when it passes all of it’s tests do we move on to the next thing and never test it again.<br />
<br />
//Hard vs Soft <br />
Where there is a moving interfaces. One surface is hard and the other soft. This means you know where the wear is. For example the bearings are made of steel (hard) and run on aluminium slides (soft) so the bearings over time will wear a track into the aluminium and bed in.<br />
<br />
//Kebab technology – i.e. No trapped nuts<br />
Basically there are no trapped nuts. Components are kept in place by a M8 nut on each side. I.e. like the bread in a kebab. <br />
<br />
//Single use. <br />
Each component does one thing and one thing well. I have broken this rule a few times and each time I regret it.<br />
<br />
//Simplicity<br />
For example the stepper motors directly drive their respective components without gearing. (which will wear and require maintenance)<br />
<br />
//Bought accuracy.<br />
My wood sawing accuracy leaves a lot to be desired. It just ain’t pretty. Hence the MDF size determine the size of this reprap. E.g. the MDF comes in 450x900 size. And 800x600. as a result my reprap has a xy bed of 800x600 and sits exactly 450mm off the base plate. If the MDF came in 400x900 then my reprap would sit 400mm off the base plate.<br />
<br />
//Solid as a rock.<br />
There is no give in this machine. I can stand on it and it will not move or lean. This is because it is braced in all directions.<br />
<br />
//Screws not nuts and bolts.<br />
I use 50mm screws. Cheap and freely available and more importantly left over for another project.<br />
<br />
<br />
=Results=<br />
<br />
The result of all these rules of thumb are a reprap which is <br />
<br />
1) Low cost. Uses screws instead of nuts and bolts and MDF not plastic and steel.<br />
<br />
2) Bearing count 23. But I recon I can get it down to 12.<br />
<br />
3) 8 threaded rods+2 unthreaded rods but it can be reduced to 5 + 2 unthreaded<br />
<br />
4) 300 x 400 Z axis build area. With a Z axis of 250mm<br />
<br />
5) Prints well at 25m/s with a Makerbot MK4 extruder.<br />
<br />
6) Happily go to 50m/s but the extruder can't keep up<br />
<br />
7) Darwin design but uses only three threaded rods on Z axis.<br />
<br />
8) Z axis is rock solid.<br />
<br />
9) Big red emergency stop button to be wired into Reset pin of Arduino<br />
<br />
10) Nice area in the Z axis to dump spanners and often used tools.<br />
<br />
11) It is so robust I can sit on it. (I am about 95kg)<br />
<br />
<br />
=====Entrepreneurship (Kits)=====<br />
There is no kit. This machine was built using two Saws, Pillar drill, a Screw driver, two 13mm spanners, a big metal ruler, glue and lots of G clamps.<br />
<br />
=Files and Parts=<br />
[[Generic/Daughter_part]] and [[CarrotStraightener]]. (As a gentle style recommendation, it's good to try to keep all your parts and files on the RepRap wiki rather than scattered around so that Mr. Bunny doesn't have to use a scripts and so on to get stuff back onto the wiki.)<br />
[[Image:uploaded_files_example.zip]]<br />
<br />
<br />
<br />
=Flicker Example=<br />
<flickr>2967868906|right</flickr><br />
<br />
=Working Notes=<br />
Project Lead(s): Mr. Bunny<br />
Wiki-maintainers and helpers:<br />
<br />
=Forum thread?=<br />
http://dev.forums.reprap.org/<br />
<br />
=Tooling=<br />
Description of tooling requirements.<br />
<br />
=Process=<br />
What is making the part like?<br />
<br />
=Notes=</div>Stephen Georgehttps://reprap.org/mediawiki/index.php?title=SGBot&diff=6490SGBot2010-02-19T12:41:07Z<p>Stephen George: /* Text */</p>
<hr />
<div>{{Development:Stub}}<br />
{{Development<br />
|name = Example Development<br />
|description = documenting a generic tool/artpiece<br />
|license = [[GPL]]<br />
|author = Mr. Bunny<br />
|reprap = ?<br />
|categories = [[:Category:RepStrap|RepStrap]]<br />
}}<br />
<br />
'''Create your new page by logging in, editing the URL of any wiki page, and then clicking "edit". Please use this page as a model, or copy. You can get the "mediawiki text" by clicking "edit" on this page.'''<br />
<br />
This page represents an example [[:Category:Development|development page]] and showcases many features that can be used in creating new development pages.<br />
__TOC__<br />
<br />
=Working Notes. This is a stub!=<br />
''Everything below this point is working notes.''<br />
<br />
=Discussion=<br />
http://dev.forums.reprap.org/read.php?1,36581<br />
=Photos and Drawings=<br />
http://www.mediawiki.org/wiki/Help:Images<br />
[[Image:sg_bot1.jpg|frame|caption 1]]<br />
[[Image:sg_bot2.jpg|frame|caption 2]]<br />
<br />
=Text=<br />
<br />
<br />
This repSTrap is based on the Darwin. Unlike the Darwin it uses bearings not sliders and there are no trapped nuts. Not even one. <br />
<br />
