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

PCB

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

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

• Attaching magnet with the glue - video
• Magnetic field analysis