steppyr

A stepper motor library in Python

Installation

Installing WiringPi/GPIO for TMC4361

If you are using the TMC4361 and want to use the Raspberry Pi to provide the external clock signal, you will need to use the gpio program included with wiringPi in order to activate the clock pin. This is mainly due to the fact that the RPi.GPIO library does not support setting the clock pin.

git clone git://git.drogon.net/wiringPi
cd wiringPi
./build
gpio readall

Usage

TMC4361 motion controller

If you are using the TMC4361 and want to use the Raspberry Pi to provide the external clock signal, you will need to manually set the clock pin (BCM 4).

gpio mode 7 clock
gpio clock 7 1600000

TMC26x driver

For a TMC26X driver, first make sure you have spidev installed:

pip install spidev

TMC26X example code:

# Create the stepper driver
stepper = AccelStepper(
  profile=RectangleProfile(),
  activator=TMC26XDriver(
    spi=SPI(bus=0, device=0),
    dir_pin=pinout.dir_pin,
    step_pin=pinout.step_pin
  )
)
stepper.set_target_speed(1000) # steps per second
# stepper.set_target_acceleration(40000) # steps per second per second
# stepper.set_pulse_width(2) # microseconds

TMC4361 example code:

spi = SPI(bus=0, device=1)
tmc4361 = TMC4361(
  spi=spi,
  reset_pin=26
)
driver = StepperController(
  activator=tmc4361,
  profile=tmc4361
)

For all other STEP/DIR drivers.

driver = StepperController( profile=AccelProfile(), activator=A4988Driver( dir_pin=1, step_pin=2, enable_pin=3, ms1_pin=4, ms2_pin=5, ms3_pin=6 ) )

Testing

source test/env python3 -m unittest discover

Wiring

TMC4361/TMC4361-Eval to TMC2660

TMC4361 TMC4361-Eval TMC2660

---

STPOUT_PWMA DIO6 (#17) STEP
DIRPOUT_PWMB DIO7 (#18) DIR
MP1 DIO14 (#36) SG_TST
NSCSDRV_SDO SPI2_CSN0 (#24) CSN
SDODRV_SCLK SPI2_SDO (#28) SDI
SCKDRV_NSDO SPI_SCK (#27) SCK
SDIDRV_NSCLK SPI2_SDI (#29) SDO

Trinamic Support

TMC 260/261/262/2660 Stepper library for Python

Based on the Arduino TMC26X Stepper Motor Controller Library https://github.com/trinamic/TMC26XStepper

References

Arduino library for A4988, DRV8825, DRV8834 and generic two-pin (DIR/STEP) stepper motor drivers https://github.com/laurb9/StepperDriver

TMC260 / TMC260A & TMC261 DATASHEET http://www.trinamic.com/fileadmin/assets/Products/ICs_Documents/TMC261_datasheet.pdf

TMC262 DATASHEET http://www.microsemi.com/document-portal/doc_view/130727-trinamic-tmc262-stepper-motor-driver-datasheet

TMC4210+TMC2660 EVALUATION BOARD MANUAL http://www.trinamic.com/fileadmin/assets/Products/Eval_Documents/TMC4210_TMC2660_Eval_Manual.pdf

Arduino TMC26X Stepper Motor Controller Library https://github.com/trinamic/TMC26XStepper