The Stepper Motor Driver Board
Here is the Stepper Motor Driver Board:
Almost no documentation in the Internet on this board! It is cheap and I have used it before.
Mapping/tracing the Nano pins I get:
- RX - Serial Receive (pin provided but not used)
- TX - Serial Transmit (pin provided but not used)
- D2 - X Direction
- D3 - Y Direction
- D4 - Z Direction
- D5 - X Step
- D6 - Y Step
- D7 - Z Step
- D8 - Enable
- D9 - +/- X End Stops (pin provided but not used)
- D10 - +/-Y End Stops (pin provided but not used)
- D11 - +/-Z End Stops (pin provided but not used)
- D12 - Free (pin provided)
- D13 - Free (pin provided)
- A0 - Abort (pin provided but not used)
- A1 - Hold (pin provided but not used)
- A2 - Resume (pin provided but not used)
- A3 - Coolant Enable (pin provided but not used)
- A4 - SDA (pin provided but not used)
- A5 - SCL (pin provided but not used)
- A6 - Free (pin provided)
- A7 - Free (pin provided)
There are also:
- +5v0 and ground pins
- +3v3 and ground pins (uses an on board regulator)
- Reset button (for Nano)
- E-Stop pins (same as reset)
- The power plug (Motor Power 8-12v):
- Powers the Nano and via a shunt powers the A4988 stepper motor boards.
- Otherwise the A4988 boards and the Nano are powered separately.
- Under each A4988 stepper motor board are pins to shunt (S) the micro-stepping:
- MS1 MS2 MS3 (up view)
- - - - Full Step
- S - - Half Step
- - S - 1/4 Step
- S S - 1 /8 Step
- S S S 1/16 Step
One fault with these boards is that the shunts to control the micro stepping does not work. I added these 10k pull-ups to fix the problem:
Pre-processing "cartesian" gCode with gCode2SCARA allows the use of Grbl for a SCARA arm (UVZ type). This what I would recommend to get started.
Is some code that I wrote that will also do the job.
Is some more code that I wrote (but needs some work of the interpreter) that could also do the job. I intend to finish this code off to work with gCodeFilter and gCode2SCARA at some point of time.
gCode2SCARA Command Line Options
If you have not realised, gCode2SCARA is a command line program program designed to be used via a batch file. Here are the current options:
-i Input File
-o Output File
-t XY Space Tolerance (mm)
-s UV Space Tolerance (full steps)
-xc gCode X Offset (mm)
-yc gCode Y Offset (mm)
-L1 Arm 1 Length (mm)
-L2 Arm 2 Length (mm)
-M1 Motor 1 Steps
-M2 Motor 2 Steps
This project could benefit from a "Visual Windows" programming approach, so probably time to look at what is available for Linux that is simple to use.