Submitted by cronix on Fri, 12/16/2011 - 12:51
Posted in
Check out this site: http://www.dr-iguana.com/prj_StepperDriver/
if you are in the need of a very fast stepper driver. The video on the site shows what it can do.
Impressive!!!!!!!
Impressive!!!!!!!
It's interesting to note,
It's interesting to note, that the reference design by microchip implements the exact same functionality as the A4983 driver as far as I can tell. Comparing the functionality and mode diagrams to the A4983 datasheet, what we're looking at is a description of a modern discrete stepper driver circuit. =) Compare, for example, the functional block diagrams on page 1 of the Microchip implementation with that on page 3 of the A9483 ( http://www.pololu.com/file/download/a4983_DMOS_microstepping_driver_with_translator.pdf?file_id=0J199 )
I think that the biggest difference in the referenced design from using a standard IC driver (nearly all of which now support mixed-mode, slow mode decay, current sensing, chopping, and the other functionality referenced) is that the positioning logic has access to the feedback from the chopping circuit, so that instead of having to make assumptions (or real-world measurements through experimentation) about the maximum acceleration profile, it utilizes the feedback to accelerate at the fastest safe rate.
The microchip guide is an excellent resource for those wishing to make their own chopping microstepping driver!
!c
... funny enough though, that
... funny enough though, that leads me to wonder if there's anything particular about his project that enables one to step faster than with a modern driver IC? The reference design dates back to 2009, where high-performance driver ICs were not as commonly used, and more people tended to design their own h-bridge drivers directly. I'm wondering if there are any lessons there for a design done without implementing the driver one's self today. Considering that his stepper setup was already performing near the top-end of where most hobbyists get their stepper+ED-based designs running when he decided to work on a faster design, I'm wondering if he really provided enough information about his setup to replicate it? For example, he states that he runs as high as 24V, but doesn't tell us what voltage he settled on for his final speed. My experience has been you get similar results from an A4983 and a good stepper running at 24V, but most of us prefer the lower 12V for its ease of sourcing in the field (i.e. batteries).
I'm thinking that outside of the interesting take on acceleration feedback, there may not be any improvement there using the microchip reference design vs something like an ED, except to allow for higher-voltage and higher-current setups.
!c
Whether or not to "roll your
Whether or not to "roll your own" all depends on where one wants to devote one's time and energy, and the specific needs of one's project.
I really admire Dr Iguana's work to get a PIC and L298N to provide good speed and torque out of a stepper.
I worked toward the same objective starting with the venerable UCN5804 and some TIP107's, but it was going to be a long road of learning and experimentation to get the performance I wanted, and this was just one subsystem in a larger project.
I let it go when I found some surplus commercial drivers (Rorze RD-323M10HA) with stellar performance (3A, 10 microstep, 160kpps max, built-in oscillator).
Why? Because I wanted to focus more on the mechanical and user interface designs of my project, as well as designing a system interface to a 3D package like Maya or Houdini for motion control programming.
The stepper driver was one subsystem design I was OK to let go of. Seeing and hearing a really well designed driver spin a NEMA 23 or 34 motor really really fast was the thrill I was after. There's enough other stuff for me to design to get my quota of 'maker' satisfaction.
I also recently opted to let go of making my own worm gear reduction as well and opted for a commercial gearbox solution (from OnDrives), to get the project moving forward again. The biggest bummer was I couldn't find the OnDrives surplus and had to pay retail. Meh! I get pleasure from finding good surplus parts cheap.
Also, FWIW, the Rorze drivers take an input voltage from 18-80 volts and a supply current up to twice the output current (or 6A). Designed aroung a comparatively high voltage and current source strikes me as pretty key to the performance it delivers. In the field, I'll power it from two or three 12v batteries in series.
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