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projects:micromanipulator:start [2026/09/27 17:14] – [2026-09-26 (anuejn, rahix)] rahixprojects:micromanipulator:start [2026/10/03 23:57] (current) – [2026-10-03 (rahix)] rahix
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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) ==== ==== 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 :) 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 :)
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 For reference: The drivers are currently running off 3.5V (lab supply) and idly need about 1.5A. 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.