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Commit 9652176d authored by Jake Read's avatar Jake Read
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stepper v02

parent b12c92fd
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2020-06_ucbus-stepper-melted/2020-06_ucbus-stepper-melted.brd 0 → 100644
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2020-06_ucbus-stepper-melted/2020-06_ucbus-stepper-melted.sch 0 → 100644
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2020-06_ucbus-stepper-melted/eagle.epf 0 → 100644
View file @ 9652176d
[Eagle]
Version="09 06 02"
Platform="Windows"
Globals="Globals"
Desktop="Desktop"
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HoleDrills=" 0.2 0.25 0.3 0.4 0.45 0.5 0.55 0.6 0.65 0.7 0.75 0.8 0.85 0.9 1 0.35"
TextSizes=" 0.254 0.3048 0.4064 0.6096 0.8128 1.016 1.27 1.4224 1.6764 1.9304 2.1844 2.54 3.81 5.08 6.4516 1.778"
PolygonSpacings=" 0.254 0.3048 0.4064 0.6096 0.8128 1.016 1.4224 1.6764 1.778 1.9304 2.1844 2.54 3.81 5.08 6.4516 1.27"
PolygonIsolates=" 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"
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DimensionWidths=" 0 0.127 0.254 0.1 0.26 0.13"
DimensionExtWidths=" 0.127 0.254 0.1 0.13 0.26 0"
DimensionExtLengths=" 1.27 2.54 1 2 3 0"
DimensionExtOffsets=" 1.27 2.54 1 2 3 0"
SmdSizes=" 0.3048 0.1524 0.4064 0.2032 0.6096 0.3048 0.8128 0.4064 1.016 0.508 1.27 0.6604 1.4224 0.7112 1.6764 0.8128 1.778 0.9144 1.9304 0.9652 2.1844 1.0668 2.54 1.27 3.81 1.9304 5.08 2.54 6.4516 3.2512 1.27 0.635"
WireBend=4
WireBendSet=31
WireCap=1
MiterStyle=1
PadShape=0
ViaShape=1
PolygonPour=0
PolygonRank=0
PolygonThermals=1
PolygonOrphans=0
TextRatio=8
DimensionUnit=1
DimensionPrecision=2
DimensionShowUnit=0
PinDirection=3
PinFunction=0
PinLength=2
PinVisible=3
SwapLevel=0
ArcDirection=0
AddLevel=2
PadsSameType=0
Layer=91
Views=" 1: -60.3492 -33.7543 495.867 268.722"
Sheet="1"
[Win_3]
Type="Control Panel"
Number=0
[Desktop]
Screen="2560 1440"
Window="Win_1"
Window="Win_2"
Window="Win_3"
README.md
View file @ 9652176d
## Stepper Module
Beneath [the module](https://gitlab.cba.mit.edu/jakeread/ucbus-module).
[DEV LOG](log/ucbus-stepper-log.md)
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.
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.
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
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)
......@@ -23,4 +40,4 @@ 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
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.
log/ucbus-stepper-log.md
View file @ 9652176d
......@@ -7,7 +7,23 @@
- A4950 lower / heat pad: bigger holes to hand solder thru, or / and exposed flags on top to see that wicking has happened
- 0.2 ohm sense resistor means maximum current per channel is 1.65A, this is OK, things get hot around there, could be nice to have more headroom.
## Components (roughly)
2020 08 18
I'd like to make a dedicated step board, there will be many of these. I should follow the existing pinout. Would like to:
- flip it, side mount LEDs (find clk and err lines that will match later module revision) and reset button pinch
- heatsink on the flip
- AS5047P on the IC side
- debug on 'top' flipped side, if space, else use module type to debug
- add temp sensor RTD
- smaller sense resistors, spec to go full-er width at 3v3, currently only does 1.6A or so?
- does a slightly different A4950 exist with OCP / Temp Shutdown pin exist?
- still some observable oddball stepper behaviour: when turnt on, then left, eventually you might hear some clicking / see motors draw less current, then spike back up. I would guess at a DAC refresh issue, but am not sure.
- might want / probably do want the hold-down shrouds for IDCs
For JTAG: just do 'lock' 2x5 0.050" header, don't have to solder, can use straight header once for debug, solder on if flashing more often. Less BOM cheaper PNP.
