Please leave your comments! These comments will help me to promote this channel and to continue to do projects like this one. I try to reply to all comments.
Почему сейчас вся точная механика доступна только на этих грубых шаговиках и неточных сервоприводах ? Почему высокоточные абсолютные энкодеры до сих пор доступны только концернам с астрономическими бюджетами? Под заказ море таких вещей, но они даже близко не по карману большинству DIY-щиков. Это сильно упростило бы разработку подобных устройств и позволило питать их кинематику от любых силовых агрегатов от простейших коллекторных DC-моторов до гидравлики и пневматики, или пружин с переменным гуковым коэффициентом.
Dude you are a Legend!!! You have brain of the genius!! I actually love the way you show every step while doing it. I got some project where I need to use actuators and make whole arm. You actually just gave me idea
Hey ! Your doing an amazing work ! I am trying to make one but I ended up a bit stuck with the wiring. Could you please update the electronic pdf for the low cost version so we can have a better view or what is going on ? Thanks :)
anyone else hear the powersupply slowly ramping up as more and more motors started to move, and start to think that their computer's cpu fan was ramping up instead? XD I kept thinking that something was going on to make the CPU temp spike, then i'd pause the video and it'd stop.... then i realized it was his freaking power supply XD
Nice! You could have changed just the motor wires (invert the phases) by connector on RAMPS, this way the program would be compatible with the trinamics one :) Nice work, keep it up!
Really good project! And I really like the Arduino code with the inverse kinematics directly integrated in it! Going to make a version of my own for sure! Thanks!
what a great work! i can see your pursuit of perfect detail, creativity and craftsmanship from your works. serious attention to your channel and look forward to your new sharing!
Your vibration with the success is amazing. When you say Nice! I always take a shock and laugh a lot after. Your projects are amazing. I am studying about a SCARA design for a payload about 5kg. Do you have any suggestion? Regards.
Such great work! I look forward to your next video! What do you plan to use the robot arm for? Just as a fun toy? Or will you do some automation tasks with it?
I think this robot arm is significantly precise to be more than just a toy. But I did not yet find the good application for it. If you have a good idea, please share. I plan to add a gripper to it, and, probably, some computer vision (I already bought depth camera, but this is for future).
Don´t you have any interference problems with all those unshielded cables in parallel? What about homing switches on each axis? What´s the repeatable and absolute accuracy? How stiff are the axis at nominal load? keep up the good work! Love every part of it
Thank you for you comments. Fortunately, I don't have a problems with unshielded cables. I wanted to use shielded cable at the beginning, but soon I realised that I don't have much space for shielded cables. I don't have homing switches. And for the moment it works just fine without them.
Great Project! Clean and works as designed!! - - - - I have a question about heat: What does it mean when the motors and the motor driver get kind of hot? It works as programmed on the Arduino for a minute and then starts to malfunction in timing/delay. Is it possible the wire gauge is too small? Should I run a wire from the Arduino pin Vnn or 5v or both?? I am running a 17HS08-1004S pancake NEMA 17 (only 20 mm thick motor) and L298N driver with an Arduino UNO separate power supplies. Thanks for any suggestions.
Very nice little guy. I will start to design my own based on this one, I will just upgrade some parts, make it more pocket robot if thats no problem. I like the 4th axis motion delivery, you have room in-axis to take the wires out. Mine big one have there a planetary gearbox and i have a lot of wires outside, that doesnt look that nice. Keep up the good work. I'm sorry that i didnt watch every your vid, because i do not have a lot of time. Maybe the anwser is somewhere but... are those steel plates with carbon sticker or carbon plate?
Thank you for your kind words. I don't have one place where I learned this. I used 3D design and electronics for many years, and only recently I decided to share this on youtube. I think that, the best way to learn this is to start building something. And when you have a problem try to learn and overcome this problem. Because learning without concrete project is complicated.
A really well-designed robot arm and love your attention to details! Really nice work. I learn robotics at university and love this project. I noticed that there is no position feedback. How easy will it be to modify this design to add some encoders? What do you suggest? I am learning force control and would like to experiment with this
Hello. I am very excited about your project. I am assembling the electronics and would like to know if you could tell me what is the dip switch configuration of the TB6600 Motor Drive.
Thank you for your comment. I plan to do this is my next video. I would like to explain the inverse kinematics of the robot arm and explain the Arduino software.
