Hi ! I am trying to use the accelstepper.h to run my Nema 34 stepper with hbs86h driver. I am running a basic code (i tried different numbers for acceleration and speed), but I didn't managed to achieve high speeds. It's about 5 times slower than using digitalwrite made pulses...
With a 16MHz Arduino (such as Uno or Mega) the AccelStepper documentation says the max is about 4000 steps per second.
This is because it uses floating point maths.
You will definitely get higher speeds with your own code and digitalWrite() - or better still the digitalWriteFast.h library. And it is not all that difficult to create your own acceleration code. See, for example, this Simple acceleration code.
With a 16MHz Arduino (such as Uno or Mega) the AccelStepper documentation says the max is about 4000 steps per second.
This is because it uses floating point maths.
You will definitely get higher speeds with your own code and digitalWrite() - or better still the digitalWriteFast.h library. And it is not all that difficult to create your own acceleration code. See, for example, this Simple acceleration code.
...R
Thanks a lot !!! The code in the link is working very well ! Otherwise, when I use it to calibrate my system ( the motor turns until it reaches a switch), the driver runs in safe mode... It's the same code, even with slower pulses...
#define directionPin 3
#define stepPin 2
//Step or pulse pin, check how DirectionManager is written.
#define StopPin1 4
#define StepPin2 5
#define DirPin2 6
#define StopPin2 7
unsigned long curMicros;
unsigned long prevStepMicros = 0;
unsigned long slowMicrosBetweenSteps = 130; // microseconds
unsigned long fastMicrosBetweenSteps = 45;
unsigned long stepIntervalMicros;
unsigned long stepAdjustmentMicros;
int numAccelSteps = 500; // 100 is a half turn of a 200 step mmotor
int numSteps = 0;
int stepsToGo;
byte direction = 1;
int totalStep;
int step1 = 0, step2 = 0; // The number of pulse that each motor will receive. If the number is negative, it inverts the direction
unsigned int pitchTarget, rollTarget; // The pitch and roll positions we want to reach
unsigned int pitchPosition, rollPosition; // The actual positions
int c = 0;
int dir1 = 1, dir2 = 1; //Will be used to set the motors direction
int x,y;
void setup() {
delay(1000); //safety delay to flash the code
Serial.begin(115200); //To communicate with Simtools or Monitor
pinMode(StopPin1,INPUT_PULLUP);
pinMode(StopPin2,INPUT_PULLUP);
pinMode(directionPin, OUTPUT);
pinMode(stepPin, OUTPUT);
stepAdjustmentMicros = (slowMicrosBetweenSteps - fastMicrosBetweenSteps) / numAccelSteps;
stepIntervalMicros = slowMicrosBetweenSteps;
stepsToGo = numSteps;
digitalWrite(directionPin, direction);
calibrate();
}
void loop() {
moveMotor();
//delay(5);
//Serial.println(stepsToGo);
//Serial.println(totalStep);
}
void calibrate(){
totalStep = 0;
stepsToGo=0;
delay(3000);
Serial.println("Calibrating");
//while (digitalRead(StopPin1) == LOW) {
while(!Serial.available()){
stepsToGo=1;
moveMotor();
totalStep = totalStep + 1;
Serial.println(totalStep);
}
// numSteps=totalStep;
Serial.println("finish");
delay(2000);
stepsToGo=totalStep/2;
delay(2000);
}
void moveMotor() {
if (stepsToGo > 0) {
if (micros() - prevStepMicros >= stepIntervalMicros) {
prevStepMicros += stepIntervalMicros;
singleStep();
stepsToGo --;
if (stepsToGo <= numAccelSteps) {
if (stepIntervalMicros < slowMicrosBetweenSteps) {
stepIntervalMicros += stepAdjustmentMicros;
}
}
else {
if (stepIntervalMicros > fastMicrosBetweenSteps) {
stepIntervalMicros -= stepAdjustmentMicros;
}
}
}
}
else {
stepsToGo = numSteps;
prevStepMicros = micros();
}
}
void singleStep() {
digitalWrite(stepPin, HIGH);
digitalWrite(stepPin, LOW);
}
Lebois:
Otherwise, when I use it to calibrate my system ( the motor turns until it reaches a switch), the driver runs in safe mode... It's the same code, even with slower pulses...
I'm not sure if that means you are happy with everything or if there is still a problem.
Sorry, my english is poor.
When i use the code in the link, everything is ok, the motor turns fast.
When I use it in my calibration code, the driver crashes and turn into safe mode, even with slower parameters. My calibration code works like that
Void setup{
...
Calibrate(){turn one step until i send a serial through monitor, and then steptogo = travel/2
}
Vood loop{
MoveMotot();
}
And it crashes during the loop...
One step at a time to check the travel length, I will use more steps after.
The calibrate function just add one step to stepToGo , and add one to totalStep, until I send a serial through the monitor (the switch is mounted on an actuator, and I remove the motor for testing, so sending a serial instead of touching a switch is handier).
When the serial is sent, the new target is totalstep/2 (half of the travel). Then we enter the main loop, where there is only moveMotor(). This is where the driver enters in "drive protection" (the red LED powers up).
My guess is that your calibration code is trying to move the motor too fast (without acceleration) and it is missing steps so that the actual position as determined by the feedback encoder is out of sync with the number of steps that were commanded by the Arduino.
Lebois: @MarkT I use 800 microsteppings, and I try to achieve the fastest speed possible..
Hmm, that's not standard. Or do you mean x4 microstepping, meaning the standard 200 step motor
becomes 800 microsteps per revolution?
"Fastest speed possible" isn't going to help calculate the max step rate I'm afraid. The torque/speed
graphs in the motor datasheet should provide some sort of guide for this.
Robin2:
I am not familiar with that type of motor.
My guess is that your calibration code is trying to move the motor too fast (without acceleration) and it is missing steps so that the actual position as determined by the feedback encoder is out of sync with the number of steps that were commanded by the Arduino.
...R
I change my code a little bit to be closer than yours and not it works. I replace the if by while in movemotors, so now the motor reaches the target position before anything else is done.
Otherwise I will need to spend more time to entirely understand how your code work to take full advantage of it.
MarkT:
Hmm, that's not standard. Or do you mean x4 microstepping, meaning the standard 200 step motor
becomes 800 microsteps per revolution?
"Fastest speed possible" isn't going to help calculate the max step rate I'm afraid. The torque/speed
graphs in the motor datasheet should provide some sort of guide for this.
Yes it's x4. No graph available I am afraid ... I will ask them, nobody knows... Yes it's a 200 step motor.
