#DAISY-2 - Stepper motor driver board
2.5 Ampere bipolar stepper motor driver board based on a Texas DRV8811 chip
@include='daisy_eol' DAISY-2 module gives all the functions provided by the Texas chip adding a low-power feature which allows to keep the stepper motor in torque with a low current consumption configurable by dip-switches.
##Main features * Pulse Width Modulation (PWM) microstepping motor driver * Operating supply voltage range: 8 to 38 Volt * Current per winding: up to 2.5 A * Operating temperature tange: -40 to 85 °C * Up to 4 step modes (full step,half step,quarter step, eigth microsteps/step) selectable by dip-switch * Adjustable current (8 levels) in normal and low-power mode by dip-switch * Low-power mode selectable via GPIO line
Internal shutdown functions are provided for over current protection, short circuit protection, under-voltage lockout and overtemperature * [Texas Instruments DRV8811 product description](http://www.ti.com/product/drv8811#description) ##Control GPIO lines required: Up to 4 GPIO lines are used by the DAISY-2 module from daisy connector: * Enable * Step * Dir * Low power ##Wirings These are the usable connectors where to plug this board using the factory default Linux Kernel image: | Terra | FOXG20 | |-------|--------| | D11 | D1 | | D12 | D6 | | | D8 | On the FOX Board G20 is requested a [Daisy-1](/DAISY-1) adapter to wire this boards. #Pin map
##J2 pin-out | J2 pin | IC pins | Function description | |---------|---------|----------------------| | 8 | AOUT1 | Bridge A output 1 | | 7 | BOUT1 | Bridge B output 1 | | 6 | AOUT2 | Bridge A output 2 | | 5 | BOUT2 | Bridge B output 2 | | 2,4 | VMA/VMB | Bridge A and B power supply GND | | 1,3 | GND | Bridge A and B power supply GND |
#S1 dip-switch description
The **S1 dip-switch** selects which GPIO incoming lines link to the following DAISY-2 control signals: | Signal name | Signal description | |-------------|--------------------| | ENABLE | Logic high disables the H-Bridges, logic low enables them | | DIR | Sets the direction of stepping | | STEP | Rising edge causes to move one step | | LOW POWER | Logic high level enables the low power mode | Only four GPIO lines incoming from the CPU are used by the DAISY-2 module to control the stepper motor. Configuring the S1 dip-switch it is possible to select whether to use odd or even wires available on the Daisy connector. We simply call this configurations A and B. Configurations A and B are useful if you need to place two DAISY-7 modules on a same flat cable. Setting A on the first board and B on the second one it is possible to control up to four DAISY-2 modules using just D2 and D5 daisy connector. | | 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | |--------|---|---|---|---|---|---|---|---| | Configuration **A** | ON | | ON | | ON | | ON | | | Configuration **B** | | ON | | ON | | ON | | ON | Please be careful to use only these two dip-switch configuration to avoid shortcuts between GPIO lines. Following are the kernel GPIO IDs used when the DAISY-2 module is plugged on **D2** or **D5** daisy connectors on a [DAISY-1 interface](/DAISY-1).
| S1 dip # | Signal | Daisy pin | Kernel ID on D2 | Kernel ID on D5 | |-----|-------|-----------|--------------------|--| | 1 | Low-power | 8 | 57 | 84 | | 2 | Low-power | 9 | 94 | 85 | | 3 | Dir | 4 | 61 | 80 | | 4 | Dir | 5 | 60 | 81 | | 5 | Step | 6 | 59 | 82 | | 6 | Step | 7 | 58 | 83 | | 7 | Enable | 2 | 63 | 76 | | 8 | Enable | 3 | 62 | 84 |
#S2 dip-switch description
The S2 dip-switch allow you to choice the micro-stepping value and motor current for both normal and low-power mode. Lowpower operation is a feature that can be enable via software and is useful to maintain the to motor axis in torsion without overheat the internal coils. USM0 and USM1 dip switch selected micro stepping mode. Refer to page # 12 on [Texas DRV8811 datasheet](http://www.ti.com/lit/ds/symlink/drv8811.pdf) for in-deep info. | DIP 1 (USM0) | DIP 2 (USM1) | Step mode | |--------------|--------------|-----------| | ON | ON | Full step (2-phase excitation) | | | ON | 1/2 step (1-2 phase excitation) | | ON | | 1/4 step (W1-2 phase excitation) | | | | Eight microsteps/steps | The other dip-switches can be used to set-up the motor current and the low power condition. | DIP 3 | DIP 4 | DIP 5 | DIP 6 | DIP 7 | DIP 8 | Ih (A)(1) | Il (A)(2) | Low power | |-------|-------|-------|-------|-------|-------|----------|----------|--------------| | | | | | | | 2,2 | | Disabled | | ON | | | | | | 1,5 | | Disabled | | | ON | | | | | 1 | | Disabled | | ON | ON | | | | | 0,8 | | Disabled | | | | | | ON | | 2,2 | 0,9 | Enabled | | ON | | | ON | ON | | 1,5 | 0,7 | Enabled | | | | ON | ON | ON | | 0,8 | 0,5 | Enabled | | | | ON | | | ON | 2,2 | 0,2 | Enabled | | ON | | | | ON | ON | 1,5 | 0,2 | Enabled | | ON | ON | ON | ON | ON | ON | 0,5 | 0,1 | Enabled | If DIP 6,7 and 8 are all OFF the low power function is disable by hardware.