Hi, first of all a bravo for your great engineering work! I am gathering the materials needed to build a copy of the robotic arm you designed. I am working on an open source project where the idea is to have a robotic arm co-operate with a 3D Printer and as soon as the print is over, have the robotic arm pick the pieces and place them on a box nearby so that the 3D Printer can continue to the next print. I have some questions about the build: 1. What awg wiring did you use for each stepper motor? 2. Do you think, if i print the carbon fibre components in ABS would be ok? 3. Do i have to drill the holes on the metal rods or can i order them drilled? 4. What type of glue do you use to glue the plastic parts together? Thank you in advance
Hey, Thanks again for this amazing series of videos. I am going to build one myself and have already ordered all the necessary parts. Can you please tell me about the power supply I can get?
Hi. Thank you for your kind comment. You would need power supply with the voltage between 12V and 19V and with the power higher than 60W. For one robot I use 19V 60W power supply (from old laptop), and for another robot I use 14V 200W power supply (from battery charger).
@skyentific your tutorial are incredibly awesome, sir could you please do a kinematic and inverse kinematic tutorial as to how you got your algorithms for your softwares..thanks in advance
Hi Skentific! Love the robot. I’ve designed an arm which is quite different to this, but uses the same electronics. You say that I can use a 19v power supply, but I thought the maximum voltage for the RAMPS 1.4 and Arduino was 12v? I have a 19.5v 6.7A laptop power supply and I’m scared to fry my electronics. Any help would be awesome!
Thank you! All the files necessary for the build of this robot is on GitHub. Here is the link github.com/SkyentificGit/SmallRobotArm . I forgot to put the link in the video description. Now it is done. On my channel you can find the other videos with this Robot Arm build.
Ciao, complimenti per il progetto, mi ha affascinato da subito, sto terminando la stampa di tutti i pezzi, solo che trovo una grande difficoltà nel reperire tutte le cinghie, pulegge e cuscinetti necessari. Non sarebbe una cattiva idea se mettessi a disposizione un kit pronto per l'acquisto di tutte le parti meccaniche. O magari dei link diretti per l'acquisto....spero tu possa aiutarmi, complimenti ancora, Sabino.
I see! Now I understand what do you mean! :). This is nonlinear acceleration. It does not jump, but it accelerates slowly at the beginning and afterwards it accelerates faster. This first movements are there just to bring the robot to the home position (movements of joint 2, joint 3 and joint 5). That is why I did not bother to make proper acceleration. So it uses this non constant acceleration only to go to the home position but during other moves (down, forward, backward, left, right, right, left, upward) it uses proper acceleration.
Hello, I'm french and I have finished the robot but i'm stuck with the wiring ! On the video, it seems you have wires from pins 39 (blue one) to pin 53 (black one) but I don't see any correspondence in the arduino code v1.2 or V2. Can you tell me which code I have to use with the news electronics (Ramps 1.4 and TB6600) and what is the correspondence to your wires black and brown (53,51) ? I think on your video the brown wire (Pin 51) is the ENA for the motors 1,2,3 and the black one (Pin 53?) normally should be the ground for ENA - DIR - PULL -. I really don't understand if i'm wrong or if there is mistake on the video. Can you help me or someone reading my comment because i'm really stuck. Thank you very much
60W is enough. With one arm I use 60W (19V), and with another I use 200W (14V). One power supply from old laptop, and another power supply from a battery charger.
Yes, this would be super cool. It would be possible to make super complicated prints. I just afraid that it would be super complicated to make slicer program for 6 axis robot.
So you plan to release the CAD (Fusion360) files. I see the STL and those are really manufacturing files not CAD. I would love to see the fusion files. Great project and nicely done. you should be very proud of the work
@@Skyentific Hi, there may be an easier way than there but I right click on the project and share link once you have that you can download the f3d file then put on your site
Hallo, wo bekomme ich so eine Steuerung für den Roboter her. Ich habe ihn nachgebaut, die freie Version von " AMPro-3D "die Mechanik funktioniert aber ich habe keine Elektronik Hatte mir die Elektronik von AMPro gebaut funktioniert aber nicht, bekomme aber keine Hilfe bzw. Unterstützung. Möchte jetzt eine komplett andere Steuerung bauen. Können Sie mir da weiterhelfen. Wäre ihnen sehr Dankbar Gruss...
