Commit 427a4278 authored by Jake Read's avatar Jake Read
Browse files

wake up step driver

parent 16f92e48
[Eagle]
Version="09 06 02"
Version="09 06 00"
Platform="Windows"
Globals="Globals"
Desktop="Desktop"
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[Win_1]
Type="Board Editor"
Number=2
File="2020-06_ucbus-stepper.brd"
View="3.0588 -16.5677 58.2651 48.4813"
View="4.43674 12.8918 13.3529 23.3976"
WireWidths=" 0.127 0.15 0.2 2.54 1.016 0.2032 0.254 0.6096 0 2.032 0.508 0.4064 0.3048 1.27 0.8128 0.1524"
PadDiameters=" 0.254 0.3048 0.4064 0.6096 0.8128 1.016 1.27 1.4224 1.6764 1.778 1.9304 2.1844 2.54 3.81 6.4516 0"
PadDrills=" 0.2 0.25 0.3 0.35 0.4 0.45 0.5 0.55 0.65 0.7 0.75 0.8 0.85 0.9 1 0.6"
......@@ -64,7 +399,7 @@ Layer=22
Type="Schematic Editor"
Number=1
File="2020-06_ucbus-stepper.sch"
View="-23.9574 -66.8278 436.162 228.963"
View="66.8143 -25.1571 288.709 117.489"
WireWidths=" 0.0762 0.1016 0.127 0.15 0.2 0.2032 0.254 0.3048 0.4064 0.508 0.6096 0.8128 1.016 1.27 2.54 0.1524"
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PadDrills=" 0.2 0.25 0.3 0.35 0.4 0.45 0.5 0.55 0.65 0.7 0.75 0.8 0.85 0.9 1 0.6"
......@@ -103,7 +438,7 @@ ArcDirection=0
AddLevel=2
PadsSameType=0
Layer=91
Views=" 1: -23.9574 -66.8278 436.162 228.963"
Views=" 1: 66.8143 -25.1571 288.709 117.489"
Sheet="1"
[Win_3]
......@@ -111,7 +446,7 @@ Type="Control Panel"
Number=0
[Desktop]
Screen="2560 1440"
Screen="4480 1654"
Window="Win_1"
Window="Win_2"
Window="Win_3"
## Stepper Module
Beneath [the module](https://gitlab.cba.mit.edu/jakeread/ucbus-module) lives this stepper.
Beneath [the module](https://gitlab.cba.mit.edu/jakeread/ucbus-module).
- Two A4950's with D51 DAC's attached to VREF, for current scaling / microstepping / servo control / general purpose H-Bridging
- One AS5047 beneath for position sensing (optional).
- Capacitance
- TVS Diode
- 10-pin IDC Connector to the bus.
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.
D51
2x A4950s 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
![fab](log/2020-07-28_ucbus-stepper-fab.jpg)
![routed](log/2020-06-29_routed.png)
![schematic](log/2020-06-29_schematic.png)
\ No newline at end of file
![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.
\ No newline at end of file
"Qty";"Value";"Device";"Package";"Parts";"Description";"DESCRIPTION";"DIGI-KEY_PART_NUMBER";"DIGIKEY-PURCHASE-URL";"MF";"MP";"PACKAGE";"PRECISION";"PROD_ID";"TYPE";"VALUE";"VOLTAGE";
"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";"";"";"";"";"";"";"";"";"";"";"";
"2";"";"CONN_02LOCK";"1X02_LOCK";"J7, J9";"Multi connection point. Often used as Generic Header-pin footprint for 0.1 inch spaced/style header connections";"";"";"";"";"";"";"";"";"";"";"";
"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";"";"";"";"";"";"";"";"";"";"";"";"";
J12, 8.00, 19.57, 180.00, , 1X06-SMD-FEMALE
U6, 20.00, 20.00, 90.00, AS5047, TSSOP14
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
;GenerationSoftware,Autodesk,EAGLE,9.6.2*%
;CreationDate,2020-06-26T01:15:28Z*%
FMAT,2
ICI,OFF
METRIC,TZ,000.000
T5C0.300
T4C0.400
T3C1.016
T2C1.200
T1C3.250
%
G90
M71
T1
X35500Y4500
X4500Y35500
X4500Y4500
T2
X14650Y4000
X18350Y4000
X21650Y4000
X25350Y4000
T3
X1905Y8255
X23295Y13157
X23295Y16053
X1905Y13157
X1905Y16053
X1905Y10795
X23295Y10795
T4
X24900Y32300
X10952Y31596
X4500Y31900
X5700Y29800
X10500Y32500
X16206Y26491
X26600Y32400
T5
X14280Y29182
X25100Y19400
X35500Y26500
X35500Y27250
X34000Y27750
X34000Y26000
X32500Y26000
X32500Y27750
X31750Y27750
X31750Y26000
X37000Y26000
X37000Y27750
X37750Y27750
X37750Y26000
X34750Y27250
X34750Y26500
X33250Y26000
X33250Y27750
X36250Y27750
X36250Y26000
X38500Y27750
X38500Y26000
X9100Y27200
X9100Y23700
X10900Y25500
X7300Y25500
X5400Y19600
X14000Y27500
X16896Y25596
X24600Y24700
X24000Y28100
X22400Y28100
X22400Y26300
X24000Y26300
X24800Y31200
X21400Y31250
X28700Y30200
X1500Y27800
X1000Y23900
X8750Y4000
X9500Y4000
X10250Y4000
X11000Y4000
X11750Y4000
X8750Y750
X9500Y750
X10250Y750
X11000Y750
X11750Y750
X28250Y4000
X29000Y4000
X29750Y4000
X30500Y4000
X31250Y4000
X28250Y750
X29000Y750
X29750Y750
X30500Y750
X31250Y750
X29800Y13050