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Smart Stepper Upgrade

A Remix of the Mechaduino with more features

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The Smart Stepper is a closed loop controller for stepper motors.

Up to 40V +/-2A peak motor driver
14bit rotation encoder
Typical positioning accuracy of 0.05 degrees
Step, Dir, Error/Enable input for plug and play with existing controllers (smoothie, Marlin, grbl, etc)
LCD and buttons to help with calibration
LCD showing speed and error
Supports up 256x microstepping, recommend 16x.
Typical unloaded speed up to ~700RPM

Hardware available from:
www. misfittech.net

Firmware on Github:
https://githu

FW 0.11 has been pushed to Github

- Fixed a bug where motors were only getting half current

- Fixed an issue with noise in the calibration - http://misfittech.net/2017/02/02/calibration-noise/

- Added predictive phase advancement for increased speed

FW 0.09 has been pushed to Github

- Added a planner for stand alone controller application you can move with constant velocity

- Cleaned up and documented the command line interface

FW 0.08 has been pushed to github.

- LCD menu is functional

- Added support for velocity PID mode

- Added enable pin support and !Enable

FW 0.06 planned features 12-8-2016

- Improve LCD menu to allow access to menu any time and break out as own module

- Add motor parameters to flash (step size, wiring direction, desired rotation direction for dir pin polarity, etc)

- Add protocol between host (Marlin/smoothie) and Smart Stepper such that host can update parameters on fly

- Allow the Error/Enable pin as bidirectional open collector type of signaling system.

- Add the velocity PID control loop

- Review option for a speed limit system

- Continue work on the relay tuning and auto tune features.

- As always if you have any feature requests or comments email me or post a comment at misfittech.net

FW 0.05 updates

The pipeline read of the AS5047 has been fixed, this has increased the loop speed of the control loop such that control loop is around 120us. This also allows the control loop speed to be increased to 6kHz.

The mode command has been added. This allows the user to switch between open loop, simple control loop, and positional PID control loop modes. More control loop modes will be added.

Added support for the Mechaduino hardware

PID parameters are stored in flash as floating point but in code used as scaled fixed point values.

The LCD code will be updated to show which control loop mode the system is operating in.

As always if you have any feature requests or comments email me or post a comment at misfittech.net

FW 0.04 Updates 11-27-2016:

I have update the LCD so the position shown is absolute desired motor position, hence two rotations from start is 720 degrees

The command line interface has move command and readpos commands, which in closed loop operation will move to desired location. For example move 720 will move the motor two rotations from the starting location.

The move and readpos are great if you want to make playback functionality. For example if the NZS is connected to a robotic arm you could readpos as you manually move the arm then you could play back that movement by using the move command.

The firmware also has improved the critical section handling of the firmware.

here is a video:



  • Motion Planner

    Misfittech01/11/2017 at 12:48 0 comments

    Just released FW 0.09 with a motion planner.

    The next steps are to implement a s-curve route planner. The basic thoughts are that the user can provide issue a an s-curve move command like "s-curve 360 1.2" which would move to angle 360 with an s-curve and take 1.2 seconds to get to destination. However I am open to suggestions.

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Misfittech wrote 12/21/2016 at 18:42 point

As I am sure you know, I am working a NEMA 23 versions of the device with more power!

Check out the website www.misfittech.net for more details

  Are you sure? yes | no

RDChilders wrote 12/10/2016 at 15:24 point

I am very interested in how this turns out. I want more power like you are suggesting. I want more user feedback like you are suggesting. I want to make the Mechaduino more user friendly like you are suggesting.

  Are you sure? yes | no

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