Salut! Could you please do a video telling you about the code in arduino?? I tried to make a robotic arm but I hit the programming side ... I know where I want to get but I do not know how to get it :))!! Thank you!!
I use 32 microstepping. You can use different micro stepping, but you would need to adopt Arduino program (very easy, you just need to put correct microstepping value).
Good question! I used similar AWG as the original cable from the motors: For Axis 1 and 2 (nema 23) it is AWG22 For Axis 3 (nema 17) it is AWG24 For Axis 4,5 and 6 (nema 11 and nema 8) it is AWG26
Please leave your comments! These comments will help me to promote this channel and to continue to do projects like this one. I try to reply to all comments.
Фром зэ боттом оф май харт, комрад.
Ох, уж этот непередаваемый шарм акцента из фильмов 80-х
Почему сейчас вся точная механика доступна только на этих грубых шаговиках и неточных сервоприводах ?
Почему высокоточные абсолютные энкодеры до сих пор доступны только концернам с астрономическими бюджетами? Под заказ море таких вещей, но они даже близко не по карману большинству DIY-щиков.
Это сильно упростило бы разработку подобных устройств и позволило питать их кинематику от любых силовых агрегатов от простейших коллекторных DC-моторов до гидравлики и пневматики, или пружин с переменным гуковым коэффициентом.
Have you looked at powerSTEP01 modules from STMicroelectronics? 7.5-85V, 10A, should be quiet. They are ~$20 on AliExpress.
Muy bueno
Hello,I am a 12th std student can you plz email me the STL file as I want to make it and study I will pay you for the same.
The most underrated robotic channel I have ever seen. Thanks so so so so so so so much
I love the professional look that your really good cable management offer. This really make the robot way cooler
I can't believe that 9000 people subscribed before I found these videos. Nice concise topics that respect my time. Yay for diy robotics!
Thank you for your kind comment!
Hope you are feeling better. Another great build. TY kindly
Looks dope af. Thick and massive . I like it.
Thank you for this cool project. I soon will start to build it by my own. Allready ordered some components.
Nice! Thank you for your kind comment. I hope many people will build this robot arm.
Gerald where did you find the componet list?
thank you for existing and teaching us
mario ducan thank you for your super kind comment!
Van you plz update update the Github eletronic schematics to show more details of the tb6600 wiring into the arduíno Shield.
Thks a Lot :)
This is amazing, very meticulous work, very well made, looks amazing too!
Thank you for your kind comment!
Dude you are a Legend!!! You have brain of the genius!! I actually love the way you show every step while doing it. I got some project where I need to use actuators and make whole arm. You actually just gave me idea
Thank you! I am glad to hear this! Good luck with your idea!
I keep me fingers crossed for you to continue and share this incredibly meritorious videos.
Greetings from London!
I love your work so clean.
Thank you very much!
Hey ! Your doing an amazing work ! I am trying to make one but I ended up a bit stuck with the wiring. Could you please update the electronic pdf for the low cost version so we can have a better view or what is going on ? Thanks :)
Props! to you sir👏 can't thank you enough on how simple n informative this channel was, will forward to u when I start a larger scale 1! Yay
anyone else hear the powersupply slowly ramping up as more and more motors started to move, and start to think that their computer's cpu fan was ramping up instead? XD I kept thinking that something was going on to make the CPU temp spike, then i'd pause the video and it'd stop.... then i realized it was his freaking power supply XD
Just found your channel so I need to check it out, but I like your robo-arm project you are demonstrating in the video, good job!
Thank you! This is my the most complicated project so far.
@@Skyentific Thank you for sharing and keeping this project open! It would be interesting to try to copy it somedays )
Nice! You could have changed just the motor wires (invert the phases) by connector on RAMPS, this way the program would be compatible with the trinamics one :) Nice work, keep it up!
Nice idea, probably I could. But I did not think about when I made this video. Thank you!
Really good project! And I really like the Arduino code with the inverse kinematics directly integrated in it! Going to make a version of my own for sure!
Thanks!
what a great work! i can see your pursuit of perfect detail, creativity and craftsmanship from your works. serious attention to your channel and look forward to your new sharing!
Amazing work. Thanks so much for actually making this free/libre/open source!
