Updating - extrusion/lydia-print-head-v2

extrusion/lydia-print-head-v2/License.txt

@@ -0,0 +1,199 @@
+CERN Open Hardware Licence Version 2 - Permissive
+
+
+Preamble
+
+CERN has developed this licence to promote collaboration among
+hardware designers and to provide a legal tool which supports the
+freedom to use, study, modify, share and distribute hardware designs
+and products based on those designs. Version 2 of the CERN Open
+Hardware Licence comes in three variants: this licence, CERN-OHL-P
+(permissive); and two reciprocal licences: CERN-OHL-W (weakly
+reciprocal) and CERN-OHL-S (strongly reciprocal).
+
+The CERN-OHL-P is copyright CERN 2020. Anyone is welcome to use it, in
+unmodified form only.
+
+Use of this Licence does not imply any endorsement by CERN of any
+Licensor or their designs nor does it imply any involvement by CERN in
+their development.
+
+
+1 Definitions
+
+  1.1 'Licence' means this CERN-OHL-P.
+
+  1.2 'Source' means information such as design materials or digital
+      code which can be applied to Make or test a Product or to
+      prepare a Product for use, Conveyance or sale, regardless of its
+      medium or how it is expressed. It may include Notices.
+
+  1.3 'Covered Source' means Source that is explicitly made available
+      under this Licence.
+
+  1.4 'Product' means any device, component, work or physical object,
+      whether in finished or intermediate form, arising from the use,
+      application or processing of Covered Source.
+
+  1.5 'Make' means to create or configure something, whether by
+     manufacture, assembly, compiling, loading or applying Covered
+     Source or another Product or otherwise.
+
+  1.6 'Notice' means copyright, acknowledgement and trademark notices,
+      references to the location of any Notices, modification notices
+      (subsection 3.3(b)) and all notices that refer to this Licence
+      and to the disclaimer of warranties that are included in the
+      Covered Source.
+
+  1.7 'Licensee' or 'You' means any person exercising rights under
+      this Licence.
+
+  1.8 'Licensor' means a person who creates Source or modifies Covered
+      Source and subsequently Conveys the resulting Covered Source
+      under the terms and conditions of this Licence. A person may be
+      a Licensee and a Licensor at the same time.
+
+  1.9 'Convey' means to communicate to the public or distribute.
+
+
+2 Applicability
+
+  2.1 This Licence governs the use, copying, modification, Conveying
+      of Covered Source and Products, and the Making of Products. By
+      exercising any right granted under this Licence, You irrevocably
+      accept these terms and conditions.
+
+  2.2 This Licence is granted by the Licensor directly to You, and
+      shall apply worldwide and without limitation in time.
+
+  2.3 You shall not attempt to restrict by contract or otherwise the
+      rights granted under this Licence to other Licensees.
+
+  2.4 This Licence is not intended to restrict fair use, fair dealing,
+      or any other similar right.
+
+
+3 Copying, Modifying and Conveying Covered Source
+
+  3.1 You may copy and Convey verbatim copies of Covered Source, in
+      any medium, provided You retain all Notices.
+
+  3.2 You may modify Covered Source, other than Notices.
+
+      You may only delete Notices if they are no longer applicable to
+      the corresponding Covered Source as modified by You and You may
+      add additional Notices applicable to Your modifications.
+
+  3.3 You may Convey modified Covered Source (with the effect that You
+      shall also become a Licensor) provided that You:
+
+       a) retain Notices as required in subsection 3.2; and
+
+       b) add a Notice to the modified Covered Source stating that You
+          have modified it, with the date and brief description of how
+          You have modified it.
+
+  3.4 You may Convey Covered Source or modified Covered Source under
+      licence terms which differ from the terms of this Licence
+      provided that:
+
+       a) You comply at all times with subsection 3.3; and
+
+       b) You provide a copy of this Licence to anyone to whom You
+          Convey Covered Source or modified Covered Source.
+
+
+4 Making and Conveying Products
+
+You may Make Products, and/or Convey them, provided that You ensure
+that the recipient of the Product has access to any Notices applicable
+to the Product.
