DRI0035

      TMC260 Stepper Motor Driver Shield SKU: DRI0035          Contents      1 Introduction  2 Specification  3 Board Overview   o 3.1 TMC260 Control Mode Selection  4 Tutorial   o 4.1 Requirements  o 4.2 Sample Code    4.2.1 SPI Sample Code   4.2.2 STEP/DIR Sample Code  5 Protocol/Library Explantion  Introduction Do you want to do some projects with stepper motors? A pair of automatic curtains? An XY Plotter? A 3D printer? Generally, it's not been easy to find a powerful stepper motor driver for Arduino, but now this has changed! DFRobot presents the TMC260 Stepper Motor Driver Shield. This shield allows your Arduino to easily drive stepper motors (up to 2A per motor coil, 40V max). Specification Basic Features        Compatible with two‐phase  stepper motors  Compatible with Arduino  Up to 2A motor current drive  capability  Up to 40V DC  Simplified communication with  standard SPI™ and STEP/DIR  interfaces   Up to 256 microsteps per full  step  Key Features         StallGuard2™: high precision sensorless motor load  detection  CoolStep™ load dependent current control for energy  saving up to 75%  microPlyer™ : Microstep interpolator for increased  smoothness of microstepping over a STEP/DIR  interface  SpreadCycle™ High‐precision chopper algorithm  available as an alternative to the traditional constant  off‐time algorithm   Protection & Diagnostics: overcurrent, short to  GND,overtemperature & undervoltage   Low Power Dissipation, low RDSON and synchronous  rectification  Board Overview         NOTE: We have already lead out some necessary pins on the chip and use mini jumpers to avoid a jumble of cables. Label  Name  Description   DIR(D4)/1   DIR   Connect with D4 pin directly   STEP(D5)/2   STEP   Connect D5 pin directly with a jumper   3   EN   Enable   4   SG   Status value output of motor load detection   CS(D9‐D6)/5   CS   Chip Select. You can choose D6, D7, D8 or D9 to be the CS pin in SPI  mode   SPI   Serial peripheral interface   ICSP   Power Supply   VIN   Voltage in. Voltage range 7~40V DC, 2A max     TMC260 Control Mode Selection   SPI mode: SDOFF bit is set, the STEP/DIR interface is disabled, and DRVCTRL is the interface for  specifying the currents through each coil.  STEP/DIR mode:SDOFF bit is clear, the STEP/DIR interface is enabled, and DRVCTRL is a  configuration register for the STEP/DIR interface.  Tutorial Requirements  Hardware   o Arduino UNO (or similar) x1  o TMC260 Stepper Motor Driver Shield x1  o Hybrid Stepper Motor for 3D Printer (3.5kg) x1   Software  Arduino IDE V1.0.6 (link)   http://arduino.cc/download.php?f=/arduino-1.0.6-windows.zip Sample Code Please Download Library First: Download Link https://raw.githubusercontent.com/CainZ/TMC260-Stepper-Motor-DriverShield/master/TMC26XStepper%20Libraries.zip SPI Sample Code You need to give a “sine” a value in SPI mode using function (tmc26XStepper.SPI_setCoilCurrent(200)) #include #include //we have a stepper motor with 200 steps per rotation,CS pin 6, dir pin 4, step pin 5 and a current of 800mA TMC26XStepper tmc26XStepper = TMC26XStepper(200,6,4,5,800); void setup() { Serial.begin(9600); Serial.println("=============================="); Serial.println("TMC26X Stepper Driver Demo App"); Serial.println("=============================="); //set this according to you stepper Serial.println("Configuring stepper driver"); //char constant_off_time, char blank_time, char hysteresis_start, char hysteresis_end, char hysteresis_decrement tmc26XStepper.setSpreadCycleChopper(2,24,8,6,0); tmc26XStepper.setRandomOffTime(0); tmc26XStepper.SPI_setCoilCurrent(100); tmc26XStepper.setMicrosteps(128); tmc26XStepper.setStallGuardThreshold(4,0); Serial.println("config finished, starting"); Serial.println("started"); tmc26XStepper.SPI_setSpeed(80); //Set speed at 80 RPM tmc26XStepper.SPI_step(-200); //set step at -200 steps, to say stepper will turn a circle reverse tmc26XStepper.spi_start() ; //start stepper delay(2000); //delay 2s tmc26XStepper.SPI_step(200); will turn a circle forward tmc26XStepper.spi_start() ; delay(2000); // set step at 200 steps, that is stepper tmc26XStepper.SPI_setSpeed(100); // Set speed at 100 RPM tmc26XStepper.SPI_step(-300); // stepper will turn 1.5 circles reverse tmc26XStepper.spi_start() ; delay(2000); tmc26XStepper.SPI_setSpeed(120); tmc26XStepper.SPI_step(400); forward tmc26XStepper.spi_start() ; delay(3000); // Set speed at 120 RPM // stepper will turn 2 circles } void loop() { //you can put stepper control code in loop{} to make stepper works circularly } STEP/DIR Sample Code #include #include //we have a stepper motor with 200 steps per rotation, CS pin 2, dir pin 6, s tep pin 7 and a current of 800mA TMC26XStepper tmc26XStepper = TMC26XStepper(200,6,4,5,800); int curr_step; int speed = 0; int speedDirection = 100; int maxSpeed = 1000; void setup() { Serial.begin(9600); Serial.println("=============================="); Serial.println("TMC26X Stepper Driver Demo App"); Serial.println("=============================="); //set this according to you stepper Serial.println("Configuring stepper driver"); //char constant_off_time, char blank_time, char hysteresis_start, char hyst eresis_end, char hysteresis_decrement tmc26XStepper.setSpreadCycleChopper(2,24,8,6,0); tmc26XStepper.setRandomOffTime(0); tmc26XStepper.setMicrosteps(128); tmc26XStepper.setStallGuardThreshold(4,0); Serial.println("config finished, starting"); Serial.println("started"); } void loop() { if (!tmc26XStepper.isMoving()) { speed+=speedDirection; if (speed>maxSpeed) { speed = maxSpeed; speedDirection = -speedDirection; } else if (speed