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projects:micromanipulator:start [2026/08/03 20:47] – more docs rahixprojects:micromanipulator:start [2026/10/03 23:57] (current) – [2026-10-03 (rahix)] rahix
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 We are building ours for die image stitching and laser alignment needs. We are building ours for die image stitching and laser alignment needs.
  
-{{:projects:micromanipulator:20260731_work-in-progress.jpg?600|}} +{{:projects:micromanipulator:20260926_mm_under_microscope.jpg?600|}}
- +
-[Work in Progress]+
  
 ==== Resources ==== ==== Resources ====
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 ===== Log ===== ===== Log =====
 +
 +==== 2026-10-03 (rahix) ====
 +Didn't fix the homing yet, so when we tried homing again today, the micro-manipulator disassembled itself again.
 +
 +Had to rerun axis calibration and it took a few attempts before all axes homed and then started moving successfully.
 +
 +Sequence of G-codes that will most likely get you a working setup at this point:
 +
 +<code>
 +M56 J0 (calibrating X) (ideally watch the curves to see if it looks mostly linear)
 +M56 J1 (calibrating Y)
 +M56 J2 (calibrating Z)
 +G28 (homing all axes)
 +G0 X0
 +G0 Y0
 +G0 Z0
 +</code>
 +
 +If any of the axes don't move to the 0 position (center) with the relevant G0 command, you may have to try again. If all else fails, power-cycle the microcontroller...
 +==== 2026-09-27 (anuejn, rahix) ====
 +Now pivoting to using the micro-manipulator for a laser fiber alignment. See [[..:optics:log#day_2026-09-27_anuejn_rahix|Optics Lab Notes 2026-09-27]] for more :)
 +
 +{{projects:optics:20260927_mm_fiber_alignment.jpg?400|}}
 +
 +Not being able to home in-situ is becoming more and more of an issue.
 +
 +For reference: The drivers are currently running off 3.5V (lab supply) and idly need about 1.5A.
 +
 +---
 +
 +Noticed some clues in [[https://git.fa-fo.de/fafo/OpenMicroManipulator/src/branch/main/documentation/setup_guide/setup_guide.md|setup_guide.md]] related to our homing troubles: There should be a steel pin limiting the joint motion. We are missing this in our design, probably because of building a partially old revision.
 +
 +The upstream design uses a 2x8mm steel pin. Our FAFO-joints with the pulleys currently lack the respective bore for them.
 +
 +Additionally, our initial homing direction was correct; reversing the motors would not have been necessary with this homing approach.
 +==== 2026-09-26 (anuejn, rahix) ====
 +Further attempts at fixing the homing and calibration.
 +
 +Talk to the device from terminal:
 +
 +<code>
 +tio -e -m INLCRNL -m ONLCRNL /dev/ttyACM0
 +</code>
 +
 +By increasing the homing current and reducing homing speed, we managed to get the joints to home more reliably. Had to also add some code so the default retract angle is used for homing (G28).
 +
 +Also noticed that we are probably homing the wrong direction: With the actual tool head attached, the micro manipulator would self destroy every time during homing as the joints move so far back they force the connecting rods to detach.
 +
 +Changed the homing direction by plugging in the stepper motors in reverse.
 +
 +AND IT WORKS!!!
 +
 +{{:projects:micromanipulator:20260926_mm_under_microscope.jpg?400|}}
 +
 +It still self-destructs during homing, but less badly after changing the direction.
 +
 +We can now use it with the proper host software and started to look at a sample die under a microscope (picture above). Quick setup for the GUI:
 +
 +<code>
 +git clone https://github.com/0x23/OpenMicroManipulatorGUI
 +cd OpenMicroManipulatorGUI/
 +uv init
 +uv add -r requirements.txt
 +# Only this command if you already prepared before:
 +uv run source/main.py
 +</code>
 +
 +For reference: The positive direction of each axis is towards the joint motor of that axis.
 +
 +Current WIP on YouTube: [[https://www.youtube.com/watch?v=g0iLpfp9_v4]]
 ==== 2026-08-02 (fiona, anuejn, rahix) ==== ==== 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]]