I have developed/ stolen the following technologies / design principles while building the sgbot.<br />
<br />
///Set and Forget. – No adjustment hell.<br />
Once something has been adjusted and set that is it. There is no readjustment.<br />
There is a clear line of dependencies. I.e. no circular dependencies where you adjust something which means something else is adjusted which requires you to adjust the original adjusted thing.<br />
<br />
// No adjustment <br />
If something can be set in the build phased for the life of the machine it is. For example the threaded rods which drive the Z axis are fixed and cannot be adjusted.<br />
Either they work or they don’t and you get it right before building the XY mechanics.<br />
<br />
//Small steps<br />
As each bits is made it is tested and tested and tested. Only when it passes all of it’s tests do we move on to the next thing and never test it again.<br />
<br />
//Hard vs Soft <br />
Where there is a moving interfaces. One surface is hard and the other soft. This means you know where the wear is. For example the bearings are made of steel (hard) and run on aluminium slides (soft) so the bearings over time will wear a track into the aluminium and bed in.<br />
<br />
//Kebab technology – i.e. No trapped nuts<br />
Basically there are no trapped nuts. Components are kept in place by a M8 nut on each side. I.e. like the bread in a kebab. <br />
<br />
//Single use. <br />
Each component does one thing and one thing well. I have broken this rule a few times and each time I regret it.<br />
<br />
//Simplicity<br />
For example the stepper motors directly drive their respective components without gearing. (which will wear and require maintenance)<br />
<br />
//Bought accuracy.<br />
My wood sawing accuracy leaves a lot to be desired. It just ain’t pretty. Hence the MDF size determine the size of this reprap. E.g. the MDF comes in 450x900 size. And 800x600. as a result my reprap has a xy bed of 800x600 and sits exactly 450mm off the base plate. If the MDF came in 400x900 then my reprap would sit 400mm off the base plate.<br />
<br />
//Solid as a rock.<br />
There is no give in this machine. I can stand on it and it will not move or lean. This is because it is braced in all directions.<br />
<br />
//Screws not nuts and bolts.<br />
I use 50mm screws. Cheap and freely available and more importantly left over for another project.<br />
<br />
//IF MDF can be used then use it. I.e. less plastic, less Steel. <br />
MDF is cheap and freely available. And in future will probably be CNC able. Therefore MDF could well become the REPRAP material of the future.<br />
<br />
//2D shapes to make 3D shapes not 1D<br />
My main problem with the original Darwin was it used 1D objects i.e. steel rods to create a 3d object i.e. a perfect cube with 90 degree angles. I just was not accurate enough. So I moved to a 2D shape i.e. MDF sheet where when you drill a hole it stays there.<br />
<br />
<br />
<br />
The result of all these rules of thumb are a reprap which is <br />
<br />
1) Low cost. Uses screws instead of nuts and bolts and MDF not plastic and steel.<br />
2) Bearing count 23. But I recon I can get it down to 12.<br />
3) 8 threaded rods+2 unthreaded rods but it can be reduced to 5 + 2 unthreaded<br />
<br />
4) 300 x 400 Z axis build area. With a Z axis of 250mm<br />
5) Prints well at 25m/s with a Makerbot MK4 extruder.<br />
6) Happily go to 50m/s but the extruder can't keep up<br />
<br />
7) Darwin design but uses only three threaded rods on Z axis.<br />
8) Z axis is rock solid.<br />
<br />
9) Big red emergency stop button to be wired into Reset pin of Arduino<br />
10) Nice area in the Z axis to dump spanners and often used tools.<br />
11) It is so robust I can sit on it. (I am about 95kg)<br />
<br />
<br />
=====Entrepreneurship (Kits)=====<br />
There is no kit. This machine was built using two Saws, Pillar drill, a Screw driver, two 13mm spanners, a big metal ruler, glue and lots of G clamps. <br />
<br />
Where accuracy is required I cheated by using pre cut MDF. For example the two uprights bits of MDF needed to suppot the x-y printing bed obviously need to be exactly the same size. (otherwise it would lean) I bought a 900mm x 450mm bit of 16mm thick MDF and cut it in two. This gave me two bits of MDF with a perfect 450 side and a rough 450 side. The perfect 450 was used to hold up the X-y printing bed with the roughly cut 450 points outwards to the back of the system. As a result I did not choose the size of the machine my MDF supplier did. My MDF was supplied in 900x450x16 and 800x600x16. <br />
<br />
The machine has a base of 800x600 with a x-y printing bed of 800x600 which sits exactly 450mm high.<br />
If your MDF supplier has different sized MDF this should not be a problem. Just go with the flow.<br />
<br />
=Files and Parts=<br />
