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projects:micromanipulator:start [2026/08/02 15:41] – fionaprojects:micromanipulator:start [2026/08/03 20:47] (current) – more docs rahix
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 ====== Open Micro-Manipulator ====== ====== Open Micro-Manipulator ======
-We are building an //open micro-manipulator// after the amazing design of //Diffraction Limited// ([[https://www.youtube.com/watch?v=MgQbPdiuUTw|YouTube]]). He describes is as+We are building an //open micro-manipulator// after the amazing design of //Diffraction Limited// ([[https://www.youtube.com/watch?v=MgQbPdiuUTw|YouTube]]). He describes is as:
  
 > This project contains an open source low-cost, easy-to-build motorized XYZ Micro-Manipulator motion control platform achieving submicron precision. It's designed for applications such as optical alignment, probing electronic components, and microscopy. > This project contains an open source low-cost, easy-to-build motorized XYZ Micro-Manipulator motion control platform achieving submicron precision. It's designed for applications such as optical alignment, probing electronic components, and microscopy.
 +
 +We are building ours for die image stitching and laser alignment needs.
  
 {{:projects:micromanipulator:20260731_work-in-progress.jpg?600|}} {{:projects:micromanipulator:20260731_work-in-progress.jpg?600|}}
  
-[Work in Progres]+[Work in Progress]
  
 ==== Resources ==== ==== Resources ====
   * Upstream Project Documentation: https://github.com/0x23/MicroManipulatorStepper   * Upstream Project Documentation: https://github.com/0x23/MicroManipulatorStepper
 +  * Our design files and modified firmware: https://git.fa-fo.de/fafo/OpenMicroManipulator
  
  
 ===== Log ===== ===== Log =====
-==== 2026-08-02 ====+==== 2026-08-02 (fiona, anuejn, rahix) ====
 The code to drive the fafo-flavored circuit board has been pushed to git: [[https://git.fa-fo.de/fafo/OpenMicroManipulator]] The code to drive the fafo-flavored circuit board has been pushed to git: [[https://git.fa-fo.de/fafo/OpenMicroManipulator]]
  
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 We finished soldering the circuit board and confirmed motors and encoders of all three axis working. We finished soldering the circuit board and confirmed motors and encoders of all three axis working.
  
-==== 2026-08-01 ====+----- 
 + 
 +Running calibration on all 3 axes with 27° retration angle (we increased it in an attempt to improve the results). 
 + 
 +{{:projects:micromanipulator:2026-08-02_22-joint0.png?400|}} 
 +{{:projects:micromanipulator:2026-08-02_22-joint1.png?400|}} 
 +{{:projects:micromanipulator:2026-08-02_22-joint2.png?400|}} 
 + 
 +It does not work reliably yet, neither homing nor calibration yields great results so far. Assuming we will need a combination of improving the encoder to magnet alignment and also tuning software parameters more. 
 + 
 +==== 2026-08-01 (fiona, anuejn, rahix) ====
 Plotted the encoder values to understand why results do not add up. Plotted the encoder values to understand why results do not add up.
  
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 We noticed that the version of the stepper motor mount (''MotorMount'' in the FreeCAD assembly) that we printed does not match the latest design. It is missing a mounting hole for the encoder... Printed the new version. We noticed that the version of the stepper motor mount (''MotorMount'' in the FreeCAD assembly) that we printed does not match the latest design. It is missing a mounting hole for the encoder... Printed the new version.
  
-With a properly mounted encoder the measurements look a lot better, but the calibration process was still unhappy with the results. The reason for that was that the magnets were moved out of their linear range when homing. We fixed this by monkey-patching the code to retract 18 degrees after homing. +With a properly mounted encoder the measurements look a lot better, but the calibration process was still unhappy with the results. The reason for that was that the magnets were moved out of their linear range when homing. We fixed this by monkey-patching the code to retract 17.5 degrees after homing. 
-<code>+<code diff>
 diff --git a/firmware/MotionControllerRP/src/robot_joint/robot_joint.cpp b/firmware/MotionControllerRP/src/robot_joint/robot_joint.cpp diff --git a/firmware/MotionControllerRP/src/robot_joint/robot_joint.cpp b/firmware/MotionControllerRP/src/robot_joint/robot_joint.cpp
 index b343a1f..d4263e9 100644 index b343a1f..d4263e9 100644
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 </code> </code>
 Now the micromanipulator axis is working as intended and can be controlled via G-Code! Success! Now the micromanipulator axis is working as intended and can be controlled via G-Code! Success!
-`G0 X0` can be used to move the X-Axis to the center position.+After calibrating joints with ''M56'', ''G0 X0'' can be used to move the X-Axis to the center position.
  
 We continued soldering the motor drivers for the remaining axis to the board. We continued soldering the motor drivers for the remaining axis to the board.
  
-==== 2026-07-31 ====+{{:projects:micromanipulator:20260802_perfboard-crimes.jpg?400|}} 
 + 
 +[do not question what the saw is doing on this picture] 
 + 
 +==== 2026-07-31 (anuejn, fiona) ====
 Assembly arrived in the lab and we finished assembling it. Assembly arrived in the lab and we finished assembling it.