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AnanasStepper 2.0

Open Source CAN Bus Based Servo Stepper for Multi Axis Gang Control

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This is a part of a smart Robot control system(AnanasRobot), based on Stepper Motor and CAN bus.This project aims to build a motion control system including hardware and software to make Multi-Axis Gang Control easy and precise, applied to 3D printer, a 6+ axis robot arm or some more complex motion control system.

Main Features:
1.CAN bus based(up to 1 Mbit).
2.STM32 32bit ARM MCU(Cortex-M3 72MHz).
3.Closed loop control with 14bit magnetic encoders(TLE5012).
4.Driver integrated(A4988 DRV8825 or more power MOS Driver)
5.Extendable(For more than 12+ motors), and Easy for Installation(With two twisted wires and power to get the whole system available).
6.USB-CAN Adapter and SPI-CAN Adapter For systems without CAN bus.
7.API for multiple control systems(Arduino Windows Linux Mac LinuxCNC Marlin Smoothie Repetier .etc).

WebPage: https://ananasrobot.github.io/AnanasStepper/


AnanasStepper 2.0

This an upgrade of AnanasStepper(https://github.com/Dark-Guan/Ananas), which is a stand alone closed loop stepper driver.With STM32 MCU, this version has more performance to driver stepper well and CAN Bus support.


All the wiring I need is 12V and a twisted pair for CAN to link All device all together. So the main module can control all of them and monitor the state(position temprature or current) of them.

Application Of AnanasStepper 2.0

There is plan to build a system with a Robot Arm and a 3D printer working together!

Coming Soon!

2 AnanasSteppers Do 2D plotter (test TWO Axis Gang Control)

I use 2 AnanasStepper to build a 2D plotter, Test 2D Axis Gang Control.

About https://hackaday.io/project/20980-ananasstepper-20/log/60311-2-ananassteppers-do-2d-plotter

AnanasStepper 2.0 play MIDI MUSIC

I tested AnanasStepper to Play MIDI music,And used My guitar as a loud-speaker!

It is not very nice but it works!!


Q&A:

https://hackaday.io/project/20980-ananasstepper-20/log/60341-qa-about-ananasstepper-20-1


CAN : https://en.wikipedia.org/wiki/CAN_bus

RUN CAN with SPI: MCP2515 :https://hackaday.io/project/20980-ananasstepper-20/log/61994-run-raspberry-with-can-busmcp2515

RUN CAN with Beaglebone: https://hackaday.io/project/20980-ananasstepper-20/log/62014-beaglebone-black-with-can


AnanasRobot Linear Actor:https://www.thingiverse.com/thing:2418362


AnanasStepper 1.0 :

https://hackaday.io/project/20980-ananasstepper-20/log/60033-everything-about-ananasstepper-10-is-here

https://hackaday.io/project/20980-ananasstepper-20/log/57101-demo-of-ananasstepper-10

https://hackaday.io/project/20980-ananasstepper-20/log/58154-ananasstepper-10-3d-printer-test

Linear-Actor-A.STEP

Linear-Actor-for AnanasRobot system https://www.thingiverse.com/thing:2418362/#files

step - 3.01 MB - 07/07/2017 at 14:23

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View all 12 files

  • 1 × STM32F103CBT6 Microprocessors, Microcontrollers, DSPs / ARM, RISC-Based Microcontrollers
  • 1 × TLE5012B Semiconductors and Integrated Circuits / Misc. Semiconductors and Integrated Circuits
  • 1 × TJA1050
  • 1 × A4988 Power Management ICs / Motion, Motor and Servo Control
  • 1 × DRV8825 Evaluation, Demonstration Kits, Boards and Modules / Evaluation Kits, Boards and Modules

View all 34 project logs

  • 1
    Step 1

    Prepare(Prepare AnanasStepper include Power wire and CAN bus wire)

    BOM:

    1. Ananas(AnanasStepper 20)
    2. Step Motor (2 phases-step-motor)
    3. Magnet
    4. Mount Space (a 3D printer part)
    5. Screw(4 Screw)
    6. Nuts(4 Nuts)
    7. Motor Wire
    8. Power Wire
    9. USB-CAN(or SPI-CAN)
  • 2
    Step 2

    Assemble Magnet And srew

    1. a.Assemble the 3D printed spacer.
    2. b.Assemble the Ananas.
    3. c, Final assemble the Nuts.
  • 3
    Step 3

    Connect AnanasSteppers(Power and CAN bus)

    First, Prepare All wires.

    Connect them follow the arrows.

View all 4 instructions

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Discussions

ottoragam wrote 06/13/2017 at 20:51 point

Hi, thanks for the follow! I see that you want to make a higher current drive. May I suggest a discrete array of half bridges? There are dual MOSFETs in 5x6 packages that should be able to handle the current you want or even more, and they don't take a lot of board space. Could give good results, IMO :)

  Are you sure? yes | no

GrayPillow wrote 06/14/2017 at 02:33 point

Thanks for your suggest. Yes I plan to use a dual MOSFETs in SOP8 package and IR210x mos driver to build a drive for This project. And I should do some more Test.

Your project is awesome, I like them.

