Commit cda40771 authored by Jake Read's avatar Jake Read
Browse files

try circuits

parent c58e2ab1
2020-06_ucbus-stepper @ 1ce3c0d0
Subproject commit 1ce3c0d0c1d5435059e893a62ebdea0f15526987
2020-08_esc-breakout @ 7fa3c7a4
Subproject commit 7fa3c7a4e6c4da3aecf4cc56bf60e1acb2e5be3f
2020-08_psu-breakout @ 771b21af
Subproject commit 771b21af419147e0feb48129fa2bae5ee6823543
jake/
**.elf
**.hex
**.bin
**.lss
**.map
**.srec
**.o
**.d
**.DS_Store
**.b#*
**.s#*
**.l#*
**.atsuo
**/ASF/
\ No newline at end of file
This work may be reproduced, modified, distributed, performed, and
displayed for any purpose, but must acknowledge the MTM project.
Copyright is retained and must be preserved. The work is provided as is;
no warranty is provided, and users accept all liability.
\ No newline at end of file
## Stepper Module
[DEV LOG](log/ucbus-stepper-log.md)
These are stepper drivers! They run:
- ATSAMD51 Microcontrollers
- 2x A4950 H-Bridges on 2x DACs to VREF
- 1x AS5147 if you want to get closed-loop-fancy
- RS485 input and 40W 24V into one 10-pin IDC
The hardware is set up to run on the 'UCBus', a synchronous embedded protocol that establishes a bus clock *and* data lines on one RS485/UART Phy. Details are not documented anywhere ATM, but it w o r k s.
## Melted Version V02
I revisioned this recently to skip the module and just build the whole circuit on one board. Schematic is identical to V01, but now is much smaller (can fit on a NEMA14 size motor) and all components are SMT on one side, i.e. the AS5047P is on the same side as the H-Bridges, Micro etc.
The IDC UCBus connector & DIP Switch are on the flipped surface.
![schem](log/2020-08-25_schematic.png)
![routed](log/2020-08-25_routed.png)
140 of these are out fab / assembly.
## Module Version V01
Beneath [the module](https://gitlab.cba.mit.edu/jakeread/ucbus-module).
Networked step driver (or) general purpose 2-H-Bridge ute. Uses module for micro / network drivers, all other parts are 0805 or similar to hand-solder easily.
![fab](log/2020-07-28_ucbus-stepper-fab.jpg)
![routed](log/2020-06-29_routed.png)
![schematic](log/2020-06-29_schematic.png)
## Voltages / VREFs etc
The A4950 VREFs are hooked up to DAC0 and DAC1.
Current limiting will be set by:
`Imax = Vref / (10 * Rs) ``
Where Rs is the sense resistor value, in this circuit its 0.2 ohms. So maximum current is 1.65A at 3.3v full DAC, all else scales. I think I set it up this way in case I was unable to set the DACs up properly, and had to turn them on full all the time.
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"3";"";"CONN_01PTH_NO_SILK_YES_STOP";"1X01_NO_SILK";"J10, J11, J13";"Single connection point. Often used as Generic Header-pin footprint for 0.1 inch spaced/style header connections";"";"";"";"";"";"";"";"";"";"";"";