Your vibration with the success is amazing. When you say Nice! I always take a shock and laugh a lot after. Your projects are amazing. I am studying about a SCARA design for a payload about 5kg. Do you have any suggestion? Regards.
Such great work! I look forward to your next video!
What do you plan to use the robot arm for? Just as a fun toy? Or will you do some automation tasks with it?
I think this robot arm is significantly precise to be more than just a toy. But I did not yet find the good application for it. If you have a good idea, please share. I plan to add a gripper to it, and, probably, some computer vision (I already bought depth camera, but this is for future).
Excellent work! Maybe you can also add some stop switches (they are very cheap) to detect when each axis reached the end. :)
Don´t you have any interference problems with all those unshielded cables in parallel? What about homing switches on each axis? What´s the repeatable and absolute accuracy? How stiff are the axis at nominal load?
keep up the good work! Love every part of it
Nevermind, just found your vid regarding accuracy
Thank you for you comments.
Fortunately, I don't have a problems with unshielded cables. I wanted to use shielded cable at the beginning, but soon I realised that I don't have much space for shielded cables.
I don't have homing switches. And for the moment it works just fine without them.
Great Project! Clean and works as designed!! - - - - I have a question about heat: What does it mean when the motors and the motor driver get kind of hot? It works as programmed on the Arduino for a minute and then starts to malfunction in timing/delay. Is it possible the wire gauge is too small? Should I run a wire from the Arduino pin Vnn or 5v or both?? I am running a 17HS08-1004S pancake NEMA 17 (only 20 mm thick motor) and L298N driver with an Arduino UNO separate power supplies. Thanks for any suggestions.
Just found your channel, amazing content, very well done and explained! thank you!
Thank you for your motivating comment!
👨💻🚨WARNING🚨 Will Robinson 🚷Danger bad robots 😁 🙋♂️ Good video mr skyentific 👍💲
Very nice little guy. I will start to design my own based on this one, I will just upgrade some parts, make it more pocket robot if thats no problem. I like the 4th axis motion delivery, you have room in-axis to take the wires out. Mine big one have there a planetary gearbox and i have a lot of wires outside, that doesnt look that nice. Keep up the good work. I'm sorry that i didnt watch every your vid, because i do not have a lot of time. Maybe the anwser is somewhere but... are those steel plates with carbon sticker or carbon plate?
Greetings from Russia. Thank you very much, I will try to make a manipulator.
Congratulations. Great work.
Hey, how do the Steppers get there Positions? You got no Limit Switches or Encoders right?
I like this robot arm, it looks nice!
Thank you!
Your work is amazing. You are truly an inspiring person. Can you share where did you learn 3D design and electronics? Again, amazing work.
Thank you for your kind words. I don't have one place where I learned this. I used 3D design and electronics for many years, and only recently I decided to share this on youtube. I think that, the best way to learn this is to start building something. And when you have a problem try to learn and overcome this problem. Because learning without concrete project is complicated.
A really well-designed robot arm and love your attention to details! Really nice work. I learn robotics at university and love this project. I noticed that there is no position feedback. How easy will it be to modify this design to add some encoders? What do you suggest? I am learning force control and would like to experiment with this
Incredible work 👍
Again, nice work. Très bon travail!!!
Merci bien! Thank you!
Hello. I am very excited about your project. I am assembling the electronics and would like to know if you could tell me what is the dip switch configuration of the TB6600 Motor Drive.
Hi this is my first try on robatic arm & i liked ur videos & i il try them, can u make a video on software part how u config n make the arm move
Thank you for your comment. I plan to do this is my next video. I would like to explain the inverse kinematics of the robot arm and explain the Arduino software.
Hi, first of all a bravo for your great engineering work!
I am gathering the materials needed to build a copy of the robotic arm you designed. I am working on an open source project where the idea is to have a robotic arm co-operate with a 3D Printer and as soon as the print is over, have the robotic arm pick the pieces and place them on a box nearby so that the 3D Printer can continue to the next print.
I have some questions about the build:
1. What awg wiring did you use for each stepper motor?
2. Do you think, if i print the carbon fibre components in ABS would be ok?
3. Do i have to drill the holes on the metal rods or can i order them drilled?
4. What type of glue do you use to glue the plastic parts together?
Thank you in advance
Looks awesome! Thanks for sharing!
Hello friend this arm have velocity control? greetings!!