+
+
+5 DISCLAIMER AND LIABILITY
+
+  5.1 DISCLAIMER OF WARRANTY -- The Covered Source and any Products
+      are provided 'as is' and any express or implied warranties,
+      including, but not limited to, implied warranties of
+      merchantability, of satisfactory quality, non-infringement of
+      third party rights, and fitness for a particular purpose or use
+      are disclaimed in respect of any Source or Product to the
+      maximum extent permitted by law. The Licensor makes no
+      representation that any Source or Product does not or will not
+      infringe any patent, copyright, trade secret or other
+      proprietary right. The entire risk as to the use, quality, and
+      performance of any Source or Product shall be with You and not
+      the Licensor. This disclaimer of warranty is an essential part
+      of this Licence and a condition for the grant of any rights
+      granted under this Licence.
+
+  5.2 EXCLUSION AND LIMITATION OF LIABILITY -- The Licensor shall, to
+      the maximum extent permitted by law, have no liability for
+      direct, indirect, special, incidental, consequential, exemplary,
+      punitive or other damages of any character including, without
+      limitation, procurement of substitute goods or services, loss of
+      use, data or profits, or business interruption, however caused
+      and on any theory of contract, warranty, tort (including
+      negligence), product liability or otherwise, arising in any way
+      in relation to the Covered Source, modified Covered Source
+      and/or the Making or Conveyance of a Product, even if advised of
+      the possibility of such damages, and You shall hold the
+      Licensor(s) free and harmless from any liability, costs,
+      damages, fees and expenses, including claims by third parties,
+      in relation to such use.
+
+
+6 Patents
+
+  6.1 Subject to the terms and conditions of this Licence, each
+      Licensor hereby grants to You a perpetual, worldwide,
+      non-exclusive, no-charge, royalty-free, irrevocable (except as
+      stated in this section 6, or where terminated by the Licensor
+      for cause) patent license to Make, have Made, use, offer to
+      sell, sell, import, and otherwise transfer the Covered Source
+      and Products, where such licence applies only to those patent
+      claims licensable by such Licensor that are necessarily
+      infringed by exercising rights under the Covered Source as
+      Conveyed by that Licensor.
+
+  6.2 If You institute patent litigation against any entity (including
+      a cross-claim or counterclaim in a lawsuit) alleging that the
+      Covered Source or a Product constitutes direct or contributory
+      patent infringement, or You seek any declaration that a patent
+      licensed to You under this Licence is invalid or unenforceable
+      then any rights granted to You under this Licence shall
+      terminate as of the date such process is initiated.
+
+
+7 General
+
+  7.1 If any provisions of this Licence are or subsequently become
+      invalid or unenforceable for any reason, the remaining
+      provisions shall remain effective.
+
+  7.2 You shall not use any of the name (including acronyms and
+      abbreviations), image, or logo by which the Licensor or CERN is
+      known, except where needed to comply with section 3, or where
+      the use is otherwise allowed by law. Any such permitted use
+      shall be factual and shall not be made so as to suggest any kind
+      of endorsement or implication of involvement by the Licensor or
+      its personnel.
+
+  7.3 CERN may publish updated versions and variants of this Licence
+      which it considers to be in the spirit of this version, but may
+      differ in detail to address new problems or concerns. New
+      versions will be published with a unique version number and a
+      variant identifier specifying the variant. If the Licensor has
+      specified that a given variant applies to the Covered Source
+      without specifying a version, You may treat that Covered Source
+      as being released under any version of the CERN-OHL with that
+      variant. If no variant is specified, the Covered Source shall be
+      treated as being released under CERN-OHL-S. The Licensor may
+      also specify that the Covered Source is subject to a specific
+      version of the CERN-OHL or any later version in which case You
+      may apply this or any later version of CERN-OHL with the same
+      variant identifier published by CERN.
+
+  7.4 This Licence shall not be enforceable except by a Licensor
+      acting as such, and third party beneficiary rights are
+      specifically excluded.

extrusion/lydia-print-head-v2/README.md

@@ -0,0 +1,170 @@
+# Robot driven print systems
+
+***brief*** this is part of our work of PP OpenSource contributions, please check our [library](https://library.precious-plastic.org/) or our [main page](https://plastic-hub.com/products/) for more.