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"1";"";"CONN_04SCREW_LOCK";"SCREWTERMINAL-3.5MM-4_LOCK";"J3";"Multi connection point. Often used as Generic Header-pin footprint for 0.1 inch spaced/style header connections";"";"";"";"";"";"";"";"";"";"";"";
"1";"";"CONN_05X2SHD_SMD";"2X5-SHROUDED_SMD";"J1";"Multi connection point. Often used as Generic Header-pin footprint for 0.1 inch spaced/style header connections";"";"";"";"";"";"";"";"CONN-09508";"";"";"";
"1";"";"CONN_06SMD-FEMALE-V2";"1X06-SMD-FEMALE";"J12";"Multi connection point. Often used as Generic Header-pin footprint for 0.1 inch spaced/style header connections";"";"";"";"";"";"";"";"CONN-09668";"";"";"";
"1";"";"DIODESMA403D";"SMA-403D";"D1";"DIODE";"";"";"";"";"";"";"";"";"";"";"";
"8";"0.1uF";"CAP0402";"0402";"C1, C4, C5, C6, C7, C10, C11, C17";"Capacitor";"";"";"";"";"";"";"";"";"";"";"";
"2";"0.2R";"RESISTOR2010";"R2010";"R5, R6";"Resistor";"";"";"";"";"";"2010";"";"";"";"";"";
"2";"100uF 35v";"CAP-POLCAP_POL_SMD6.6X6.6";"SMD-ELEC-CAP";"C22, C23";"";"";"";"";"";"";"";"";"";"";"";"";
"9";"10k";"RESISTOR0402";"0402";"R3, R4, R11, R12, R13, R14, R15, R16, R17";"Resistor";"";"";"";"";"";"";"";"";"";"";"";
"4";"10pF";"CAP0402";"0402";"C18, C19, C20, C21";"Capacitor";"";"";"";"";"";"";"";"";"";"";"";
"1";"10uF";"CAP1206";"1206";"C3";"Capacitor";"";"";"";"";"";"1206";"";"";"";"";"";
"2";"10uF 35v";"CAP1206";"1206";"C8, C9";"Capacitor";"";"";"";"";"";"1206";"";"";"";"";"";
"1";"10uH";"INDUCTOR-0805";"0805";"L1";"";"";"";"";"";"";"0805";"";"";"";"";"";
"6";"120R";"RESISTOR0402";"0402";"R1, R2, R7, R8, R9, R10";"Resistor";"";"";"";"";"";"";"";"";"";"";"";
"2";"1k";"RESISTOR0402";"0402";"R18, R19";"Resistor";"";"";"";"";"";"";"";"";"";"";"";
"1";"1uF";"CAP0603-CAP";"0603-CAP";"C2";"Capacitor";"";"";"";"";"";"0603";"";"";"";"";"";
"5";"1uf";"CAP0603-CAP";"0603-CAP";"C12, C13, C14, C15, C16";"Capacitor";"";"";"";"";"";"0603";"";"";"";"";"";
"1";"2-8X4-5_SWITCH";"2-8X4-5_SWITCH";"TACT-SWITCH-KMR6";"S1";"";"";"";"";"";"";"";"";"";"";"";"";
"2";"A4950";"A4950";"SOIC8_PAD";"U2, U3";"";"";"";"";"";"";"";"";"";"";"";"";
"1";"AS5047";"AS5047";"TSSOP14";"U6";"";"";"";"";"";"";"";"";"";"";"";"";
"1";"ATSAMD51GQFN48";"ATSAMD51GQFN48";"QFN-48-7X7MM";"U1";"";"";"";"";"";"";"";"";"";"";"";"";
"1";"DIPSWITCH-8";"DIPSWITCH-8";"DIPSWITCH-8";"J8";"";"";"";"";"";"";"";"";"";"";"";"";
"1";"JTAG";"CORTEX_JTAG_DEBUG_SMD";"2X5-SMD-1.27MM";"J2";"Cortex Debug Connector - 10 pin";"";"";"";"";"";"";"";"CONN-14503";"";"JTAG";"";
"1";"KHZ-CRYSTAL";"KHZ-CRYSTAL";"2-SMD-3.2X1.5MM";"Y1";"";"";"";"";"";"";"";"";"";"";"";"";
"3";"LED0402";"LED0402";"0402-D";"D2, D3, D4";"LED";"";"";"";"";"";"";"";"";"";"";"";
"1";"MAX13450EAUDT";"MAX13450EAUDT";"SOP65P637X110-14N";"U4";"";" 1/1 Transceiver Full RS422, RS485 14-TSSOP-EP ";"MAX13450EAUD+T-ND";"https://snapeda.com/shop?store=DigiKey&id=694117";"Maxim Integrated";"MAX13450EAUD+";"TSSOP-14 Maxim";"";"";"";"";"";
"1";"MHZ-CRYSTAL";"MHZ-CRYSTAL";"4-SMD-3.2X2.5";"Y2";"";"";"";"";"";"";"";"";"";"";"";"";
