4 and 5 axis CNC Harmonic Drive Build part 3 - 5th Axis

[@songyongwoo6324]

Love to watch the progress, thanks for sharing

[@lirnerpublishingnotes]

Thanks, man, I have been waiting for something spectacular, great machining

[@PWLopes9000]

Thank you !

[@tecnobs3d]

Very nice project you have there, thanks for sharing.

[@PWLopes9000]

Thank you

[@lirnerpublishingnotes]

Wouwe, that's amazing, well done, that is a beautiful job.

[@docbyrd3127]

Hello P. Lopes. Fantastic work on your 5 axis system and thank you for sharing. Do you have a build list of the electronic hardware components you used that you would be willing to share?

[@PWLopes9000]

Doc, there really isn’t much to it. I used a kollmorgen S606 servo drive. The Harmonic Drive unit is integrated with a servo drive. On the CNC side, I used LinuxCNC with Mesa 5I25/7i76 boards. I also use ethercat and canopen over ethercat but that is optional.

[@kevinlevinsohn5128]

So beautiful! Great work xD

[@kentvandervelden]

Wow, very beautiful!

[@rengankrishnaiyer6912]

Beautiful work sir

[@watahyahknow]

wonder how you would make the g code or even the cad file to operate the thing , you basicly have to show where the tip of the cutting bit is in space to be able and where the part is to the tip of the cutting bit as rotating it moves that point in every direction too , besides that there different ways to add the fifth axis (rotating it on one axis on the table and rotating the head of the mill is the other way wish would alow bigger pieces to be milled ) have seen machines mill out intake and exhaust ports on cilinderheads and im allways wondering about how they make it happen with the coding

[@ps6k4trk33]

very nice job

[@berendlucasvanderweide]

And since you triggered me to play with the 4th axis on my machine, did you encountered the inch or mm/min vs degree/minute issue as well? I wasn't aware of this, but it makes perfect sense.. I'm now using a postprocessor for Fusion that uses G93, which is very helpful for 4 and 5 axis work.. :)

[@PWLopes9000]

Yes, was the first issue I faced but some had already made a LinuxCNC patch for the post processor. Inverse time feed is however not needed for TCP. Had to make many additional modifications to get TCP and DWO working - see forum.linuxcnc.org/10-advanced-configuration/31813-tcp-5-axis-kinematics?start=150

[@user-je8rx6ze8t]

Good job！

[@bocus9001]

amazing great work

[@atlantbl4]

Wow!

[@skylerlabsing.4028]

Awesome work. Incredible finish on the 4th axis. Where did you get the motors from? Thank you.

[@PWLopes9000]

Thank you :-). Got one on eBay another on Ebaykleinanzeige ... searched for a good size and right price for over a year, I’m afraid.

[@Fussifug]

@@PWLopes9000 what do you think is a good price for each?

[@PWLopes9000]

Fussifug, for the fha-c 25 and 32 size HD without the servo drive, anything below 400€ is a really good price. With servo drive, 600 would be a good price. Don’t get a fha-b those have half the stiffness.

[@RodrigoSchwester]

Veeery good Job...... tks for sharing...!!

[@PWLopes9000]

Thank you Rodrigo.

[@ThomasShue]

Fn Beautiful.

[@vladimirpetrov8918]

Nice

[@TheDbsharp]

Very good job I would like to do something similar one day! If someone doesn't like the music they can turn down the volume. Then again mine was turned down the whole time so I have no idea what the music was. Do you think that a tail stock support (ie trunnion table) would make this work better?

[@PWLopes9000]

Thanks Daniel. For sure a tailstock would help but it takes up a bit more space on the table. I always considered I could want to add a tailstock but wanted to first try the simpler setup without one. I found that it works well without one, possibility since it’s all cast iron, hence already rigid. Either way it’s not a design decision that needs to be made early since it’s easy to add one.

[@TheDbsharp]

@@PWLopes9000 I like design, seems like similar to a hass 5th axis I have seen.

[@PWLopes9000]

Daniel Sharp, yes indeed was inspired in the rt100 or something similar.

[@TheDbsharp]

@@PWLopes9000 I'd love to see more of this, have you cut any steel or aluminum with it?

[@xyzspec82]

Amazing! Tuga? 👀🤓

[@PWLopes9000]

Sim claro.

[@baccus61]

Just wondering why people don't make wooden patterns and send them to a foundry to cast into the proper shape. Seems to me there is a lot of waste in machining a billet into something. I might have a crack at this myseld oneday.