Hey,
Thanks again for this amazing series of videos. I am going to build one myself and have already ordered all the necessary parts. Can you please tell me about the power supply I can get?
Hi. Thank you for your kind comment. You would need power supply with the voltage between 12V and 19V and with the power higher than 60W. For one robot I use 19V 60W power supply (from old laptop), and for another robot I use 14V 200W power supply (from battery charger).
Great. Thanks
Great project!
I just miss some limit switches for homing!
Very cool. Thank you for sharing
Thank you for your kind comment.
Wow, I loved this design, could it be used as a CNC milling machine?
I am afraid it is not strong enough for the CNC milling. May be it could be used for very soft materials...
@skyentific your tutorial are incredibly awesome, sir could you please do a kinematic and inverse kinematic tutorial as to how you got your algorithms for your softwares..thanks in
advance
Hi Skentific! Love the robot. I’ve designed an arm which is quite different to this, but uses the same electronics. You say that I can use a 19v power supply, but I thought the maximum voltage for the RAMPS 1.4 and Arduino was 12v? I have a 19.5v 6.7A laptop power supply and I’m scared to fry my electronics. Any help would be awesome!
hello sir, this is truly amazing. congrats, is it possible to use it for laser engraving?
Nice. Congratulations. Do you have the STL? More info? Thanks
Thank you! All the files necessary for the build of this robot is on GitHub. Here is the link github.com/SkyentificGit/SmallRobotArm . I forgot to put the link in the video description. Now it is done. On my channel you can find the other videos with this Robot Arm build.
Awesome!
Great work.
Great work.
Thank you!
I love this.
Please can you give a wiring diagram that's easy to follow, showing things going from Arduino to drivers and stuff
do you have a detailed schematic of the ramps/tb6600 wiring and resistors list? I found the DB25 pin out on your github for inside the robot. thanks!
You deserve way more subs! 🙌
And i'm going to build one!😏
Thank you! It is very inspiring to get so many support.
Excellent!
great series
Awesome ! Great build ! Thank you for sharing this insight sir !
You are welcome! Thank you for your comment!
Have you looked into modifying the arduino's timers in order to change the sound and volume of the system?
Ciao, complimenti per il progetto, mi ha affascinato da subito, sto terminando la stampa di tutti i pezzi, solo che trovo una grande difficoltà nel reperire tutte le cinghie, pulegge e cuscinetti necessari. Non sarebbe una cattiva idea se mettessi a disposizione un kit pronto per l'acquisto di tutte le parti meccaniche. O magari dei link diretti per l'acquisto....spero tu possa aiutarmi, complimenti ancora, Sabino.
Great job ... Is the power supply 12 vdc ??
Thank you. The power supply is 14V DC. But it could be anything between 12V and 20V (limited by Arduino).
A simple control panel on the laptop would be cool.
it's NICE, Could you please add subtitles to first part of this video please.
Beautiful...
Thank you!
would the belts be a weak point in this design. You have a very bulky frame with these thin belts supporting the weight.
With so little gear ratio, the motors would probably overheat before reaching the belt's torque limit.
Your acceleration curves are a bit strange, does it have a purpose?
What is strange about my acceleration curves? :) They are not optimised, but why do you think they are strange?
I might be wrong but it seems to me that it is a smooth acceleration till around 2/3 the final speed and tham it jumps instantly to fhe finall speed
You can see it best at around 13:14
I see! Now I understand what do you mean! :). This is nonlinear acceleration. It does not jump, but it accelerates slowly at the beginning and afterwards it accelerates faster. This first movements are there just to bring the robot to the home position (movements of joint 2, joint 3 and joint 5). That is why I did not bother to make proper acceleration. So it uses this non constant acceleration only to go to the home position but during other moves (down, forward, backward, left, right, right, left, upward) it uses proper acceleration.
Hello, I'm french and I have finished the robot but i'm stuck with the wiring ! On the video, it seems you have wires from pins 39 (blue one) to pin 53 (black one) but I don't see any correspondence in the arduino code v1.2 or V2. Can you tell me which code I have to use with the news electronics (Ramps 1.4 and TB6600) and what is the correspondence to your wires black and brown (53,51) ? I think on your video the brown wire (Pin 51) is the ENA for the motors 1,2,3 and the black one (Pin 53?) normally should be the ground for ENA - DIR - PULL -. I really don't understand if i'm wrong or if there is mistake on the video. Can you help me or someone reading my comment because i'm really stuck. Thank you very much
How to connect and control the robot with ROBODK? I've built the robot, but I can't program it.