"3";"PWRPADM3-SKINNY";"PWRPADM3-SKINNY";"PWRPAD_3-25MM-SKINNY";"J4, J5, J6";"";"";"";"";"";"";"";"";"";"";"";"";
"1";"USB";"USB";"USB_MICRO_609-4613-1-ND";"X1";"SMD micro USB connector as found in the fablab inventory.";"";"";"";"";"";"";"";"";"";"";"";
"1";"VREG-AP2112";"VREG-AP2112";"SOT23-5";"U5";"";"";"";"";"";"";"";"";"";"";"";"";
C1, 21.45, 32.50, 270.00, 0.1uF, 0402
C10, 18.20, 25.60, 180.00, 0.1uF, 0402
C11, 18.20, 27.40, 180.00, 0.1uF, 0402
C12, 24.65, 23.70, 0.00, 1uf, 0603-CAP
C13, 15.85, 27.50, 180.00, 1uf, 0603-CAP
C14, 6.55, 31.75, 90.00, 1uf, 0603-CAP
C15, 7.80, 31.75, 90.00, 1uf, 0603-CAP
C16, 13.95, 32.20, 0.00, 1uf, 0603-CAP
C17, 26.30, 20.00, 90.00, 0.1uF, 0402
C18, 4.40, 18.55, 0.00, 10pF, 0402
C19, 6.40, 18.55, 0.00, 10pF, 0402
C2, 2.70, 26.70, 180.00, 1uF, 0603-CAP
C20, 15.00, 30.20, 90.00, 10pF, 0402
C21, 19.20, 32.10, 90.00, 10pF, 0402
C22, 35.50, 12.00, 180.00, 100uF 35v, SMD-ELEC-CAP
C23, 15.50, 12.50, 180.00, 100uF 35v, SMD-ELEC-CAP
C3, 3.05, 29.80, 90.00, 10uF, 1206
C4, 2.30, 23.90, 180.00, 0.1uF, 0402
C5, 14.25, 24.70, 0.00, 0.1uF, 0402
C6, 8.40, 20.45, 90.00, 0.1uF, 0402
C7, 5.40, 31.40, 90.00, 0.1uF, 0402
C8, 25.60, 10.90, 90.00, 10uF 35v, 1206
C9, 5.80, 10.60, 90.00, 10uF 35v, 1206
D1, 20.55, 11.25, 90.00, , SMA-403D
D2, 2.30, 21.90, 180.00, LED0402, 0402-D
D3, 2.30, 20.90, 180.00, LED0402, 0402-D
D4, 2.30, 18.80, 180.00, LED0402, 0402-D
J1, 34.75, 26.85, 0.00, , 2X5-SHROUDED_SMD
J2, 13.85, 36.50, 180.00, JTAG, 2X5-SMD-1.27MM
J8, 20.00, 20.00, 180.00, DIPSWITCH-8, DIPSWITCH-8
L1, 2.70, 25.20, 180.00, 10uH, 0805
R1, 7.75, 17.00, 270.00, 120R, 0402
R10, 9.75, 17.00, 270.00, 120R, 0402
R11, 26.30, 18.00, 90.00, 10k, 0402
R12, 0.80, 22.40, 90.00, 10k, 0402
R13, 0.80, 20.40, 270.00, 10k, 0402
R14, 28.20, 28.30, 180.00, 10k, 0402
R15, 28.20, 29.30, 180.00, 10k, 0402
R16, 2.30, 19.90, 180.00, 10k, 0402
R17, 6.80, 17.00, 270.00, 10k, 0402
R18, 5.80, 17.00, 90.00, 1k, 0402
R19, 4.80, 17.00, 90.00, 1k, 0402
R2, 10.75, 17.00, 270.00, 120R, 0402
R3, 22.50, 32.50, 90.00, 10k, 0402
R4, 2.30, 22.90, 0.00, 10k, 0402
R5, 29.75, 4.50, 270.00, 0.2R, R2010
R6, 10.25, 4.50, 270.00, 0.2R, R2010
R7, 11.75, 17.00, 270.00, 120R, 0402
R8, 12.75, 17.00, 270.00, 120R, 0402
R9, 8.75, 17.00, 270.00, 120R, 0402
S1, 25.75, 32.00, 180.00, 2-8X4-5_SWITCH, TACT-SWITCH-KMR6
U1, 9.10, 25.45, 90.00, ATSAMD51GQFN48, QFN-48-7X7MM
U2, 29.30, 12.30, 270.00, A4950, SOIC8_PAD
U3, 9.50, 12.00, 270.00, A4950, SOIC8_PAD
U4, 23.20, 27.20, 0.00, MAX13450EAUDT, SOP65P637X110-14N
U5, 10.50, 31.50, 90.00, VREG-AP2112, SOT23-5
X1, 25.20, 36.16, 180.00, USB, USB_MICRO_609-4613-1-ND
Y1, 5.40, 20.30, 0.00, KHZ-CRYSTAL, 2-SMD-3.2X1.5MM
Y2, 17.10, 31.15, 270.00, MHZ-CRYSTAL, 4-SMD-3.2X2.5
M48
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M30
\ No newline at end of file
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