[@SUPERPOT1958]

Hey P.Lopes I have been following this 4th \ 5th axis build project and find it fascinating. If possible can you give me more info on the harmonic drives? I am not sure but I think I need a different type as I would like to direct drive my 4th axis with a DMM servo motor and drive that I already purchased. It is now a decision to make whether to go for a direct coupled drive set up or a belt driven set up. Any chance we can chat via email? Best regards, Jeff

[@PWLopes9000]

Jeff, if you go through the forum thread forum.linuxcnc.org/10-advanced-configuration/31813-tcp-5-axis-kinematics?start=120 you will find a discussion about what which motors to use, which setup may be better, etc. issue is always how compact will it be to fit your machine travel limits. Using harmonic drives integrated with servo motors gives you the most compact setup in my view, specially important for the 5th axis. You could get away with driving your own 4th axis with a separate servo motor but it’s harder to do so for the 5th axis. There is a line of hd drives for direct coupling you could use but again it will never be as compact has the ones I used. Honestly at the moment I would not want to commit to exchange email addresses. Current not really on the CNC topic, will come back, just not on it right now.

[@SUPERPOT1958]

@@PWLopes9000 OK thanks for that link but as its 5 axis I don't really want or need that purely a decent 4th axis.

[@PWLopes9000]

SUPERPOT1958 oh sorry missed that.

[@mustang7845]

The cost of the harmonic drives is staggering ?

[@brentstewart4656]

Very cool would you build and sell them ?

[@manishchauhan5586]

Is it a grbl machine or Linux cnc what firmware you used to flash in machine motherboard

[@PWLopes9000]

Linuxcnc, 2.9 pre

[@marianodiaz461]

Hi, who was the cast iron supplier? And cost please?

[@zloslov]

What's the price of one actuator? I hope this is not a secret, because I did not find prices in the public domain. %( Thank You

[@PWLopes9000]

I assume you ask about the price of the fha-c units? Honestly I also don’t know. You can find them used on eBay for various prices, sometimes thousands of euros. New, I heard things like 7 or more thousand of euros. No idea.

[@PWLopes9000]

Honestly don’t recall, it’s from the KZbin library.

[@PWLopes9000]

the sound track is Almost in F - Tranquillity - Kevin MacLeod

[@EnergyStarProton]

what kind of composition is playing?

[@mahmutyucee7114]

Brother how we get the sistymes for work 5x

[@jonjon3829]

aren't kollmorgens like super expensive though?

[@PWLopes9000]

On eBay you can get the 600 series for 100-200 € each.

[@PWLopes9000]

Of course second hand.

[@jonjon3829]

@@PWLopes9000 sounds promising, do these have brakes? What's the continuous torque on yours?

[@PWLopes9000]

@@jonjon3829 one of the HD’s has a break, the smaller does not. But I would not machine with the break on. Don’t recall by heart the torque values, something like 200 NM for the bigger one and some 90 or so for the smaller … could be wrong - you can check online

[@jonjon3829]

@@PWLopes9000 I was thinking of using one of these for a rotary table and assumed I needed to use a brake when indexing the part. Why wouldn't you machine with the brake on? Also the HD's run at 3-4 grand on ebay, did you get these from a specific vendor?

[@sigmaforge5088]

I have to know the name of the song.

[@EnergyStarProton]

что за композиция играет ?

[@OCD_FPV]

WHAT ACTUATORS ARE YOU USING

[@PWLopes9000]

The motors are harmonic drive FHA-C size 32 and size 25, checkout the specs at harmonicdrive.de/fileadmin/user_upload/2014_09_1018853_Engineering_Data_FHA_C.pdf.

[@mahmutyucee7114]

Hello From Turkey i see its and its soo good i need to helping how can i get it only need to motor i can do others.

[@PWLopes9000]

Go for it :-) and share your build video.

[@mahmutyucee7114]

@@PWLopes9000 motors name and what is they KW i want to its for steell

[@PWLopes9000]

The motors are harmonic drive FHA-C size 32 and size 25, checkout the specs at harmonicdrive.de/fileadmin/user_upload/2014_09_1018853_Engineering_Data_FHA_C.pdf. If you see the video, I am machining cast iron and have machined tool steel as well, not shown in this video.

[@ВасяПетров-м6с1г]

Под эту музыку строили Звезду смерти

[@flipflow1909]

great project but music and freehand camera were so annoying i could not watch

[@PWLopes9000]

By now I totally agree with the music being annoying :-) at the time sounded jolly.

[@AntiVaganza]

@@PWLopes9000 Actually, if you still remember what music that is, I'd love to know - for a less jolly project of mine:)

[@MJPilote]

Nice work but very annoying music.

[@m.hollod1304]

How else would you hide all those embarrassing squeaks and chatters that you don't wont anyone to hear?

[@paulanthony873]

Please redo videos with voiceover not music

[@neilw2O]

Ditto Flip Flow reply below