Dear all,
Recently i am trying to use CRAMPS.ini(without cape just BBB) to drive step
motor.
My Motor model is:
Moon's stepping motor
Type 17HA6403-09N
Driver is A4988
P8-13 and P8-14 are used as stepdir and step.
First of all, I adjust the limit current to 0.43A according to motor data
sheet.
Then i set scale to -1600 in the configure file
[AXIS_0]
>
> #
> # Step timing is 40 us steplen + 40 us stepspace
> # That gives 80 us step period = 12.5 KHz step freq
> #
> # Bah, even software stepping can handle that, hm2 doesnt buy you much
> with
> # such slow steppers.
> #
> # Scale is 200 steps/rev * 5 revs/inch = 1000 steps/inch
> #
> # This gives a maxvel of 12.5/1 = 12.5 ips
> #
>
>
> TYPE = LINEAR
> MAX_VELOCITY = 200.0
> MAX_ACCELERATION = 3000.0
> # Set Stepgen max 20% higher than the axis
> STEPGEN_MAX_VEL = 240.0
> STEPGEN_MAX_ACC = 3600.0
>
> BACKLASH = 0.000
>
> SCALE = -1600
>
>
> MIN_LIMIT = -1.0
> MAX_LIMIT = 220.0
>
> FERROR = 1.0
> MIN_FERROR = 0.25
>
> HOME = 0.000
> HOME_OFFSET = 0.00
> HOME_IGNORE_LIMITS = YES
> HOME_USE_INDEX = NO
> HOME_SEQUENCE = 0
>
> # Set to zero if you don't have physical home/limit switches
> # Set to the desired homing and latch velocity if you have switches
> # See: https://github.com/machinekit/machinekit-docs
> HOME_SEARCH_VEL = 0.0
> HOME_LATCH_VEL = 0.0
>
> # these are in nanoseconds
> DIRSETUP = 200
> DIRHOLD = 200
> STEPLEN = 1000
> STEPSPACE = 1000
>
As motor specification shows 0.9 deg per step, 400 step/rev * 4 rev/mm=1600
step/mm
my target is 1600 steps per mm.
Then I tested G01X1.f40., it looks rotate 4 round.
If i tested G00X1.F40., Motor freezed and make noise. Speed too fast???
Or when i run a G program, sometimes it just freeze and make noise.
Then I tested NC program from nc_files such as butterfly.ngc, it will
accelerate then decelerate, when speed nearly goes to zero, motor start to
shaking, and make noise.
I have almost zero experience about tuning stepper motor, so may i know how
to configure stepper motor and make it work smooth with machinekit?
Thanks very much!
-chengxi
--
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