Pacer CNC laser mod

I've been toying with the idea of adding a small laser to my pacer cadet 600 cnc router. I have already successfully I stalled a 2.8w blue solid state laser, that can mark and cut some materials, but not to my satisfaction. However, now I have see it can work, I plan to add a syntax J48-1 10w co2 laser directly mounted to the Z axis in place of the router. 

I have found a laser on eBay that claims to output 14.6w, when they are new they deliver about 15w, so hopefully this should have some life left in it. 

The laser has been OEN modified to have a 15pin D type connector to supply power and control. No key switch, and fuse has been tucked inside. I could change all this back to a normal setup, but think I will leave it for now.

I need I by the optics, which are around £700 unless I find them on eBay. And I need to modify my existing laser control electronics to generate the required tickle pulse needed for the J48-1. Unless i pick up a cheap UC-2000 controller. I missed a cheap one the other day, but no guarantee it would have worked!

More to follow...

Nice image from last years WIRED article

Fixing the foot with an audience

Proposed ECU change

Current ECU

Proposed ECU with electronic engine speed governor.

Inside the workshop

And a shot of the Mantis packed away in the workshop

New workshop

It's a bit tight but I can just walk through the door!

5/6 legs nearly done

It's a pig of a job but worth doing.

I'm amazed I managed to get the EN8 axle stubs into my mini lathe and make half a good job of turning them down!

New Bearings

Need to replace some of the coxa bearings that are showing some corrosion! Also need to seal them up.

H&S operating the Mantis

Here is part of the H&S document I put together for Bestival 2012, this describes the working envelope of the machine, and operational practice.


Mantis Hexapod - Plan View Working Envelope

When the machine is powered up, the following applies:

RED: (No Go Area)

When the machine is powered up, under no circumstances should any personnel enter the Red area. Only when the machine is powered off or in a low power state can trained personnel enter this area.

ORANGE: (Leg Operational Area)

During normal walking operation the legs should stay within the orange area, but can be over-ridden under manual control by the operator to reach within the yellow area.

YELLOW: (Leg Reach Area)

The yellow area is the personnel clearance distance during operation. This represents a 3000mm radius from the leg coxa/hip joint that places personnel outside the maximum reach of a leg. 

When the machine is powered off, all areas are safe, however, if the machine is supported above the  ground by its own legs and without any prop stands, NO personnel should go underneath the body!

I've had a fair few requests for more information on the Mantis control system, so here is a schematic overview:

Mantis Control System Overview