Today we will wire up a TMC4361A-EVAL + TMC2130-EVAL combination to drive a stepper motor closed loop with an Arduino Uno. The encoder used for this test has a resolution of 10.000 cpr respective a resolution of 40.000.
Preparation
For this tutorial the Eselsbruecke got a soldered connection between +5V_USB (pin 5) to +5V_VM (pin 42) to get +5V for the encoder. You can use jumper wires as well but make sure the connection is properly.
Wiring
The wiring is very simple. You will need 9 jumper wires. To make the wiring more easy you can print out the TMC5130-EVAL_Pinning.pdf (used from a previous blog entry) and cut out the template to mount it on the connector header of the TMC4361-EVAL (As seen on illustration 4). As a reference you can use the TMC5130-Eval_v15_01_Schematic.pdf. Here you’ll find the signals that are on each pin. The configuration is documented in the comment section of the Arduino code.
Cable colors of illustration 4
+5V –> red
GND –> blue
SDO –> yellow
SDI –> orange
SCK –> white
CSN –> grey
DIO0 (DRV_ENN) –> black (Is passed thru to TMC2130-EVAL DRV_ENN pin)
DIO16 (NFREEZE) –> brown
CLK16 –> green
Arduino Code
The Arduino Code below does not need any additional libraries. The SPI library comes with the Arduino IDE. The program initializes the TMC2130 thru the TMC4361A-EVAL (cover datagram) and the TMC4361 itself. It will rotate a 200 full step motor 2 revolutions to the one and 2 revolutions to the other direction depending on the wiring of the stepper motor. Please use either the TMC4361 and TMC2130 datasheets as a reference for the different registers (Download links below).
|
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 |
#include <SPI.h> #include "TMC4361A_Register.h" /* The trinamic TMC4361 motor controller operates through an * SPI interface. Each datagram is sent to the device as an address byte * followed by 4 data bytes. This is 40 bits (8 bit address and 32 bit word). * Each register is specified by a one byte (MSB) address: 0 for read, 1 for * write. The MSB is transmitted first on the rising edge of SCK. * * Arduino Uno Pins Eval Board Pins * 11 MOSI 32 SPI1_SDI * 12 MISO 33 SPI1_SDO * 13 SCK 31 SPI1_SCK * 8 CS 30 SPI1_CSN * 7 DIO 8 DIO0 (DRV_ENN) * 9 DIO 23 CLK16 * 2 DIO 38 NFREEZE * GND 2 GND * +5V 5 +5V */ int chipCS = 8; const byte CLOCKOUT = 9; int enable = 7; int nFreeze = 2; void setup() { // put your setup code here, to run once: pinMode(chipCS,OUTPUT); pinMode(CLOCKOUT,OUTPUT); pinMode(enable, OUTPUT); pinMode(nFreeze, OUTPUT); digitalWrite(chipCS,HIGH); digitalWrite(enable,LOW); digitalWrite(nFreeze,HIGH); //set up Timer1 TCCR1A = bit (COM1A0); //toggle OC1A on Compare Match TCCR1B = bit (WGM12) | bit (CS10); //CTC, no prescaling OCR1A = 0; //output every cycle SPI.setBitOrder(MSBFIRST); SPI.setClockDivider(SPI_CLOCK_DIV8); SPI.setDataMode(SPI_MODE3); SPI.begin(); Serial.begin(9600); // General setup of TMC4361 Motion Controller with TMC2130 stepper driver sendData(0xCF,0x52535400); // reset squirrel sendData(0x83,0x00540022); // input filter: START and encoder pins sendData(0x84,0x8440000d); sendData(0x80,0x00007026); // direct-a, direct-bow sendData(0x90,0x00060004); // Steplength sendData(0xED,0x00000080); // Using cover datagram to write to GCONF of TMC2130: sendData(0xEC,0x00012200); // diag1=index, pushpull, direct_mode = on --> SPI mode sendData(0xED,0x00000090); // Using cover datagram to write to IHOLD_IRUN of TMC2130: sendData(0xEC,0x00051905); // IHOLD = 29, IHOLDDELAY = 5, IRUN = 25 sendData(0xED,0x00000091); // Using cover datagram to write to TPOWERDOWN of TMC2130: sendData(0xEC,0x0000000A); // TZEROWAIT = 10 sendData(0xED,0x00000094); // Using cover