Hello. Your work is awesome, It`s really remarkable. I`m working on CNC project with rotation spindle and this type of harmonic drive integrated with servo motor very useful. But I didn`t find information about what type of servo driver did you use. I would appreciate if you can share information. Thank you. Look forward to hearing from you. Max,
I personally use kollmorgen s600 because I know these drives well. But I suppose you should choose whichever drives you know best. It is not plug and play. Also it depends on the encoder on your HD. Just keep in mind that the HD drives with integrated servo motor, have a servo motor like any other servo motor, you just need to know how to configure a servo drive to servo motors. Good luck 👍
My next mod for my Colchester Student will be to fit the scale in the tail stock, years ago I made a new quill with. N 4 morse taper , and a longer quill travel
Thanks. Yes they certainly aren’t cheap. I have been checking eBay since two or three years and twice got lucky :-) if I wanted a third I couldn’t get one ... the other issue is the servo drives if one has to get a matched one. I happen to be very familiar with the kollmorgen drives so managed to get it working just fine. Very happy.
Hi, I am wondering how well these harmonic drives deal with the chips and coolant? Reading the manuals for them they strongly suggest and environmental free of both. I ask because I too am looking to make something like this.
Daniel Sharp, they have standard rubber seals and o-rings. Don’t think coolant is an issue, chips can be minimized by ensuring the rotating surfaces have a minimal gap.
Accuracy depends on all axis not just the 4th and 5th axis. Also on machine flex, etc. As far as the 4th and 5th axis goes, there is virtually no backlash. Checkout the specs for the harmonic drives FHA-B.
@@PWLopes9000 Nice man. I really admire your work, you're an inspiration to us. I have a small machine shop in the UK, i have a haas minimill. Looking at making a 5 axis trunnion as i can't afford to buy one. How hard do you recon it would be to allow the Haas controller to communicate with it?
@@michaelfripp2161 thanks that’s kind of you :-) don’t really know what the haas mini mill uses as a controller. On the 5 axis side, it all depends on which servo drives you would use as well. Then there is the software side of the haas, honestly don’t know enough about the haas to venture an opinion. In any case you would need to match the servo drive to the interface the haas controller expects and also to the harmonic drive servo motors.
@@PWLopes9000 I see. This is something we will struggle with. Are you aware of any other types of low profile servo's like the FHA-C's at a more reasonable price? We cant source them here in the uk for less than £1200 second hand!
@@michaelfripp2161 I have researched this topic many times over a couple of years and I found no alternative as compact as performant as the FHA. Even with other forms of Harmonic drives, the moment you add an adequately sized servo motor the footprint is going to be bigger than with the FHA. For a 4th Axis only, this is less of an issue so there are more options. For a 4/5th axis on a machine with limited Y and Z travel, this is critical.
What did you mean with 'no clean toolpaths for 5 axis' ? did you mean the stutter of the axis at some point? I had something similar (stuttering of the axis with a 3 axis opp) which was a G64 parameter setting. Noticed the instructions in fusion generated information for 0,001mm moves (while the smoothing and tolerance was set correctly). For my controller (edingcnc) i could use a G64 Q.01, which set the smoothing to 0,01mm in the controller) which solved it for me. Kudo's for your endeavour!
@Berend, there are two aspects I have observed with F360, small jerky toolpaths (can be seen by zooming it, and I even raised it to f360 and they accepted it as a bug) and also toolpaths that just don’t make sense looking at the surface being machined. I have G64 set at 0.1, smoothing on, etc. How can I explain better, if a perfect curve is being machined, I expect the toolpath to follow a perfect curved motion and not move the A axis midway the X axis move. You can see this better in my latest post, part 9 TCP + DWO.
I Lopes, i'm write to Italy , i like more your project, is possible contact you with mail , to ask information , abount setting electronics and where is possible buy the engine with best price? Thanks a lot in advance
Hi Palma, I’m happy to respond to short questions here or per email. Note that the harmonic drives can be found from time to time on eBay but more often than not for a too high price. There are also several versions and sizes of harmonic drives. All depends on your budget, machine configuration, etc. the same goes for the electronics or rather servo drive. If you are lucky you could get a fha harmonic drive together with a servo drive - though I have no experience with those. It’s a whole topic I’m afraid.
Incredible job of your 5th axis mate
Thank you
Hello,
Nice video, thanks !
Arr you using mesa cards or another reference ?
Thank you
Hello. Your work is awesome, It`s really remarkable. I`m working on CNC project with rotation spindle and this type of harmonic drive integrated with servo motor very useful. But I didn`t find information about what type of servo driver did you use. I would appreciate if you can share information. Thank you. Look forward to hearing from you. Max,
I personally use kollmorgen s600 because I know these drives well. But I suppose you should choose whichever drives you know best. It is not plug and play. Also it depends on the encoder on your HD. Just keep in mind that the HD drives with integrated servo motor, have a servo motor like any other servo motor, you just need to know how to configure a servo drive to servo motors. Good luck 👍
very good video..thanks for your time
This is incredible !!! May I know about the motor, have you used the stepper directly or with any harmonic drive or gearing ?
Thanks 😊 those are HD with integrated servo motors, FHA-C
My next mod for my Colchester Student will be to fit the scale in the tail stock, years ago I made a new quill with. N 4 morse taper , and a longer quill travel
Do you use Linux CNC to control your milling machine?
At minute 3:48 I meant to say “Fusion 360 LinuxCNC post processor” and not “LinuxCNC preprocessor”
do you use mach3 for cnc software ? which one do you use?
