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### Question #: 2242

Question: Motor tuning. While motor tuning what are the recommended steps per inch, velocity, and acceleration for the BlackFoot CNC?

Current Solution

These are the recommend values(default) for our blackFoot CNC machine, the acceleration and velocity can be adjusted as high as the motor can rotate without stalling! Suggested increment's will be by 10's.

blackFoot:
X-axis
“CW8060 (6.0A) Driver”
Set to 1/16 Microstep, 5.43A
Dipswitches: 01100110 (“0”=down, “1”=up)
Mach3 Motor Tuning: 914.29 steps/in, Velocity 400.02, Acceleration 4
Y-axis
“CW230 (3.0A) Driver”
Set to 1/16 Microstep, 2.7A
Dipswitches: 11001100
Mach3 Motor Tuning: 1422.22 steps/in, Velocity 400.02, Acceleration 4
Z-axis
“CW230 (3.0A) Driver”
Set to 1/4 Microstep, 2.7A
Dipswitches: 10101100
Mach3 Motor Tuning: 1600 steps/in, Velocity 79.98, Acceleration 5

how can we tuning the CNC motor

Respond:

### Other Possible Solutions to this Question

• While motor tuning what are the recommended steps per inch, velocity, and acceleration for the GreenBull CNC?

In the customer service live, just enter "motor tuning" and it will give you a list of all the recommended or default settings for our machines. However the acceleration and velocity for the greenBull(other machines) will be an actual determination on your trials. You will want the highest possible acceleration and velocity without the motors stalling, so you can do increments of ten to be on the safe side, if it is too slow try increments of 25.

The steps per inch is dependent on the microstepping:
Steps/Inch for the x and y
Steps = 200 motor steps per revolution x 16 microsteps = 3200 steps
Inches = sprocket number of teeth x pitch of the sprocket = 14 x .25" = 3.5 inches
steps/inch = 3200 / 3.5 = 914.28
This is really a starting point. You will then need to use the mach3 calibration function to get the perfect steps/inch value. Use as long a measurement as possible when calibrating.

Velocity:
Start with a value of 1000 ipm. Increase this value with a relatively low acceleration at about 10. You will notice at a particular velocity that it will stall. This is your stall velocity. I would take the stall velocity and reduce it by about 30% to 50% which should give you a good final safe velocity.

Acceleration:
Once the velocity is found, raise the acceleration until it start to stall at a low velocity. Reduce the acceleration by about the same percentage to stick with a safe acceleration.

The acceleration is mostly dependent on torque (current) and the top speed is dependent on the amount of voltage.

Give some tests with all of the axes running at the same time. If you notice and stalling, reduce velocities and acceleration depending on when the stall happens (top end, or acceleration curve).

X-axis
“CW8060 (6.0A) Driver”
Set to 5.43A, 1/16 Microstep
Dipswitches: 01100110 (“0”=down, “1”=up)
Mach3 Motor Tuning: 914.29 steps/in
Y-axis
“CW8060 (6.0A) Driver”
Set to 5.43A, 1/16 Microstep
Dipswitches: 01100110
Mach3 Motor Tuning: 914.29 steps/in
Z-axis
“CW8060 (6.0A) Driver”
Set to 5.43A, 1/4 Microstep
Dipswitches: 01100100
Mach3 Motor Tuning: 1600 steps/in

4th axis

While motor tuning what are the recommended steps per inch, velocity, and acceleration for the GreenBull CNC?

• I have a 4x8 CNC and would like to cut my own parts for the Blackfoot. What is the price for the plans and the electronics ?

The available options for the blackFoot, is only structural components with hardware, and structure components/hardware with electronic components.
However we currently do not have any plans available for public use/distribution.

I have a 4x8 CNC and would like to cut my own parts for the Blackfoot. What is the price for the plans and the electronics ?

• WHAT ARE CURRENT RECOMMENDED IEEE EMF OCCUPATIONAL EXPOSURE LEVELS AND GUIDELINES FOR RADIO BASE STATION ANTENNAS?

