Prerequisites

  • Estimated Assembly Time: 2-4 hours
  • An Apollo Kit with Frame assembled

Procedure

  1. Gather all 6 stepper drivers, and set the switches of each stepper driver to: On-Off-Off-On-On-Off.

    • This means 2.87A drive with 32 micro-stepping.
  2. Attach all 6 stepper drivers by fitting them into the Bottom Cover, and installing 1 case screw per stepper driver.


  3. Next assemble the motion control stack of circuit boards.

    • Start by laying out the circuit boards in this order: 24v Power Supply Board, 5v Power Supply Board, Raspberry Pi, Comms Teensy Board, and Step Teensy Board.
    • Use Standoffs from the Kit included to stack the boards as shown

      The Circuit Boards

      Stacked Up

      Even Higher

  4. Connect 6 Power Wires to the Stepper Drivers from the 24v Power Supply Board

    • Connect 2 jst cables between the 24v Power Supply Board and the 5v Power Supply Board
    • Connect 2 power cables from the 5v Power Supply Board to the Comms Teensy Board, and 1 power cable from the 5v Power Supply Board to the Step Teensy Board
    • Connect 6 cables (3 pins each) from the Step Teensy Board to the Stepper Drivers

  5. The Stack is now ready to begin installation in the Apollo Frame, position it near the access hole it is to be guided through.

  6. First connect 6 Limit Switch Cables to the Comms Teensy Board, then connect 6 encoder cables if your kit includes them.

  7. Next connect the USB and Ethernet break out cables to the Raspberry Pi.

  8. Now Connect the Fan Cable, followed by the main 24v IN power cable, and E-stop cable, all to the 24v Power Supply Board

  9. The motion control stack is now ready to fully seat in the robot. Do so carefully, and screw in place.