+
+The print head is a modification of [Lydia-v4](https://plastic-hub.com/products/lydia-v4.html) and aims at a generic solution for most of it´s components.
+
+**Status** : Confirmed & in progress, ETA Mid. of October
+
+## Todos
+
+* [x] Motor selection
+* [ ] Firmware updates
+  + [x] Check TCP stack memory/CPU footprint on the ControllinoMega
+* [x] Sensors / Audio, LED feedback (status, etc... )
+* [ ] Support [RAPID - ABB robots, but uses customer spec](https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf)
+
+### Todos Frederike@3dtreehouse
+
+monday memo: 
+
+* [ ] Gantry mount plate, we need the size and locations of the mount holes. We'd need a test rig here.
+* [ ] Location and size of the cabinet, what on the control panel (controls & plugs) ?
+* [x] We have to know how we share power source & ground among all digital circuits. Currently we're mostly at 24V and we need another source for 12V (fans, etc...)
+* [ ] Clarify RAPID ethernet connectivity
+- [ ] local setup / updates ? 
+- [ ] screw tip / max. barrel length / screw mod
+- [ ] Fan control
+
+## Components
+
+* [x] [OMRON MX2 VFD](https://industrial.omron.es/es/products/3G3MX2-A2022-E) [BOM](https://es.wiautomation.com/omron/variadores-motores-proteccion-de-circuitos/3G3MX2A2022E?SubmitCurrency=1&id_currency=1&gclid=Cj0KCQjwy8f6BRC7ARIsAPIXOjgnGbRSd_DaX-o59wjtIBqI2mGllXWWOvjhSC1sPQgOTmGMvc7toncaAqejEALw_wcB)
+* [ ] [3G3MX2-A2015-E](https://es.wiautomation.com/omron/variadores-motores-proteccion-de-circuitos/3G3MX2A2015E?utm_source=shopping_free&utm_medium=organic&utm_content=ES105728&gclid=Cj0KCQjwgYSTBhDKARIsAB8KuksIYzB6ATQnPv1r7SiF5Z1-2ySXLYHNzPDPoK95TaC2jr17-ueXM_8aAtZiEALw_wcB)
+* [x] Controllino - Mega as already mentioned a few times, adds 280 Euro
+* [x] a better motor and gearbox - MotoVario
+* [ ] custom firmware development
+* [x] ModBus capable PID controllers (3x) : [Omron - E5DC-B](https://industrial.omron.eu/en/products/E5DC-QX2ASM-002) - Din - Rail Module [BOM](https://es.wiautomation.com/omron/plc-sistemas/E5DCQX2ASM002?SubmitCurrency=1&id_currency=1&gclid=Cj0KCQjwy8f6BRC7ARIsAPIXOjgWMeg-P2iN7wysDExpeHJHtEHAv06B2pKTz3DQlKjn67Al2K7YvvMaAs4IEALw_wcB)
+* [Hopper - Linear Solenoid](https://uk.farnell.com/guardian-electric/t12x19-c-24d/solenoid-pull-operation-24vdc/dp/1608128?gclid=EAIaIQobChMIn4Xa8LPz6wIVEuntCh2SvwcDEAkYASABEgK3uvD_BwE&gross_price=true&mckv=s7TWt3nIG_dc%7Cpcrid%7C459864482330%7Cplid%7C%7Ckword%7C%7Cmatch%7C%7Cslid%7C%7Cproduct%7C1608128%7Cpgrid%7C114464711464%7Cptaid%7Cpla-323868377918%7C&CMP=KNC-GUK-SHOPPING-SMEC-Whoops-Newstructure-31Aug2020)
+* [ ] Motor [Cidepa](https://www.cidepa-sincron.com/en/25/cfm-parallel-shafts-gearboxes) - CFM-37.3 1/35 1 | 750W | 1.2SF
+
+### Noah OS Variant
+
+* [x] [PLC/Proxy for Aux, Sensors, Relays, etc... - CP1L-EM40DT1-D](http://www.ia.omron.com/products/family/1916/lineup.html), works well with [Omron NB NB3Q-TW01B](https://es.wiautomation.com/omron/hmi-pc-industriales/NB3QTW01B?SubmitCurrency=1&id_currency=1&gclid=CjwKCAjwh7H7BRBBEiwAPXjadt5G-53T-xJ8v5VmzdF5wUu8uHT1us-fzXU5913IwC3Kbz4cDg3jnBoC7g0QAvD_BwE)