(1) normal current, calculated value
(2) low current, calculated value
#Examples in Python The following examples use: the soft_pwm kernel driver module written by Antonio Galea. * Follow this article: @article='soft_pwm' to install it on your acme board. They use also the **ablib Python module** available in the [playground](/playground) examples collection. ##Example #1 - Move one stepper motor Basic example which move the stepper motor 360° in clockwise direction then 360° in anti-clockwise direction. * @pg='python/daisy2v1/run.py' ###Hardware set-up Plug the DAISY-2 module on D5 connector on [DAISY-1](/DAISY-1) module then set up the **S1** dip-switches in configuration **A** | | 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | |--------|---|---|---|---|---|---|---|---| | Configuration **A** | ON | | ON | | ON | | ON | | Set all the **S2** dip-switches in state **ON** to set-up the full-step mode (usually 200 step for 360 degree) using a minimal current. Wire your steper motor as explained below in the **Stepper motor wirings** section then run the Python example. ##Example #2 - Move two stepper motors Simple example which move two stepper motors 360° in clockwise direction then 360° in anti-clockwise direction. * @pg='python/daisy2v1/run2.py' ###Hardware set-up Plug one DAISY-2 module on D2 connector on [DAISY-1](/DAISY-1) module then set up the **S1** dip-switches in configuration **A** | | 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | |--------|---|---|---|---|---|---|---|---| | Configuration **A** | ON | | ON | | ON | | ON | | Plug another DAISY-2 module on D5 connector on [DAISY-1](/DAISY-1) module then set up the **S1** dip-switches in configuration **B** | | 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | |--------|---|---|---|---|---|---|---|---| | Configuration **B** | | ON | | ON | | ON | | ON | Set all the **S2** dip-switches in state **ON** to set-up the full-step mode (usually 200 step for 360 degree) using a minimal current. Wire your steper motor as explained below in the **Stepper motor wirings** section the run the Python example. ##Example #3 - Move 8 stepper motors Demo to show you how to manage the max number of stepper motor with one FOX Board G20. * @pg='python/daisy2v1/run8.py' To use this example you have to disable some interface on Linux Kernel: * 1-wire bus on D2 daisy connector * ttyS1 serial line on D3 daisy connector * ttyS4 and I2C on D6 daisy connector * SPI bus on D7 daisy connector Here is the modified [board-foxg20.c source](https://github.com/tanzilli/foxg20-linux-2.6.38/blob/8servo/arch/arm/mach-at91/board-foxg20.c). ###Hardware set-up Plug 8 DAISY-2 modules in this way: | Daisy connector | Daisy-2 configuration | |-----------------|-----------------------| | D2 | A | | D2 | B | | D3 | A | | D3 | B | | D5 | A | | D5 | B | | D6 | A | | D7 | A | Run the Python example. #Stepper motor wirings We tested the examples on this article with the following stepper motors: ##Mercury NEMA-17 stepper motor SM-42BYG011-25 * [Product datasheet](http://www.sparkfun.com/datasheets/Robotics/SM-42BYG011-25.pdf) * [Buy from Robot Italy](http://www.robot-italy.com/en/nema-17-stepper-motor-with-cable.html?___from_store=it) * [Buy from Sparkfun](https://www.sparkfun.com/products/9238) Wirings map: | J2 pins on DAISY-2 | Mercury wire colors | Function description | |---------|---------|----------------------| | 1 | | GND power supply | | 2 | | VCC (12 volt) power supply | | 5 | BLUE | Bridge B output 2 | | 6 | GREEN | Bridge A output 2 | | 7 | YELLOW| Bridge B output 1 | | 8 | RED | Bridge A output 1 | ##Wantai NMEA-23 stepper motor 57BYG621 * [Product datasheet](http://www.phidgets.com/documentation/Phidgets/3307_0_Datasheet.pdf) * [Buy from Robot Italy](http://www.robot-italy.com/it/57byg621-nema-23-bipolar-76mm-stepper.html) * [Buy from Phidgets](http://www.phidgets.com/products.php?product_id=3307_0) Wirings map: | J2 pins on DAISY-2 | Wantai wire colors | Function description | |---------|---------|----------------------| | 1 | | GND power supply | | 2 | | VCC (12 volt) power supply | | 5 | BLUE | Bridge B output 2 | | 6 | GREEN | Bridge A output 2 | | 7 | RED | Bridge B output 1 | | 8 | BLACK | Bridge A output 1 | ##Related links * [Stepper motor controller IC Texas DRV8811 datasheet](http://focus.ti.com/docs/prod/folders/print/drv8811.html) * [Mercury NEMA-17 stepper motor datasheet](http://www.sparkfun.com/datasheets/Robotics/SM-42BYG011-25.pdf) * [Wantai NEMA-23 stepper motor datasheet](http://www.phidgets.com/documentation/Phidgets/3307_0_Datasheet.pdf)