## Components (roughly!)
| Part | PN |
| --- | --- |
......@@ -15,7 +31,7 @@
| A4950 | 620-1400-1-ND‎ |
| Cap 150uF 35v SMD 6.6mm | 565-5148-1-ND |
| TVS Diode | SMAJ30ALFDKR-ND |
| 2010 Current Sense Resistor, 0.2Ohm 1W | CSRN2010FKR200CT-ND |
| 2010 Current Sense Resistor, 0.2Ohm 1W | do 0.1Ohm now |
| 1206 10uF 35v Ceramic Cap | ‎GMK316BJ106KL-T‎ |
| 0805 0.1uF 35v Ceramic Cap | ‎C0805C104Z5VACTU‎ |
| 0805 120R |‎ CRGCQ0805F120R‎ |
......@@ -24,6 +40,64 @@
| Screw Terminal 3.5mm Pitch | 277-1860-ND‎ |
| Side Headers (Debug) | 1849-PM20206HBNN-ND |
| Part | PN |
| --- | --- |
| LED Side Mount 0603 Green | 160-1478-1-ND |
| Red | 160-1479-1-ND |
| Yellow | 160-1480-1-ND |
| Right Angle Reset | P16767CT-ND |
| Latching Shrouded Connector | 71918-210LF |
| Big DIP | 219-8LPSTRF |
| 0805 22uF 35v | 445-14428-1-ND |
| 0.1 Ohm Sense R 1W 1206 | P.10AUCT-ND |
| Side Reset | EVQ-P7J01P |
## 2020 08 20
I'm getting into a redesign for these, going to melt the module circuit on board and try to fit it to an N14 footprint.
OK, I think the schematic is there, now I just need to adjust the sense R value, add a temperature sensor, and expand the shroud document for clips... Then I'm into the routing adventure. The A5950 exists, which is bigger / fancier than the A4950, but slightly smaller current. It has a different interface (not greatly) and can report thermal events / other faults... It also has an analog sense output, for the cases where I might want to actually read the top of the sense resistor. Probably this isn't worth it for now, I'll continue with the A4950. It works.
Can get away with a 1206 1W sense resistor, rad.
This is going to be a pain, it's pinched.
Also, the DIP switch... won't be accessible from the top. Yikes. I could eat it, and setup DIPs before they go down, or I could solder it on top manually, getting a bigger component to make that easier. This is the only real full stop issue... and it also saves some space.
Yikes. Yeah, I guess DIPs on the rear are the move. Maybe eventually the bus protocol becomes mature enough to support auto-config at startup and then EEPROM / Flash memory allows local storage of 'drop #' configuration from the UI. For now, whatever, solder on top.
To route, my biggest Q is about the motor side routing: nice GND paths for sense Rs, big traces out to motors. Heat. I think I am working this out OK... I also need to ground the bottom of the power caps... Did that through the same GND vias as the sense R is pulling from. And finally, some big GND heat-spreaders on top...
For thermal measurement, then, I would properly put two RTD sensors on, one for each bridge. The bridges are separated by about 20mm, not sure how long it would take a heat up to spread between the two, but I guess it's short enough, I'll just tap the center with one RTD. Not even using this yet, so... that's fine.
![pwr](2020-08-20_power-stage.png)
That's enough for tonight! Tomorrow I am hopeful I can get through the micro support etc and the actual business. But these polygons feel good.
## 2020 08 21
Lettuce see if this can go complete today, and ... BOMs out as well? The dream.
![unorg](2020-08-21_unorg.png)
I'm feeling generally unorganized with this. The IDC really crash lands right in the middle of everything. Maybe these things are just messy.
Alright, tucking the RS485 driver up a little makes me feel better about the thing aesthetically, which anyways is whatever. I think it's about fine, I'll get into routing.
Woof, the *monster* DIP and the latching connector alone really claim the whole back side of this thing.
Routing... I think I'll do the power side first.
It's just occurred to me that the DIP switch will prevent solid heat sinking on the bottom layer. That's a shame but I guess it'll be impetus to eliminate the need for DIPs. If I'm not careful this thing is really going to F my monolithic GND as well.
OK, wowowee... just routing power now. Thing is a nightmare, I hope I haven't set up any gnd loops or othery mayhem...
I am just nearly through this, have to route out one last piece of the 24v net, then do checks etc.
Damn, I have also just seen that the screw terminals can't be mounted when a latched IDC is used. I'm OK with this, prefer to solder motor leads on directly anyways, but it'd be better to have the terminals... I think that's just going to have to be OK. Sorry everyone.
Well, it passes the DRC. I've made all of the adjustments. I think it's just BOM and MacroFab then.
## 2020 08 12
I have a smoothieware port running inside of these, here it is making steps. Next is connecting that to a browser to send paths, then syncing smoothie instances across motors via the ucbus.
......
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