+
+### Specs
+
+- Voltage : 220V|380V
+- [ ] Max. 120Kg, first rev. might be around 60KG
+- [ ] Controller cable length around 20 meter
+- [ ] PID : +/- 5 degc tolerance, alarm/cooling outputs
+
+### Gantry Mount
+
+- [ ] : run static tests
+* the tool flange is on p30, ([see also ATI Toolchanger - YuTu](https://www.youtube.com/watch?v=kDP-oofDn4w&feature=youtu.be))
+* [Why ATI Manual Tool Changers?](https://www.youtube.com/watch?v=N2Pr0tAsYkU&ab_channel=ATIIndustrialAutomation)
+* [x] we need a laser cut barrel shield which holds the insulation material
+* [x] on the barrel tip, we need some mounting possibilties for fans which are a little heavy as well
+- [ ] ATI mount ([see ATI Tool changers @ 3dcentral](https://www.3dcontentcentral.com/syndication/supplier/ATI%20Industrial%20Automation/147.aspx))
+
+### Firmware
+
+(https://www.controllino.biz/product/controllino-mega/) which gives us Ethernet and RS485. The board has been proven reliable and robust (ideal for prototyping).
+- [-] VFD and PID control is mapped to Serial communication which might accept G-Code
+- [x] VFD will be Omron-M2X series since we can use existing code. The VFD also supports Modbus (rather difficult)
+- [x] Internal registers/coils (custom PlasticHub Firmware) to Modbus rep
+
+![](./assets/lydia-print-head-logical.jpg)
+
+**[Diagram source](https://app.diagrams.net/#G1L7Prviy9U-2gpcZHm8Z5dj39gxDHd_V_)**
+
+### PID Controller
+
+* [x] We should go for [Omron E5-C](https://assets.omron.com/m/6f7cd0d93654a7a4/original/E5_C-Temperature-Controller-to-NB-Screen-Template-Tech-Guide.pdf) series which come with Modbus (consider EMI and cable length to the main controller)
+* [x] Each PID will be exposed on the internal ModBus mapping
+* There is currently a [custom PID controller](https://gitlab.com/plastichub/pid-controller) in development but as mentioned, it's unlikely that it sees the light before November. However, I can imagine we use sub-routines as they're avaiable
+* [-] We should create logging module as well a an API to set temperature profiles for different materials. The logging module will help analyzing different PID settings as well experimenting with barrel cooling (when overshooting becomes an issue).
+* [-] Additional, we forward alarms for overshooting on the internal bus
+
+* **Changes** :  Turns out that the [E5DC / E5DC-B](http://www.ia.omron.com/products/family/3242/) family is better choice.
+
+![](./assets/E5DC-B.jpg)
+
+### Barrel
+
+- [-] OD should be standard to EU heatbands
+- [ ] Between Nozzel and barrel we might have some adaptery to exchange different screw tips, up to 10 cm
+- [x] should have a mount near the nozzle
+- [x] Barrel - motor flange should have some redunancy to enable different barrels
+- [ ] [Taper bearing](https://www.123rodamiento.es/rodamiento-325207) - 52OD - 30ID | 17H
+----
+
+### Hopper interface and Hopper
+
+* [x] should have a thread interface
+* [x] integrate loader system
+
+## Todos
+
+* [x] Investigate Omron - PID feedback to enable more control via M/G codes (purge, ...)
