BLDCs Servos w/ Ouroboros on Monolith Gantry Doing 2500mm/s & 1M Accel

Added: 2026-05-12

[00:00:00]Hello everyone. Just a quick video today, but I wanted to show you something that I think is really cool and that is BLC servos running with Clipper using Orooros.

[00:00:20]Yeah. So, this this thing can go really really fast. I'll repeat this demo later in the video and I'll talk about the speeds and accelerations I'm seeing, but I want to walk you through the setup here first. So, as I said, these are BLC servos, LIN engineering something or another. I'll put the part number on the screen. These are 48vt uh servos. So, the system is running from a meanwhile LRS 35048 power supply down here. And yeah, the servos are obviously hooked up to the Orboros. Oraboros normally mounts here, but I had to move it back here and kind of zip tie it in place. Kind of a janky setup, but this is something I quickly threw together like two days ago just so I can do some quick testing.

[00:01:00]But, uh, yeah, the reason I had to mount it back there is because the BLC motors cables were way too short and they barely reached the Ouroros back here.

[00:01:09]Um, these have thousand CPR encoders on the back just like the stepper servo demo I showed in the previous Oro video and I connected them to the Oraboros using chopped up IDC cables cuz apparently you can't expect long motor cables or any encoder cable with a $250 servo, but it is what it is. So, uh, yeah, these servos are mounted on this 250 mm sheet metal monolith gantry two wheel drive gantry. And uh I also had to 3D print these spacers here because the shafts of these uh servos were too short. So I have a shaft coupler in there coupling to another smooth rod and that has the pulley. And all of that is bonded together using shaft training compound cuz uh they're not Dshafts. But yeah, this setup works for now. As I said, something I quickly threw together two days ago just to test this stuff.

[00:01:58]And I only spent a few hours tuning these. But uh yeah, I'm pretty impressed with the speeds I can get with the current P values, but I'm also sure I can push this even further. But uh yeah, before I get to the two demos I have in mind, I want to first show you how quiet these servos are. So, just like I did in the previous Orborus video, I will put the microphone right up against the motor so you can get a sense of what the motors sound like. Just keep in mind that obviously this is right against the motor, so they will sound louder than they actually are. From where I'm standing right now, I'd say they're barely audible. And in a 3D printer chamber, I doubt you'd be able to hear these at all when they're idle. That is, cuz when the gantry is moving, the rest of the motion components are obviously making a decent amount of noise. But yeah, let me put the microphone right here and I'll make the gantry move so you can get an idea of what the sound is like, even if it's louder than uh real life.

[00:03:04]So, uh, yeah, that's what the motors sound like. So, uh, yeah, as I said, I want to show you two demos in this video. One of them is kind of a meme one, but I managed to push this gantry with the current P settings up to 1 million acceleration. Honestly, it might even be able to do much more than that, but well, maybe not much more, but more than that. But I haven't tested that. I stopped at 1 million because, you know, even a million feels silly. I you're not going to print at a million acceleration. So, I didn't feel like there I didn't feel like there was a good reason to push uh beyond that. But yeah, this is,000 mm a second, 1 million acceleration the gantry is about to do.

[00:03:59]And I should obviously clarify that you wouldn't print at 1 million acceleration or the high speed demo I'm about to show you. You'd slow it down for print quality reasons, but I just want to show you what this motion system can do. So, uh, yeah. The other demo I want to show you which I showed earlier in the video too actually is 2500 mm a second 30,000 acceleration. 30k might be a bit might sound a bit modest after a million but the speed is really fast. So let's do that again as well.

[00:04:39]Yeah. 2500 mm a second. So, I'm really happy with this performance and I'm also really looking forward to what this would perform like if I put these BLC motors on an actual 3D printer. Let me know if you'd like to see that video.

[00:04:52]But before that video, there are two videos I have planned with the Ouroros coming to the channel. One of them will be coming pretty soon and that is a custom 3D printer build I started before Rocky Mountain 2026. I just couldn't manage to finish it in time, but I just need to do some tuning. So, that will come to the channel pretty soon. As I said, that's a custom 3D printer build using the stepper servos and Our Boros.

[00:05:14]And uh yeah, I want to see what sort of speeds and accelerations I can push out of a really rigid uh 3D printer build.

[00:05:20]So yeah, that will be coming to the channel pretty soon. And uh yeah, it's a highly customized build. So definitely stay tuned for that. And the other video will be about field oriented control. In the previous Oraboros video, quite a few people in the comments requested that I do a deeper dive into field oriented control and talk about what each uh field oriented control pi loop does and things like that. And it also explain in more detail how the system works and how it benefits our use cases with Clipper 3D printers. I'm terrible at explaining things which is why I've procrastinated up to this point. But I'm definitely planning to make a video about that as well. So that will be coming to the channel at some point as well. But as I said, this is a quick video, so I will end this here. I just wanted to show you this test setup before before I tear it down to rebuild my uh Ouroros QC testing machine using the stepper servos cuz that's what I do for Oro QC testing and I need to build some Oruroros boards.

[00:06:14]So, I just wanted to show you this before I tear it down. But, uh, yeah, that's it for this video. I just wanted to show you these VLDAC motors running on a 3D printer gantry. So, I just thought this was cool and wanted to make a video about this. So, I hope you found this interesting. If you did, please leave a like down below.