The following answer assumes "radio Base Station Antennas" refers to base stations used for personal wireless communications services such as cellular telephone, Personnel Communications Services (PCS), and Enhanced Specialized Mobile radio (ESMR). In the United States, the frequency band allocated for base stations used for personal wireless communications is 869-894 MHz for cellular service, 851-866 MHz for ESMR, and 1930-1990 MHz for PCS. The IEEE exposure limits (maximum permissible exposure—MPE) for occupational exposure (controlled environments where exposures may be incurred by persons who are aware of the potential for exposure) are frequency dependent and are expressed in terms of incident power density. The appropriate value to compare with the MPE is the incident power density averaged over the vertical cross-section of the human body. The occupational exposure limits are also time-averaged over any six-minute interval. The IEEE C95.1-1991 MPE values are shown in the table below:
IEEE C95.1-1991 Maximum Permissible Exposure (MPE) Values
Frequency Band Power Density
General mw/cm2 W/cm2
851-866 MHz f/300 mW/cm2 2.84-2.88 28.4-28.8
869-894 MHz f/300 mW/cm2 2.90-2.98 29.0-29.8
1930-1990 MHz f/300 mW/cm2 6.43-6.63 64.3-66.3
NOTE: f is in MHz
As indicated above, these values are for continuous exposure (t > 6 minutes) and are to be compared with the spatial average of the incident power density. all base stations used for personal wireless telecommunications services in the United States are required to comply with the FCC limits (as mandated by the Telecommunications Act of 1996). The FCC limits are based on a hybrid of the IEEE limits and the 1986 recommendations of the National Council on Radiation Protection and Measurements. The FCC MPEs are the same as the IEEE values for frequencies below 1500 MHz but are capped at 5 mW/cm2 (50 W/cm2) for frequencies greater than 1500 MHz.

Both the FCC and IEEE MPEs for exposure of the public (uncontrolled environments) are one-fifth of the above values. As above, the value to compare with the MPE is the incident power density averaged over the vertical cross-section of the human body. The averaging time for the general public is 30 minutes. Thus, for transient exposures lasting six minutes or less, the MPEs for occupational exposure and exposure of the general public MPEs are the same. For cases of simultaneous exposure from antennas operating in different frequency bands, the ratio of the spatially averaged incident power density in each frequency band to the corresponding MPE for that band is determined and the sum of all such ratios must be less than unity in order to comply.

R. C. Petersen
Manager, Wireless and Optical
Technologies Safety Department

WHAT ARE CURRENT RECOMMENDED IEEE EMF OCCUPATIONAL EXPOSURE LEVELS AND GUIDELINES FOR RADIO BASE STATION ANTENNAS?

• WHAT THE RECOMMENDED INTERVAL FOR RECEIVING INFLUENZA VACCINE AFTER AN ALLERGY INJECTION?

Vaccines can be administered at any time before or after administration of an "allergy injection."

WHAT THE RECOMMENDED INTERVAL FOR RECEIVING INFLUENZA VACCINE AFTER AN ALLERGY INJECTION?

• WHAT CABLE LENGTHS SHOULD USE FOR THE BLACKFOOT CNC MACHINE

The blackfoot requires a total of 50 feet of cable.

The X axis needs 15 feet
The Y axis needs 17 feet
and the Z-axis needs 18 feet

These are 20 gauge 4 conductor cable.

WHAT CABLE LENGTHS SHOULD USE FOR THE BLACKFOOT CNC MACHINE

• Hi, I need the lead screw and bearings for x/y/z axis of the CNC. What is the length of "1/2" Lead Screw per inch (Steel)"?

Depending on the size of your CNC machine, it will vary the length required for your application.
Please verify the CNC machine, and we can go into detail on the specific lengths or methods for the linear guide mechanics.

We sell our ACME Screw (1/2" per inch), also our longest length of ACME Screw is 76-3/4".

Hi, I need the lead screw and bearings for x/y/z axis of the CNC. What is the length of "1/2" Lead Screw per inch (Steel)"?

• I purchased the large gantry system with USB control. I have built the CNC and it is working fine. Now fine tuning the motors. On the X-axis I have the Velocity set at 60 (inches), Acceleration at 1.4, the Step Pulse 1-5us and Dir Pulse set at 0. Do I need to adjust the pulses?

The steps per unit is automatically determined in the calibration of the axis by clicking on the "set steps per unit" button above the reset button on the settings tab. Initially set the velocity and acceleration to a low setting, like 100 and 10 respectively, so that the axis does not stall during this operation. Once calibrated, the steps per unit will be set to the correct value and the velocity and acceleration can be increased. I have a video explaning the tuning of the motors on this page:
https://www.buildyourcnc.com/item/electronicsAndMotors-electronic-component-breakout-Mach4-mach3-USB-ethernet-Board

The name of the video is Test and Tune the motors.

• My stepper motors are randomly and frequently stalling while using the Pokeys57CNC controller board, any idea what could be the issue?

I would suspect that the velocity and/or acceleration is too high for the amp setting on the driver. Consider increasing the current amp setting on the driver is the motor can handle the current, or decrease the velocity and/or acceleration.