+* [x] Investigate GCode to ROS mapping
+* [x] Investigate screw tip machining, if lucky we get away with 4 axis
+* [-] Test different VFD/PID checksum/parity settings with larger EMI around
+
+# References
+
+## ROS (cancelled)
+
+* [ROS - Github](https://github.com/ros-industrial)
+* [ROS - GBRL - Github](https://github.com/openautomation/ROS-GRBL/wiki/GRBLtron)
+* [ROS - Matlab|SimuLnk](https://www.mathworks.com/help/ros/ug/get-started-with-ros-in-simulink.html)
+* [ROS Modbus - Wiki](http://wiki.ros.org/modbus)
+* [ROS Modbus - PLC - Github](https://github.com/sonyccd/ros_plc_modbus)
+
+## Low - Tech
+
+- [Google Sheet - Collection](https://docs.google.com/spreadsheets/d/1L3z7wHZh9J2WZzBOLZywJ8anoBdfRqEpgk6UwjXq2Ec/edit#gid=0)
+
+
+## ProfiBus
+
+* [Instructables Arduino](https://www.instructables.com/Profibus-DP-Communication-Between-Arduino-and-PLC/)
+* [Arduino Forum](https://forum.arduino.cc/index.php?topic=458492.0)
+- [Specs - PDF](https://forum.arduino.cc/index.php?topic=458492.0)
+
+## Related Projects
+
+* [Project Noah](https://gitlab.com/plastichub/noah)
+
+### Cable robotics
+
+- [The Cable-robot Analysis and Simulation Platform for Research (CASPR)](https://github.com/darwinlau/CASPR)
+- [CUHK C3 Robotics Laboratory - Youtube](https://www.youtube.com/channel/UCxadDa3g1fUarP4ldAECtLQ)
+
+
+### Rapid - ABB
+
+* [Language specs and docs](./vendor/abb/2CSG445026D0201-ANR-LAN-Modbus-TCP-Protocol.pdf)
+* [ABB - AC_800M - Protocols](./vendor/abb/3BSE035982-511_en_AC_800M_5.1_Feature_Pack_Communication_Protocols.pdf)
+
+### ABB 6600
+
+<img src="./vendor/abb/abb-irb-6600.jpg" style="width:50%"></img>
+
+- [ABB - IRC - 5 - Controller](https://new.abb.com/products/robotics/controllers/irc5)
+- [ABB - IRC - 5 Manuals](./vendor/abb/IRC5_Operating manual_Trouble shooting_3HAC020738-001_revK_en.pdf)
+- [ABB - IRC - Datasheet](./vendor/abb/IRC5-Industrial-Robot-Controller-data sheet.PDF)
+- [ABB irb 6600 175-2.8](https://library.e.abb.com/public/560fa420555c2d8ac1257b4b0052112c/3HAC023933-001_rev1_en.pdf)
+- [ABB irb 6600 175 - 2.8 - Local](./vendor/abb/IRB_6600_R_US 02_05.pdf)
+- [ABB 660 - Specs](./vendor/abb/ABB-IR-6600-3HAC14064-1_revH_en_library.pdf)
+- [ABB Robotstudio Downloads](https://new.abb.com/products/robotics/robotstudio/downloads)
+
+## Project links
+
+* [Project Slack channel](https://pporgworkspace.slack.com/archives/C01A8G36MRP)
+* [Firmware](https://gitlab.com/plastichub/medusa/firmware)
+
+
+## Follow ups
+
+- [ ] calc. energy overhead, per printed kg of plastic
+- [ ] calc. min. invest to print obvious products
+- [ ] investigate possible OS verticals
+- [ ] develop generic system & functional design for v2.0 candidats, for 6D robots but also cable driven 3D systems
+- [ ] check displacement options for segmented prints, (cheap floor track system?)
+- [ ] check material remove options (see ATIish tool changers [YT](https://www.youtube.com/watch?v=EvsgCZyQuq0&ab_channel=ATIIndustrialAutomation))
+
+
+## Kuka
+
+https://github.com/ros-industrial/kuka_experimental/tree/melodic-devel/kuka_kr150_support/

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extrusion/lydia-print-head-v2/cad-kuga/readme.md

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+# robot
+
+KUKA KR150 L110-2 k2000 / https://www.kuka.com/en-de/services/downloads?terms=Language:en:1;Category:DataSheets;product_name:KR%20150%20L110-2;&q=

extrusion/lydia-print-head-v2/cad-report.json

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