Full cnc controller

[arnaud2]

hello
i have build a full cnc controller who can control full cnc machine without computer
the board read the gcode in a sd-mmc card and drive the motors up to 50khz
for the moment it do only linear interpolation (3axes) and drive the spindle with pwm and can switch on /off the coolant
a manual mode can jog all axes in contius or in increments of 0.01 , 0.1 , 1 , 10 mm
the remote mode is for rs232 com for sending one after one line of gcode
the display is a simple KS0108 128*64 graphic lcd
i have inclued a bootloader for flashing MCU without remove it
when someone want to test i put the pcb on line and the firmware

[Crevice Reamer]

Very interesting! Kudos!

CR.

[slp_prlzys]

great job, I tried to do the very same thing, but was not able to complete it due to lack of knowledge .

[california9331]

arnaud2 ,I want to test it,please put the pcb and schematic ,or email to me:zhangyue9331@126.com,thanks.

[arnaud2]

here is the pcb
i have not doing schematic but it's easy tu understand how it works
you must at the first programming the pic18f4620 with bootload.hex and after put the program with the bootloader software

it have some little bug but that are modified in the next time

if you have question

[Chris D]

Very impressive work!

Chris

[hesham morsy]

Very impressive work

[kohla]

Very impressive work!

[ImanCarrot]

Respect!

That is some neat engineering

[eSilviu]

Can you post schematics?
What I really like to see is the source code, or the algorithms used for interpreting G-codes
I can share my own design, with pic+ ethernet...

[arnaud2]

i cant give all the source code but i can give some routines of the program must be 100% free and i dont want that someone make buisness with it

it is integrally writen with mikrobasic (aproximative 2500 lines of code)
90% is only the menu and the display

for driving the motors it use a simple bresenham algorythm

sub procedure do_line

if px>maxx then fail=1 end if
if py>maxy then fail=2 end if
if pz>maxz then fail=3 end if

if px<0 then fail=1 end if
if py<0 then fail=2 end if
if pz<0 then fail=3 end if                                 

dx = ax - px
dy = ay - py
dz = az - pz

dx = dx * stepratio
dy = dy * stepratio
dz = dz * stepratio

stvel = 50000/(stvel1*stepratio)

speed2 = 50000/(speed*stepratio)
speed3 = 0

acc2=acc

coord = 0
coord1 = 0
coord2 = 0

mx = 0
my = 0
mz = 0

inv = -1
ct = 0

   if dx < 0 then portb.6 = 1 dirx = 1  dx = dx*inv
             else portb.6 = 0 dirx = 0  end if
                   
   if dy < 0 then portb.4 = 1 diry = 1  dy = dy*inv
             else portb.4 = 0 diry = 0  end if

   if dz < 0 then portb.2 = 1 dirz = 1  dz = dz*inv
             else portb.2 = 0 dirz = 0  end if
             
   if dx > stepratio then spi_glcd_write_text("   MOVE",15,1,1) end if
   
   if dy > stepratio then spi_glcd_write_text("   MOVE",15,2,1) end if
   
   if dz > stepratio then spi_glcd_write_text("   MOVE",15,3,1) end if

   vm = sqrt((dx*dx)+(dy*dy)+(dz*dz))
   vm2 = vm
   

   
   if speed2 < stvel then speed3 = stvel  vel = 1
                          endvec = acc*((stvel-speed2)/10)
                     else speed3 = speed2  vel = 0
                          endvec = 0
                     end if
                     
      while (vm>0)and(porta.4=1)and(fail=0)
      
      if (portd.1=1)and(portc.0=0)and(menu=1) then spi_glcd_write_text(" PAUSE ",76,6,1)
                                              delay_ms (1000)
                                              while (portd.1=0)and(portc.0=0) wend
                                                 if speed2 < stvel then speed3 = stvel  vel = 1
                                                 else speed3 = speed2  vel = 0
                                                 end if
                                              end if
      