  Are you sure? yes | no

ottoragam wrote 06/14/2017 at 03:50 point

Cool! What is the maximum motor voltage that you're planning on supporting?

  Are you sure? yes | no

GrayPillow wrote 06/14/2017 at 04:20 point

I'd like set the maximum to 24V , which affects component selection. About this part, What's your suggestion?

  Are you sure? yes | no

ottoragam wrote 06/14/2017 at 04:34 point

Well, higher voltage will get you higher motor speeds. The FETs start to become kinda expensive and less available beyond 80V, and I feel the IR210x gate drivers will be sort of wasted at 24V (they can go up to 600V), so maybe you can go with a commonplace 48V system. But if you choose 24V, The DRV8701 (the one I'm using) its a good candidate, as it includes an internal 12V supply for the FET gates (the IR210x doesn't).

  Are you sure? yes | no

GrayPillow wrote 06/14/2017 at 05:50 point

Thanks very much , I will consider your suggestions.

  Are you sure? yes | no

TegwynTwmffat☠ wrote 05/31/2017 at 16:08 point

How many amps can this board handle? Thanks!

  Are you sure? yes | no

GrayPillow wrote 06/01/2017 at 01:40 point

Thanks for your comment.

Amps is limited by the driver used, A4988 is 2.0 A(max) and 1.4A rms, DRV8825 is 2.5A max and 1.75A rms. And I have a plan to embed MOS driver onboard, which may make the max Amps to about 5A + coming soon

  Are you sure? yes | no

Oskar Weigl wrote 05/29/2017 at 01:38 point

Do you plan to support industry standard protocols like CANOpen CiA 402? https://www.can-cia.org/can-knowledge/canopen/cia402/

  Are you sure? yes | no

GrayPillow wrote 05/29/2017 at 01:49 point

Actually, I read the CANOpen protocol and consulted some engineers familiar with it. And I figure out it is so complex. So I write another protocol for my system . My goal is simple and efficient , with some reasonable expansibility.

  Are you sure? yes | no

Oskar Weigl wrote 05/29/2017 at 01:56 point

Okay fair enough. What about using stuff already written, like https://github.com/CANopenNode/CANopenNode and http://wiki.ros.org/canopen_402 ?

  Are you sure? yes | no

GrayPillow wrote 05/29/2017 at 01:53 point

But, if it is necessary , I want to support it though it means I should do a lot of change with my system.

  Are you sure? yes | no

GrayPillow wrote 05/29/2017 at 02:08 point

I am not familiar with http://wiki.ros.org/canopen_402 now. But I have the plan to support ROS. I will try it later.

  Are you sure? yes | no

Thorsten Eggert wrote 05/11/2017 at 19:45 point

Nice thing. I just searched for some info to build something like this by my self. I only do not understand the CAN bus decision. I like the CAN bus and its features, but how do you plan to connect it to a grbl or similar? Or is the ananas 2.0 no meant to be used for hobby CNCs / 3d printers?

  Are you sure? yes | no

GrayPillow wrote 05/12/2017 at 01:43 point

Thanks very much!There are several way to connect AnanasSteppers 2.0 to normal CNC system , Serial to CAN or SPI to CAN (They are very cheap ,no more then 10 dollars).Ananas 1.0 is a version that support DIR/STEP and I2C interface .

I am foucing on AnanasStepper 2.0 Now ,After Releasing Python API , A C/C++ API is on the way.

  Are you sure? yes | no

Thorsten Eggert wrote 05/13/2017 at 14:07 point

So if I understand you correctly, grbl / marlin will need a CAM interface to be used, right? 

If thats the case I would like to help, do you already have some informations about the protocol at the CAM bus?

  Are you sure? yes | no

GrayPillow wrote 05/13/2017 at 14:27 point

You are right! I am test the protocol Today. The demo test will be released Soon!!

Thanks for your hope to help! I will remind you soon!

  Are you sure? yes | no

Ryan Won wrote 04/11/2017 at 00:53 point

Would you like to share the fritizing files of the old ananans stepper?

  Are you sure? yes | no

GrayPillow wrote 04/11/2017 at 02:07 point

Yes,you can get them form the link of github I shared

  Are you sure? yes | no

GrayPillow wrote 04/11/2017 at 14:33 point

Oh, I am so sorry ,Today I check my github ,there is no fritizing file. I think I lost them.

Don't warry ,the more detail is here https://github.com/Dark-Guan/AnanasBoard , which is used Eagle . Hope this help you!

  Are you sure? yes | no

aape01 wrote 04/07/2017 at 05:42 point

很好

  Are you sure? yes | no

GrayPillow wrote 04/07/2017 at 23:53 point

Thanks!

  Are you sure? yes | no

Ryan Won wrote 04/07/2017 at 05:25 point

looks great

  Are you sure? yes | no

GrayPillow wrote 04/07/2017 at 23:53 point

Thanks!

  Are you sure? yes | no

navichan wrote 04/07/2017 at 05:16 point

Very nice!

  Are you sure? yes | no

GrayPillow wrote 04/07/2017 at 23:53 point

Thanks!

  Are you sure? yes | no

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