Commit 9652176d authored by Jake Read's avatar Jake Read
Browse files

stepper v02

parent b12c92fd
This diff is collapsed.
This diff is collapsed.
[Eagle]
Version="09 06 02"
Platform="Windows"
Globals="Globals"
Desktop="Desktop"
[Globals]
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## 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.
......@@ -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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