Sorter

Sorter

● Based on X-Carver CNC Router machine

● Contains 4 NEMA 23 Stepper Motors for X, Y and Z motion
● 200mm x 200mm working area
Coordinate Frame

● Uses X, Y, Z coordinates (in mm)

● Work area dimensions: 200mm x 200mm
● Absolute Reference system
● Origin is bottom left corner of work area
● - e.g. to move to the centre of the work area - X=100, Y=100
 Packet Format

● Join Packet - “JOIN”

○ Must be sent before plotter control can start (ensures only one user can use the plotter)
○
● XYZ Packet - “XYZ
○ <x value (3 digits)><y value (3 digits)><z value (2 digits)>” Moves plotter, one coordinate at a time
(X, Y, Z)
○ E.g “XYZ05005050” - lowers Z (z=50) and moves to x,y coordinates (50,50)
● VAC Packet - “VON” or “VOFF” Turns vacuum on or off
Motion

● Only one directional motion is done.

○ E.g. move X, then move Y, then Z.
● Does not two directional motion.
○ E.g. move X and Y at the same time.
Example: Pick up, Move, Release

1. XYZ05005000 (head raised, moves to [50, 50])

2. XYZ05005050 (head lowered)
3. VON (Turns on vacuum)
4. XYZ05005000 (head raised)
5. XYZ05010000 (head raised, moves to [50, 100])
6. XYZ05010050 (head lowered)
7. VOFF (Turns off vacuum)
8. XYZ05010000 (head raised)