Super,super,super...100% Best...BR
hope you get better :) , and nice project :) .
Thank you! I think the illness is already gone. :)
@@Skyentific great to hear that :)
Hi!, If you compare drive for brushless (normal drive) and odrive for brushless which is the main difference? Thanks :)
Excellent
Thank you for your comment!
maybe you should have shown an bread board illustration of the wiring, we're just seeing a wires
sir I'm sorry, your robot direction doesnt use limit sensors. how does arduino know the limit?
the drv8825 could take the nema17 with no problem!
super super super idee...100% Best...
Uau, adorei esse design, ele poderia ser usado como uma fresadora CNC?
What power supply need you arm ?
100w or more ?
60W is enough. With one arm I use 60W (19V), and with another I use 200W (14V). One power supply from old laptop, and another power supply from a battery charger.
Good work just continue i really like them and i want to make one
Отличное видео))))
Thank you! :)
14:53 why not use serial to test and it would be there ready to use it after
I did have time to implement it. Good news that it is open source! So anyone can add serial know! :)
Hello friend What material to use for casting ABS or PLA?
The new robot (orange) is made out of PETG from Prusa. The old robot (yellow) is made out of PLA.
I'm very interested to make one .
It will be funny that the arm can use some tool.
I agree, it would be nice to attach some tool and to do something useful. I should try to do this.
@@Skyentific imagine if your arm is equipped with one pen printer. You can make some shape with PLA filament.
Yes, this would be super cool. It would be possible to make super complicated prints. I just afraid that it would be super complicated to make slicer program for 6 axis robot.
thank you !!!
Thank you for your comment!
what is the power source that you are using
hope I can find time to build this!
So you plan to release the CAD (Fusion360) files. I see the STL and those are really manufacturing files not CAD. I would love to see the fusion files. Great project and nicely done. you should be very proud of the work
Oh I see you have to be a patreon to get the actual cad files. so not opensource. more like OCO (object code only)
I would put Fusion360 files on the GitHub as soon as I will found how to do this. )) Hope it is going to be soon.
@@Skyentific Hi, there may be an easier way than there but I right click on the project and share link
once you have that you can download the f3d file then put on your site
14V and How much power does the power supply use or How many ampere
Around 60W. May be use a little bit more, just to be sure.
Как называется разъём и провод, которым Вы подключали ораньжевый манипулятор к промышленному блоку управления?
Hallo, wo bekomme ich so eine Steuerung für den Roboter her.
Ich habe ihn nachgebaut, die freie Version von " AMPro-3D "die Mechanik funktioniert aber ich habe keine Elektronik
Hatte mir die Elektronik von AMPro gebaut funktioniert aber nicht, bekomme aber keine Hilfe bzw. Unterstützung.
Möchte jetzt eine komplett andere Steuerung bauen.
Können Sie mir da weiterhelfen. Wäre ihnen sehr Dankbar
Gruss...
Salut! Could you please do a video telling you about the code in arduino?? I tried to make a robotic arm but I hit the programming side ... I know where I want to get but I do not know how to get it :))!! Thank you!!
Thank you for your comment. My next video is going to be about the Arduino program. I as going to publish it in a couple of days.
Hola... me encantaría aprender más sobre el tema y saber donde descargar los planos cad y programas del microcontrolador... como puedo hacerlo?
Really nice work
Thank you very much!
thank you for sharing, I'll definetly donate on my next salary :D
Thank you for the inspiring comment!
Выз лав фром май харт =)
Elena Vavilova, excellent joke :)))
this is cool！
Can anyone help me find the RAMPS board he's using?
matthew king I bought it on hobbyking website
You use full step mode ?
I use 32 microstepping. You can use different micro stepping, but you would need to adopt Arduino program (very easy, you just need to put correct microstepping value).
@@Skyentific if we need more torque we must decrease the microstepping and in this case it would increase the current limit ?
What is the AWG of the cables?
Good question! I used similar AWG as the original cable from the motors:
For Axis 1 and 2 (nema 23) it is AWG22
For Axis 3 (nema 17) it is AWG24
For Axis 4,5 and 6 (nema 11 and nema 8) it is AWG26