AutoDriver project for PickNPlace robot

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1

Hi,

I recently purchased 4 AutoDrivers for a pick and place project. I followed the “Getting Started” tutorial quite smoothly (or so I thought).

I am currently only trying to move one of my steppers (Nema 23, Bipolar 1.8deg/phase, 24V, 2Nm, 3A) and the code I’m using is the following:

#include <AutoDriver.h>
#include "notes.h"

int stepDir = 1;
AutoDriver boardA(7, 8, 10);

void setup()
{
  Serial.begin(9600);
  Serial.println("Hello world");
  dSPINConfig();
}

// loop() waits for a character- any character- and then plays the song.
void loop()
{
  if (Serial.available()!=0)
  {
    Serial.read();
    Serial.println("Poop!");
    if (stepDir == 1)  boardA.run(FWD, 400);
    else               boardA.run(REV, 400);
    delay(500);
    stepDir*=-1;
    boardA.softStop();
    while (boardA.busyCheck());
    Serial.println("Done pooping!");
    
  }
}

With its support funcitons:

void dSPINConfig(void)
{
  boardA.configSyncPin(BUSY_PIN, 0);// BUSY pin low during operations;
                                    //  second paramter ignored.
  boardA.configStepMode(STEP_FS);   // 0 microsteps per step
  boardA.setMaxSpeed(10000);        // 10000 steps/s max
  boardA.setFullSpeed(10000);       // microstep below 10000 steps/s
  boardA.setAcc(10000);             // accelerate at 10000 steps/s/s
  boardA.setDec(10000);
  boardA.setSlewRate(SR_530V_us);   // Upping the edge speed increases torque.
  boardA.setOCThreshold(OC_750mA);  // OC threshold 750mA
  boardA.setPWMFreq(PWM_DIV_2, PWM_MUL_2); // 31.25kHz PWM freq
  boardA.setOCShutdown(OC_SD_DISABLE); // don't shutdown on OC
  boardA.setVoltageComp(VS_COMP_DISABLE); // don't compensate for motor V
  boardA.setSwitchMode(SW_USER);    // Switch is not hard stop
  boardA.setOscMode(INT_16MHZ_OSCOUT_16MHZ); // for boardA, we want 16MHz
                                    //  internal osc, 16MHz out. boardB and
                                    //  boardC will be the same in all respects
                                    //  but this, as they will bring in and
                                    //  output the clock to keep them
                                    //  all in phase.
  boardA.setAccKVAL(255);           // We'll tinker with these later, if needed.
  boardA.setDecKVAL(255);
  boardA.setRunKVAL(255);
  boardA.setHoldKVAL(32);           // This controls the holding current; keep it low.
}

All I get when I press a key, is a little buzz from the stepper which doesn’t even move, it only goes bzt for less than a second as if it was getting energized.

I am powering both the arduino and the autoDriver board with 5V, and I’m also feeding 24VDC to the AutoDriver for the Steppers. All connections have been triple checked.

I would appreciate anyone’s help at this moment.

Thank you kindly

2

Hi Mav,

what you need to do is adjust the dSPIN config file setting. In particular the setting for the setMaxSpeed to something in the range your stepper can handle correctly.