[Angel LM]

Hi Lex!

I’m surprised that you found that website! Where did you find it? Hahaha

Yes, I’m collaborating with the company behind thorrobot.org to be able to provide kits to build your own Thor. The reason of the absence of any mention to it is that we are currently working on a Kickstarter campaign and there is a bit of work to be done.
I think that the website has not been advertised yet, that’s why I’m surprised about people finding it.
I’m working with this company because I trust on them and I’m sure that they will do a very good job. I would want to clarify that althrough I’ll be collaborating with them I will not be directly responsive of the sales.

So, if you want to buy a kit, contact them using their contact email and they will answer you as soon as possible with all the info!

I’ll keep you all updated about the progress in this adventure! 🙂 ;

Best regards,
Angel LM

[Angel LM]

Hi!

As the gears are printed, they could have some tolerances (it depends on each printer). If you see that the connection between gears is very tight and they not mesh well, maybe the module of one of the gears needs to be tunned.

To do this, just open the Art1GearMotor.FCStd file with FreeCAD, navigate to the Involute Gear object and change the module value, then select the Art1GearMotor object, export it to STL and print it. I would recommend you to start reducing it by 0.1mm.

Hope it helps!
Angel LM

[Angel LM]

Hi Thalles,

Yes, I used 16 microsteps for every stepper driver.
I’m sure that you already did it but, just to be sure:

• Have you tried with other stepper driver?
• Have you tried to move a normal stepper with the same driver that is not moving the stepper with the mechanical reduction?
• Have you tried to adjust the current of the driver?
• Have you checked that the coils of the motor are ok? And the wires of the coils are well placed: A1-A2-B1-B2

Tell me if you already have checked this or you are not sure about how to check something!

Best regards,
Angel LM

[Angel LM]

Hi Rafael and company!

Welcome to the Thor family! 🙂
I just added you and your students to the Thor Builders List!
It would be very interesting if you create a [Roadmap] thread posting your progress, fails and successes while building the robot!

I can’t express enough my admiration and gratitude to teachers like you, that not just teach but inspire the students. So, please, count with my full support!

Best regards,
Angel LM

[Angel LM]

Hello Rafael!

As Drew has suggested, it could be that the current set on the stepper drier is not enough. Have you tried to adjust it?
Could you share the model of the stepper and the driver you are using?

Also, it could be that the torque needed to rotate that articulation is greater than the torque provided by the stepper. Does the articulation 1 moves easily without too much friction?

Best regards,
Angel LM

[Angel LM]

Hi Drew!

As far as I remember (It has been a long time since I programmed that…) I didn’t take into account the microsteps. Instead of that, I set the steps_per_mm using the $ commands (writing the EEPROM).
The values I have were set by trial an error measuring 45º 90º 180º and 360º
Of course, the value of steps_per_mm would mean steps_per_degree in this case.

Time ago I posted my $$ settings in the Thor’s wiki, if it helps.

For the next version of Asgard I’ll try to add a Settings window where that parameters can be easily tunned.

Best regards!

[Angel LM]

Hi Thalles,

The steppers with the mechanical reduction are working in Marlin? Could you share the model of that steppers?

In my case, I control them in the same way I control the normal steppers, so I don’t really have a clue about what is happening in your case 🙁

Let’s try to fix it 😉
Angel LM

[Angel LM]

Hi Aviraj,

Try installing the pyserial module (pip install pyserial). This error may appear again with other libraries, I suggest you to do the same.

It’s one of the things that I want to do: to document the dependencies of the main program… But I have no time right now.

Hope it helps!

[Angel LM]

Hi Martin,

Please, read the [Rules & Guidelines] Read before posting.

There you will find the link to the FAQ, where is the answer to that question.

Hope it helps!
Angel LM

[Angel LM]

Hi Marta!

First of all welcome to the Thor Community!

The most updated files are the ones located in the Thor Github’s repository. I would recommend you to use that files instead of Hackaday ones.

About the slacks you found on the Art5&6 pieces… Could you post a video to see what is happening? The vertical one sounds like the bolt that pass through the Art56GearPlate is not tightened enough, but without seeing it is hard to realise.

Hope it helps!
Angel LM

[Angel LM]

Hi!

The GRBL you have to upload to the Arduino Mega is GRBL firmware. For that board I modified the code. You can see the code in this commit of github: https://github.com/AngelLM/grbl/tree/a4ab72a57b4f2c84cec56b8ef5326d89aad7727d

Also, for the GUI you can check this video I uploaded days ago 🙂 https://www.youtube.com/watch?v=Aas1Xh42xMA

I’ll upload soon a step to step guide to install and run the GUI.

Best regards,
Angel LM

[Angel LM]

Hi Thalles,

You are using an2560 with a Ramps 1.4, but which GRBL did you flashed to the arduino board? The original GRBL or the one I modified?
The cpu_map_atmega2560.h file is different and maybe that’s the issue. I modified that file to work with the ControlPCB board and not with the Ramps.

If you want to control your Thor with Ramps boards you will need 2 units. The first one for the first 3 articulations and the other one for the last 3 articulations. I did it years ago flashing the original GRBL code to the arduinos and sending a gcode to each board separately.

Marlin could be a better option (for testing at least) as it allows you to control 5 stepper motors (X,Y,Z,E1,E2) so you can control 5 articulations with just 1 ramps.

Hope it helps!
Angel LM

[Angel LM]

Hi Thalles,

I have 1 unit of the assembled and tested PCB. The price is 60€ + Shipping Cost.

If you agree with the price, send me a private email with your adress so I can go to the post office to check the shipping cost and tell you the total amount.

Best regards!
Angel LM

[Angel LM]

Hi Jorge!

To be honest I don’t really know if the screws I used match with the standard M3 screws …
The M3x46 can be replaced with any M3 screw with lenght between 40 an 52mm.
For the M3x28 I don’t know what would be the correct screw. In the 3D design there are not M3x28 screws… so replace it with M3x25 or M3x30. I’ll check the 3D and fix the BOM asap.

Hope it helps!

[Angel LM]

Wow drew! Such a nice image!
Do you mind if I use it (with the proper credit) to add this question and the answer to the FAQ? 🙂

[Author]

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