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StepperServoCAN Firmware

https://github.com/dzid26/StepperServoCAN

StepperServo-hardware

Limits:

  • (1s) 3.3A peak stall current per phase
  • 3.3A RMS combined motor continuous current (both phases commutating with 3.3A peak)
  • 30V supply voltage (suitable for 12V and 24V systems)

Features:

  • Intended to drive a stepper motor

  • High impedance freewheeling with overvoltage protection

  • Magnetic angle sensor (can be turned off during sleep)

  • CANbus transceiver with standby mode

  • Debug port for flashing and configuration with ESD protection

  • Low-side current, V_mot and V_Bat, PCB temperature measurments

  • Reverse polarity protection and swapped connectors protection; ESD protections on inputs

  • Optional Enable port with Break interrupt capability for additional safety

  • Optional expansion port for connecting UART/I2C/PWM device or sensor

  • Optional solder jumper pads, e.g. for motor identification

Schematic

Schematic

PCB

  • single sided PCB for direct mounting on the motor and efficient assembly PCB top

Motor

  • Recommended motor is this with 1.8° step angle with relatively high torque per amp ratio. Best coupled with 5:1 gearbox to provide enough toruqe for steering aplications, and still relatively low friction and noise.
  • Assembled board with the geared stepper motor:

Angle sensor magnet