datagram to write to TCOOLTHRS of TMC2130: sendData(0xEC,0x000000C8); // = 200 sendData(0xED,0x00000095); // Using cover datagram to write to TCOOLTHRS of TMC2130: sendData(0xEC,0x00000032); // = 50 sendData(0xED,0x000000EE); // Using cover datagram to write to DCCTRL of TMC2130: sendData(0xEC,0x00070025); // sendData(0xED,0x000000F0); // Using cover datagram to write to PWMCONF of TMC2130: sendData(0xEC,0x000404FF); // DCCTRLSG = 5, DC_TIME = 37 sendData(0xED,0x000000EC); // Using cover datagram to write to CHOPCONF of TMC2130: sendData(0xEC,0x00010223); // sendData(0xED,0x000000ED); // Using cover datagram to write to COOLCONF of TMC2130: sendData(0xEC,0x0100a220); // OFF sendData(0xA4,0x00000000); // v = 0 sendData(0xA1,0x00000000); // xactual = 0 sendData(0xB7,0x00000000); // xtarget = 0 // Closed Loop calibration of TMC4361 Motion Controller sendData(0xD4,0x00009C40); // Encoder resolution = 40k/rev sendData(0x9C,0x00FF00FF); // CL_BETA = CL_GAMMA = 255 sendData(0xA0,0x00000004); // hold + position mode sendData(0xA4,0x00100000); // slow velocity sendData(0xDC,0x00010000); // cl_p = 1.0 sendData(0x87,0x00400000); // turn on closed loop sendData(0xB7,0x00000080); // move to full step position sendData(0x87,0x01400000); // turn on closed loop calibration sendData(0x87,0x00400000); // turn off closed loop calibration sendData(0xA4,0x00000000); // v = 0 // Setup Closed Loop Operation sendData(0xA0,0x00000006); // S-Ramp + POS Mode sendData(0xA4,0x079A8000); // VMAX = 400.000 pps sendData(0xA8,0x00000200); // AMAX sendData(0xA9,0x00000200); // DMAX sendData(0xAD,0x00000100); // bow1 sendData(0xAE,0x00000100); // bow2 sendData(0xAF,0x00000100); // bow3 sendData(0xB0,0x00000100); // bow4 sendData(0xE0,0x00250000); // emf_vmin = sendData(0xE1,0x00450000); // emf_vadd = -> emf_vmax = sendData(0xE2,0x00FFFFFF); // emf_vel0_timer sendData(0xE3,0x02000864); // enc vel filter settings sendData(0xDF,0x00000014); // cl_tolerance = 20 sendData(0xDC,0x00010000); // cl_p = 1.0 sendData(0xDA,0x000000C8); // cl_vlimit_p = 200 sendData(0xDB,0x00000032); // cl_vlimit_i = 50 sendData(0xDD,0x000003E8); // cl_vlimit_diclip = 1000 sendData(0xDE,0x00100000); // cl_vlimit = 100.000 pps sendData(0x86,0x0032f064); // cl scaling values sendData(0x98,0x00001000); // cl_upscale sendData(0x99,0x00100000); // cl_dnscale sendData(0x87,0x0A400000); // cl with gamma correction and vlimit sendData(0x85,0x00000080); // cl scaling on } void loop() { // put your main code here, to run repeatedly: sendData(0xB7,0x00019000); // XTARGET = 100.000 delay(3000); sendData(0xB7,0x00000000); // XTARGET = 0 delay(3000); } void sendData(unsigned long address, unsigned long datagram) { //TMC4361 takes 40 bit data: 8 address and 32 data delay(100); unsigned long i_datagram; digitalWrite(chipCS,LOW); delayMicroseconds(10); SPI.transfer(address); i_datagram |= SPI.transfer((datagram >> 24) & 0xff); i_datagram <<= 8; i_datagram |= SPI.transfer((datagram >> 16) & 0xff); i_datagram <<= 8; i_datagram |= SPI.transfer((datagram >> 8) & 0xff); i_datagram <<= 8; i_datagram |= SPI.transfer((datagram) & 0xff); digitalWrite(chipCS,HIGH); Serial.print("Received: "); Serial.println(i_datagram,HEX); Serial.print(" from register: "); Serial.println(address,HEX); } |
Download
The Arduino_TMC4361_TMC2130.zip file includes the pinning template, the TMC4361-EVAL schematic and the Arduino project.
Related Pages
- TMC4361A-LA
- TMC4361A-LA datasheet download
- TMC4361-EVAL
(Please note: This EVAL version has the previous TMC4361-LA on board. This version is compatible as well. The TMC4361A-EVAL will be available shortly.) - TMC2130
- TMC2130 datasheet download
- TMC2130-EVAL
14 Comments