You might also want to check to see if you have any mechanical binding on the machine. To check, remove the mechanical drive mechanism so the axis slides freely and slide it from end to end to feel if you have any tight areas or binding.

My stepper motors are randomly and frequently stalling while using the Pokeys57CNC controller board, any idea what could be the issue?

• I just wanted to know what I can expect to pay to build the blackFoot 4'x8' CNC machine, excluding computer, software and router? Is the kit complete or do I have to purchase additional items to finish?

You will need to build the table unit for your machine. There are instructions on how to do this at the bottom of the product page here, https://www.buildyourcnc.com/Item/cnc-machine-blackFoot-v4
There is no estimate on how much this will cost though, since there are too many variables involved to do this.

- PC with parallel port and USB port
- 20awg stranded wires for the motors - http://www.buildyourcnc.com/electronicscombo.aspx
- 18awg stranded wires for power supply to drivers
- 24awg stranded wires for breakout board to drivers
(location and spacing of components varies from one person to another, so we do not provide cables/wires)
- General purpose extension cord (cut the female end off) to provide power to power supply
- USB cable to power breakout board
- Parallel cable to communicate to breakout board
- Router
- (optional - instead of router) Spindle with power inverter http://www.buildyourcnc.com/SpindlesAndAccessories.aspx
- (if purchasing spindle with inverter) General purpose extension cord (240v) (cut the female end off) to provide power to power inverter
- End Mill(s) http://www.buildyourcnc.com/ProductsEndMills.aspx
- CAD, and/or CAD-CAM software (to produce geometry, machine operations, and g-code) http://www.buildyourcnc.com/CNCsoftware.aspx
- CNC control software (to read g-code and control machine) http://www.buildyourcnc.com/CNCsoftware.aspx

This answer is applicable to most of our machines with the exception of the greenLean and the blueChick since those machines are equipped with a table structure.

I just wanted to know what I can expect to pay to build the blackFoot 4'x8' CNC machine, excluding computer, software and router? Is the kit complete or do I have to purchase additional items to finish?

• WHAT IS THE FORMULA TO DETERMINE STEPS PER INCH OR RESOLUTION FOR EACH AXIS?

The formula and calculation is a starting point to get into the area of steps per inch. You will then need to use the mach3 calibration utility to get the exact steps per inch.

Formula:
step per inch = (motor steps * microstepping) / (travel at one turn of the motor in inches)
if microstepping is set at 16 (1/16 on the driver) then and you are using a sprocket and chain with a pitch of .25 inches and 12 teeth on the drive sprocket
= (200 * 16) / (12 * .25)
= 3200 / 3
= 1066.666 steps per inch

For lead screw that has a travel of .5 inches at one turn like the 5 start 1/2 inch lead screw and using 4 microsteps per step (1/4):
= (200 * 4) / (.5)
= 800 / .5
= 1600 steps per inch

Remember to use the mach3 calibration wizard and double check the driver microstep setting.

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WHAT IS THE FORMULA TO DETERMINE STEPS PER INCH OR RESOLUTION FOR EACH AXIS?

• HOW MUCH MOTOR CABLE FOR THE BLACKFOOT?

The motor cables for the blackToe are as follows:

Total 30 feet

X - 9
Y - 10
Z - 11

HOW MUCH MOTOR CABLE FOR THE BLACKFOOT?

• Hi Patrick What is the name of that organization for CNC enthusiast in Houston and Katy TX and phone number please. Thanks

The CNC group is a splinter group of the Woodworker's Club of Houston" and can be found at this website: http://wwch.org

They have regular meetings at the location specified on their homepage. You can also go there and talk to some of the CNC group's members.

Hi Patrick What is the name of that organization for CNC enthusiast in Houston and Katy TX and phone number please. Thanks

• HOW MANY STEPS PER INCH DO I SET IN MOTOR TUNING?

blueChick:

X-axis
“CW230 (3.0A) Driver”
Set to 1/16 Microstep, 2.7A
Dipswitches: 11001100
Mach3 Motor Tuning: 1422.22 steps/in

Y-axis
“CW230 (3.0A) Driver”
Set to 1/16 Microstep, 2.7A
Dipswitches: 11001100
Mach3 Motor Tuning: 1422.22 steps/in

Z-axis
“CW230 (3.0A) Driver”
Set to 1/4 Microstep, 2.7A
Dipswitches: 10101100
Mach3 Motor Tuning: 1600 steps/in

blackToe:

X-axis
“CW230 (3.0A) Driver”
Set to 1/16 Microstep, 2.7A
Dipswitches: 11001100
Mach3 Motor Tuning: 1422.22 steps/in

