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projects:micromanipulator:start [2026/09/26 21:16] – [2026-09-26 (anuejn, rahix)] 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) ==== ==== 2026-09-26 (anuejn, rahix) ====
 Further attempts at fixing the homing and calibration. Further attempts at fixing the homing and calibration.
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 It still self-destructs during homing, but less badly after changing the direction. 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).+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. 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]]