Linuxcnc
Very nice, following your work as I am interested to do something like this. Only obstacle is money for the harmonic drives at the moment.
Thanks. Yes they certainly aren’t cheap. I have been checking eBay since two or three years and twice got lucky :-) if I wanted a third I couldn’t get one ... the other issue is the servo drives if one has to get a matched one. I happen to be very familiar with the kollmorgen drives so managed to get it working just fine. Very happy.
@@PWLopes9000 What brand are these ?
@@wolfmanndesigns www.harmonicdrive.net/products/rotary-actuators/hollow-shaft-actuators/fha-c
What spindle u used for your machine
I use a Kami sk30 spindle attached to a 6.6Kw servo motor on a 2.3 to 1 reduction.
Do you have a brake on either of your rotational axis drives? Would it be necessary or beneficial or just an unneeded feature.
The A axis does have a brake but it’s only on when the amplifier is off. I don’t think it’s necessary, there is a lot of torque to hold the position.
Fantastic job! Ive wanted to do this extremely badly for my LinuxCNC bed mill conversion. What size harmonic drives are these? What is the model?
Thanks Adam. They are FHA-32C-100 and FHA-25C-50 for the A and C Axis respectively.
$6000 per 😅
Hi, I am wondering how well these harmonic drives deal with the chips and coolant? Reading the manuals for them they strongly suggest and environmental free of both. I ask because I too am looking to make something like this.
Daniel Sharp, they have standard rubber seals and o-rings. Don’t think coolant is an issue, chips can be minimized by ensuring the rotating surfaces have a minimal gap.
Hello Friend! and which engines are used to turn? stepping?
Hi there, the motors are integrated with the harmonic drives. They are a unit. The motors are servo drives, not steppers.
yup beautiful servos! Few of those brand new will cost as much as a car.
BYUNG JAE Lee indeed.
What kind of accuracy are you getting with this?
Are you getting much backlash?
Accuracy depends on all axis not just the 4th and 5th axis. Also on machine flex, etc. As far as the 4th and 5th axis goes, there is virtually no backlash. Checkout the specs for the harmonic drives FHA-B.
@@PWLopes9000 Nice man. I really admire your work, you're an inspiration to us. I have a small machine shop in the UK, i have a haas minimill. Looking at making a 5 axis trunnion as i can't afford to buy one.
How hard do you recon it would be to allow the Haas controller to communicate with it?
@@michaelfripp2161 thanks that’s kind of you :-) don’t really know what the haas mini mill uses as a controller. On the 5 axis side, it all depends on which servo drives you would use as well. Then there is the software side of the haas, honestly don’t know enough about the haas to venture an opinion. In any case you would need to match the servo drive to the interface the haas controller expects and also to the harmonic drive servo motors.
@@PWLopes9000 I see. This is something we will struggle with.
Are you aware of any other types of low profile servo's like the FHA-C's at a more reasonable price? We cant source them here in the uk for less than £1200 second hand!
@@michaelfripp2161 I have researched this topic many times over a couple of years and I found no alternative as compact as performant as the FHA. Even with other forms of Harmonic drives, the moment you add an adequately sized servo motor the footprint is going to be bigger than with the FHA. For a 4th Axis only, this is less of an issue so there are more options. For a 4/5th axis on a machine with limited Y and Z travel, this is critical.
From where can these harmonic drives be purchased online . Is there and link , please share. Thanks
I have only ever seen them being sold as industry surplus on eBay or similar sites. Cheers
What did you mean with 'no clean toolpaths for 5 axis' ? did you mean the stutter of the axis at some point? I had something similar (stuttering of the axis with a 3 axis opp) which was a G64 parameter setting. Noticed the instructions in fusion generated information for 0,001mm moves (while the smoothing and tolerance was set correctly). For my controller (edingcnc) i could use a G64 Q.01, which set the smoothing to 0,01mm in the controller) which solved it for me. Kudo's for your endeavour!
@Berend, there are two aspects I have observed with F360, small jerky toolpaths (can be seen by zooming it, and I even raised it to f360 and they accepted it as a bug) and also toolpaths that just don’t make sense looking at the surface being machined. I have G64 set at 0.1, smoothing on, etc. How can I explain better, if a perfect curve is being machined, I expect the toolpath to follow a perfect curved motion and not move the A axis midway the X axis move. You can see this better in my latest post, part 9 TCP + DWO.
Is that a welding tip on the air compressed air? Great Idea
Indeed it is a welding tip.
Have you tried to cut threads?
Where?
P. Lopes sorry, i meant external thread
I have not tried to cut external threads on the 5 axis.
Would you share fusion files ? I am planing to build harmonic drive 5 axis ?
sure, here a360.co/2T1qKDD
Did that work??
@@PWLopes9000 Thanks a lot. I got it open. Now starts long learning for Fusion and linuxcnc.
Cool :-)
@@PWLopes9000 Would it work If I build it aluminium?
have you activated G64?
Yes, G64 is on with P0.01
I Lopes, i'm write to Italy , i like more your project, is possible contact you with mail , to ask information , abount setting electronics and where is possible buy the engine with best price?
Thanks a lot in advance
Hi Palma, I’m happy to respond to short questions here or per email. Note that the harmonic drives can be found from time to time on eBay but more often than not for a too high price. There are also several versions and sizes of harmonic drives. All depends on your budget, machine configuration, etc. the same goes for the electronics or rather servo drive. If you are lucky you could get a fha harmonic drive together with a servo drive - though I have no experience with those. It’s a whole topic I’m afraid.
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