Y-axis
“CW230 (3.0A) Driver”
Set to 1/16 Microstep, 2.7A
Dipswitches: 11001100
Mach3 Motor Tuning: 1422.22 steps/in

Z-axis
“CW230 (3.0A) Driver”
Set to 1/4 Microstep, 2.7A
Dipswitches: 10101100
Mach3 Motor Tuning: 1600 steps/in

blackFoot:

X-axis
“CW8060 (6.0A) Driver”
Set to 1/16 Microstep, 2.7A
Dipswitches: 11001100 (“0”=down, “1”=up)
Mach3 Motor Tuning: 914.29 steps/in

Y-axis
“CW230 (3.0A) Driver”
Set to 1/16 Microstep, 2.7A
Dipswitches: 11001100
Mach3 Motor Tuning: 1422.22 steps/in

Z-axis
“CW230 (3.0A) Driver”
Set to 1/4 Microstep, 2.7A
Dipswitches: 10101100
Mach3 Motor Tuning: 1600 steps/in

greenBull:

X-axis
“CW8060 (6.0A) Driver”
Set to 5.43A, 1/16 Microstep
Dipswitches: 01100110 (“0”=down, “1”=up)
Mach3 Motor Tuning: 914.29 steps/in

Y-axis
“CW8060 (6.0A) Driver”
Set to 5.43A, 1/16 Microstep
Dipswitches: 01100110
Mach3 Motor Tuning: 914.29 steps/in

Z-axis
“CW8060 (6.0A) Driver”
Set to 5.43A, 1/4 Microstep
Dipswitches: 01100100
Mach3 Motor Tuning: 1600 steps/in

Scratch-Build / Book-Build Kit:

X-axis
“CW230 (3.0A) Driver”
Set to 1/4 Microstep, 2.7A
Dipswitches: 10101100 (“0”=down, “1”=up)
Mach3 Motor Tuning: 1600 steps/in

Y-axis
“CW230 (3.0A) Driver”
Set to 1/4 Microstep, 2.7A
Dipswitches: 10101100
Mach3 Motor Tuning: 1600 steps/in

Z-axis
“CW230 (3.0A) Driver”
Set to 1/4 Microstep, 2.7A
Dipswitches: 10101100
Mach3 Motor Tuning: 1600 steps/in

Scratch built/book CNC with NEMA 34 motors and CW8060 microstep driver

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HOW MANY STEPS PER INCH DO I SET IN MOTOR TUNING?

• what does the plans, hardware, electronics and mechanical option consists of for a CNC router?

The plans/hardware/electronics/mechanical includes everything but the wood structural components that can be cut by the customer. This plans/hardware option includes all of the electronics, like motors, drivers, controller, and all of the cables and wires to connect all of the electronics together. The mechanical components include shafts, couplings, linear rails, bearing blocks, sprockets, lead screws, etc. The hardware consists of all of the screws nuts, insert nuts, cross dowels, etc, to assemble all of the structural, mechanical, and electronics together.

what does the plans, hardware, electronics and mechanical option consists of for a CNC router?

• On the blackFoot 4'x8' CNC machine do you have the instructions under one file that I can download, I want to print them out and make notes as I am building the machine.

WE don't have an actual file that contains the instructions for the machines as they are a part of a larger database file that is queried during the product page's rendering in the browser. The best option would be to print the webpage on a printer and use that as notes.

I know this will not provide larger images, but you could use the paper version to write your notes while assembling the machine using the larger images on the website.

On the blackFoot 4'x8' CNC machine do you have the instructions under one file that I can download, I want to print them out and make notes as I am building the machine.

• blackToe 2'x4' CNC Router - What are the actual x and y cutting dimensions (eg: 22"x46")

The actual cutting dimensions for our blackToe machine is 2'(24") x 4'(48"), the overall size of the structure built is a bit larger so that our customers have the actual size mentioned with each of our machines!

blackToe 2'x4' CNC Router - What are the actual x and y cutting dimensions (eg: 22"x46")

• Can you purchase the BOBCAD-CAM software alone, or in with the combination LaserCutter, or is it only available for the price listed in combination with the blackfoot CNC

You can purchase the BobCAD-CAM as a bundle with any of our machines.

Can you purchase the BOBCAD-CAM software alone, or in with the combination LaserCutter, or is it only available for the price listed in combination with the blackfoot CNC

• WHAT IS THE LEAD TIME FOR BLACKFOOT

You can expect a one week lead time for our machines.

WHAT IS THE LEAD TIME FOR BLACKFOOT

• I purchased a 4ft X 8ft Blackfoot CNC machine in 2015 and to this date have not been able to use it. How can I get some help. Thank u
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