janelia-arduino/tmc429

The Trinamic TMC429 is a triple-axis dedicated step and direction motion controller for both position and velocity control with acceleration and deceleration trapezoidal ramps.

TMC429

Library Information

Name

TMC429

Version

2.3.1

License

BSD

URL

https://github.com/janelia-arduino/TMC429

Author

Peter Polidoro

Email

[email protected]

Description

The Trinamic TMC429 is a triple-axis dedicated step and direction motion controller for both position and velocity control with acceleration and deceleration trapezoidal ramps.

Stepper Motors

From Wikipedia, the free encyclopedia:

A stepper motor, also known as step motor or stepping motor, is a brushless DC electric motor that divides a full rotation into a number of equal steps. The motor’s position can be commanded to move and hold at one of these steps without any position sensor for feedback (an open-loop controller), as long as the motor is correctly sized to the application in respect to torque and speed.

Wikipedia - Stepper Motor

Stepper Motor Controllers and Drivers

Stepper motors need both a controller and a driver. These may be combined into a single component or separated into multiple components that communicate with each other, as is the case with the TMC429 stepper motor controller. One controller may be connected to more than one driver for coordinated multi-axis motion control.

Stepper Motor Controller

A stepper motor controller is responsible for the commanding either the motor kinetics, the torque, or the motor kinematics, the position, speed, and acceleration of one or more stepper motors.

Stepper Motor Driver

A stepper motor driver is responsible for commanding the electrical current through the motor coils as it changes with time to meet the requirements of the stepper motor controller.

TMC429

Wiring

Example Circuit Board

Required

• Power supply (3.3V or 5V)
• Clock (4-32MHz)
• SPI to microcontroller (MOSI, MISO, SCK, CS)
• Step and Direction signals to each of the stepper drivers

Optional

• INT and POSCOMP signals to microcontroller
• Reference signals (left and/or right) from limit switches attached to each stepper motor

tmc429's Issues

Unable to locate TMC2209.h file in your directory.

Hello,
I am unable to locate the TMC2209.h and TMC2209.cpp files in src folder.

Compatibility issue with Arduino portenta C33

Hello,

I am trying to use an arduino pro portenta c33 with 2 TMC429.

Currently i am only trying to get the TMC429 on a breakout board(specifically the TMC429-BOB https://www.analog.com/media/en/technical-documentation/user-guides/tmc429-bob-user-manual.pdf) to communicate with the C33.

I have a 16 MHz quartz oscillator for the CLK on the breakout board as well as all SPI pins connected correctly. The TMC429 is connected in the 3,3V operating mode.

When using the “TestConnection” example that comes with the library i get this:

23:47:02.466 -> communicating: 0
23:47:02.466 -> version: 801918
23:47:02.466 -> velocity_max_upper_limit: 406051
23:47:02.498 -> setLimitsInHz: 100, 100000, 40000
23:47:02.498 -> acceleration_max: 322341919
23:47:02.498 -> acceleration_max_upper_limit: 19
23:47:02.498 -> acceleration_actual: 0
23:47:02.498 -> velocity_min: 0
23:47:02.498 -> velocity_max: 0
23:47:02.498 -> set target_velocity: -50000
23:47:02.498 -> target_velocity: 812500
23:47:02.498 -> actual_velocity: 0
23:47:02.532 -> set target_position: 12345
23:47:02.532 -> set target_position: -8388608
23:47:02.532 -> actual_position: -8388608
23:47:02.532 -> at_target_position = 1
23:47:02.532 -> at_target_velocity = 0
23:47:02.532 -> After disabling, right switches enabled = 0
23:47:02.566 -> After enabling, right switches enabled = 0
23:47:02.566 -> After disabling, switch soft stop enabled = 0
23:47:02.603 -> After enabling, switch soft stop enabled = 0
23:47:02.603 -> After disabling, left switch stop enabled = 1
23:47:02.603 -> After enabling, left switch stop enabled = 1
23:47:02.603 -> After disabling, right switch stop enabled = 1
23:47:02.644 -> After enabling, right switch stop enabled = 1
23:47:02.644 -> left_switch_active = 1
23:47:02.644 -> right_switch_active = 1
23:47:02.644 -> latch_position_waiting: 0
23:47:02.644 -> latch_position: -8388608
23:47:02.644 -> status.at_target_position_0 = 0
23:47:02.644 -> status.switch_left_0 = 1
23:47:02.681 -> status.at_target_position_1 = 0
23:47:02.681 -> status.switch_left_1 = 0
23:47:02.681 -> status.at_target_position_2 = 0
23:47:02.681 -> status.switch_left_2 = 0

It is always the same and not changing. I tried the same setup with an Arduino mega (in 3,3V and 5V mode) and I got the expected result.

I tried a bunch of things both hardware and software. I reduced the SPI transfer speed in the library and used level shifter(and some more things) but I can't get it to work.

When trying to fix the problem i took pictures of the entire communication for the “communication sketch” (tmc429.communicating()).

This one is for the working Version on the arduino mega.

and this one is a non-working exchange with C33.

Yellow --> Chip Select
Green --> Serial Clock
Blue --> COPI (MOSI)
Red --> CIPO (MISO)

On a side note: on the bottom of the picture is the decoded SPI data. I could not get it to work for the C33 Version even with adjusting the thresholds. (Also sorry for the white background, i only noticed that afterwards)

Any ideas what else i could try. (i am still waiting for higher frequency oscillator).

Can't specify spi bus

ESP32 has multiple spi busses but this library doesn't allow specifying which bus to use.

Possible solution: make all spi functions virtual and allow a subclass to override them.

Remove Streaming.h include from TMC429.h

Nothing in the TMC429 library itself requires the Streaming.h file to be included (only the examples use it). It would be nice to remove this dependency from the core library.

"hold_mode" not working

Hello,

I am currently testing TMC429 and TMC4361A.

For the TMC4361A, I am using this library:
https://github.com/tommag/TMC4361_Arduino

In my application, i want to to set a constant speed and target position. This is possible with the "hold_mode" mode on both chips.

On the TMC4361 it is working very nicely with the library above, so I just set maxSpeed and targetPosition and the movement is performed.

I tried the same with the TMC429 library, but got no success. Hold_mode is not implemented, so I just added:

void TMC429::setHoldMode(size_t motor)
{
  setMode(motor,HOLD_MODE);
}

The main code is looking somehow like this:

void setup()
{

  tmc429.setup(CHIP_SELECT_PIN, CLOCK_FREQUENCY_MHZ);
  tmc429.initialize();
  tmc429.setHoldMode(MOTOR);
}

void loop()
{

  tmc429.setTargetVelocityInHz(MOTOR, 5000);
  tmc429.setMaxVelocity(MOTOR, 5000);
  tmc429.setTargetPosition(MOTOR, 5000);

}

But this will lead to no movement. With ramp_mode example, everything is working fine, so it is not a general issue with the setup.

Any idea what is misssing to make it run?