[[Generic/Daughter_part]] and [[CarrotStraightener]]. (As a gentle style recommendation, it's good to try to keep all your parts and files on the RepRap wiki rather than scattered around so that Mr. Bunny doesn't have to use a scripts and so on to get stuff back onto the wiki.)<br />
[[Image:uploaded_files_example.zip]]<br />
<br />
<br />
<br />
=Flicker Example=<br />
<flickr>2967868906|right</flickr><br />
<br />
=Working Notes=<br />
Project Lead(s): Mr. Bunny<br />
Wiki-maintainers and helpers:<br />
<br />
=Forum thread?=<br />
http://dev.forums.reprap.org/<br />
<br />
=Tooling=<br />
Description of tooling requirements.<br />
<br />
=Process=<br />
What is making the part like?<br />
<br />
=Notes=</div>Stephen Georgehttps://reprap.org/mediawiki/index.php?title=SGBot&diff=6489SGBot2010-02-19T11:34:39Z<p>Stephen George: /* Entrepreneurship (Kits) */</p>
<hr />
<div>{{Development:Stub}}<br />
{{Development<br />
|name = Example Development<br />
|description = documenting a generic tool/artpiece<br />
|license = [[GPL]]<br />
|author = Mr. Bunny<br />
|reprap = ?<br />
|categories = [[:Category:RepStrap|RepStrap]]<br />
}}<br />
<br />
'''Create your new page by logging in, editing the URL of any wiki page, and then clicking "edit". Please use this page as a model, or copy. You can get the "mediawiki text" by clicking "edit" on this page.'''<br />
<br />
This page represents an example [[:Category:Development|development page]] and showcases many features that can be used in creating new development pages.<br />
__TOC__<br />
<br />
=Working Notes. This is a stub!=<br />
''Everything below this point is working notes.''<br />
<br />
=Discussion=<br />
http://dev.forums.reprap.org/read.php?1,36581<br />
=Photos and Drawings=<br />
http://www.mediawiki.org/wiki/Help:Images<br />
[[Image:sg_bot1.jpg|frame|caption 1]]<br />
[[Image:sg_bot2.jpg|frame|caption 2]]<br />
<br />
=Text=<br />
This is a generic Widgit Banger! I ([[Mr. Bunny]]) made it because it's cool but I use it to make [[Widgits]]. Share and Enjoy!<br />
(This page was made using the wiki page [[Development:Example]] as a model.)<br />
<br />
Hi<br />
<br />
I have finally built my second repstrap. It’s features are<br />
<br />
1) Low cost. Uses screws instead of nuts and bolts and MDF not plastic and steel.<br />
2) Bearing count 23. But I recon I can get it down to 12.<br />
3) 8 threaded rods+2 unthreaded rods but it can be reduced to 5 + 2 unthreaded<br />
<br />
4) 300 x 400 Z axis build area. With a Z axis of 250mm<br />
5) Prints well at 25m/s with a Makerbot MK4 extruder.<br />
6) Happily go to 50m/s but the extruder can't keep up<br />
<br />
7) Darwin design but uses only three threaded rods on Z axis.<br />
8) Z axis is rock solid.<br />
<br />
9) Big red emergency stop button to be wired into Reset pin of Arduino<br />
10) Nice area in the Z axis to dump spanners and often used tools.<br />
11) It is so robust I can sit on it. (I am about 95kg)<br />
<br />
Just thought I would share.<br />
<br />
Stephen<br />
<br />
P.s. I have attached pictures.<br />
<br />
=====Entrepreneurship (Kits)=====<br />
There is no kit. This machine was built using two Saws, Pillar drill, a Screw driver, two 13mm spanners, a big metal ruler, glue and lots of G clamps. <br />
<br />
Where accuracy is required I cheated by using pre cut MDF. For example the two uprights bits of MDF needed to suppot the x-y printing bed obviously need to be exactly the same size. (otherwise it would lean) I bought a 900mm x 450mm bit of 16mm thick MDF and cut it in two. This gave me two bits of MDF with a perfect 450 side and a rough 450 side. The perfect 450 was used to hold up the X-y printing bed with the roughly cut 450 points outwards to the back of the system. As a result I did not choose the size of the machine my MDF supplier did. My MDF was supplied in 900x450x16 and 800x600x16. <br />
<br />
The machine has a base of 800x600 with a x-y printing bed of 800x600 which sits exactly 450mm high.<br />
If your MDF supplier has different sized MDF this should not be a problem. Just go with the flow.<br />
<br />
=Files and Parts=<br />
[[Generic/Daughter_part]] and [[CarrotStraightener]]. (As a gentle style recommendation, it's good to try to keep all your parts and files on the RepRap wiki rather than scattered around so that Mr. Bunny doesn't have to use a scripts and so on to get stuff back onto the wiki.)<br />
[[Image:uploaded_files_example.zip]]<br />
<br />
<br />
<br />
=Flicker Example=<br />
<flickr>2967868906|right</flickr><br />
<br />
=Working Notes=<br />
Project Lead(s): Mr. Bunny<br />
Wiki-maintainers and helpers:<br />
<br />
=Forum thread?=<br />
http://dev.forums.reprap.org/<br />
<br />
=Tooling=<br />
Description of tooling requirements.<br />
<br />
=Process=<br />
What is making the part like?<br />
<br />
=Notes=</div>Stephen George