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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).

AnanasStepper 1.0:https://hackaday.io/project/20980-ananasstepper

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.

AnanasStepper
(CAN bus Stepper)
dir/step (I2C Serial)
with PID Stepper

Nomal dir/step Stepper
Closed loop
position
control
YesYes No
Step/Dir NoYesYes
Torque
adjust
YesYesNo
Temprature
(motor and
driver)
YesYesNo
CAN bus
Support
Yes Need to extendNo


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

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  • 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 25 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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