      if vel=1
         then ct = ct +1
              if ct = acc2 then speed3 = speed3-10 ct = 0 end if
              if speed3stvel then speed3 = stvel end if
              end if

      for delay = 0 to speed3
      nop
      next delay

      vm = vm - 1
      if dx<>0 then
      if coord > dx then coord = coord - vm2
                         portb.7 = 1
                         mx = mx +1 end if end if
      coord = coord + dx
      
      if dy<>0 then
      if coord1 > dy then coord1 = coord1 - vm2
                          portb.5 = 1
                          my = my + 1 end if end if
      coord1 = coord1 + dy
      
      if dz<>0 then
      if coord2 > dz then coord2 = coord2 - vm2
                          portb.3 = 1
                          mz = mz + 1 end if end if
      coord2 = coord2 + dz

      delay_us (2)

      portb.3 = 0
      portb.5 = 0
      portb.7 = 0

      wend

   if dirx = 1 then ax = ax + (mx/stepratio)
               else ax = ax - (mx/stepratio)
               end if

   if diry = 1 then ay = ay + (my/stepratio)
               else ay = ay - (my/stepratio)
               end if

   if dirz = 1 then az = az + (mz/stepratio)
               else az = az - (mz/stepratio)
               end if

end sub

if someone have a code to do circular interpolation with G02 and G03 i can integrate into the program

for reading gcode it's verry simple i read it line after line

if the 3 first carracters are G00 then rapid move
if G01 the controled speed move

here is the routine to read the values

at the first i read a comlete line into the mmc (the routine is integred in mikrobasic) ans store it in a array of bytes

sub procedure read_gcode

file = 0

divider = 1

while ((data[pointer]<47) or (data[pointer]>58)) and (pointer > 3)
      pointer = pointer - 1
      wend


if (data[pointer]>47) and (data[pointer]< 58) and (pointer > 3)
   then file = (data[pointer]-48) * 100
   end if

pointer = pointer - 1

if (data[pointer]=46) and (pointer>3) then divider = 10
                                           pointer = pointer - 1 end if
        
if (data[pointer]>47) and (data[pointer]< 58) and (pointer > 3)
   then file = file + (data[pointer]-48)*1000
        pointer = pointer - 1
        end if
        
if (data[pointer]=46) and (pointer > 3) then divider = 100
                                        pointer = pointer - 1 end if
                                        
if (data[pointer]>47) and (data[pointer]< 58) and (pointer > 3)
   then file = file + (data[pointer]-48)*10000
        pointer = pointer - 1
        end if

if (data[pointer]>47) and (data[pointer]< 58) and (pointer > 3)
   then file = file + (data[pointer]-48)*100000
        pointer = pointer - 1
        end if

if (data[pointer]>47) and (data[pointer]< 58) and (pointer > 3)
   then file = file + (data[pointer]-48)*1000000
        pointer = pointer - 1
        end if

if (data[pointer]>47) and (data[pointer]< 58) and (pointer > 3)
   then file = file + (data[pointer]-48)*10000000
        pointer = pointer - 1
        end if
        
if (data[pointer]=45) and (pointer > 3)
   then inv2=1
        pointer = pointer - 1
   else inv2=-1
        end if


file = file /divider

if (data[pointer]=88) and (pointer > 3) then px = file+opx end if

if (data[pointer]=89) and (pointer > 3) then py = file+opy end if

if (data[pointer]=90) and (pointer > 3) then pz = (file*inv2)+opz end if

if (data[pointer]=70) and (pointer > 3) then setspeed = file/10 end if

if (data[pointer]=83) and (pointer > 3) then setrpm = file/100 end if

if (data[pointer]=84) and (pointer > 3) then tool = file/100 end if

file = 0

end sub

[cwiliam]

seen ths
http://www.fisertek.it/index_000044.html

i was hoping to see it finished but the owner of the webpage email me saying he doesn't have time

hopefully I can make Arnaud2's great cnc controller

thank you so much for sharing