Portenta Mid Carrier Accelstepper Motor Run Issues

[yishu17]

Hi Everyone,

Please find the reference to my previous topic here.

I have a stepper motor connected to a motor driver CL57T which expects a 5V signal from a controller like Arduino.

The Dir+ and Pulse+ pins are connected to the GPIO2 and GPIO3 pins respectively and the Dir- and Pulse- are connected to the ground on the mid carrier.

When I run the attached sketch, I am not able to make the motor run. I understand and based on my tests using a multimeter both the portenta h7 and mid carrier outputs a 3.3V signal.

#include <AccelStepper.h>

// Pin Definitions
#define dirPin PD_5        // Direction pin for the DM542
#define pulsePin PD_4        // Pulse pin for the DM542

long newPosition = -1;
long final_slack = 0;
long currentPosition = -1; // Current position in steps (-1 indicates uncalibrated)
long targetPosition = 0;   // Target position in steps

float max_speed = 1000.0;
float acceleration = 700.0;

// Motor and screw parameters
const float screwPitch = 1.27; //1.5875;        // Ball screw pitch in mm/revolution
const int stepsPerRevolution = 200; // Motor steps per revolution
const int microstepping = 1;        // Microstepping factor
const float stepsPerMM = (stepsPerRevolution * microstepping) / screwPitch;
const int incrementDistance = 5;   // Distance for each smaller movement (mm to steps)

// Define constants based on encoder and motor specs
//#define ENCODER_CPR 400       // Counts per revolution (from encoder datasheet)

// Motor control parameters
const unsigned long holdTime = 15000;    // Time to hold at target position in ms
const unsigned long HomeHoldTime = 2000; // Time to hold at home position in ms

// Create an instance of AccelStepper
AccelStepper stepper(AccelStepper::DRIVER, pulsePin, dirPin);


void setup() {


  // Initialize serial communication for debugging
  Serial.begin(9600);
  Serial.println("Stepper Motor with Calibration and Position Control Initialized.");

  // Configure the stepper motors
  stepper.setMinPulseWidth(20);
  stepper.setMaxSpeed(max_speed); // Set maximum speed (adjust as needed)
  stepper.setAcceleration(acceleration); // Set acceleration (adjust as needed)

  Serial.println("stepsPerMM: " + String(stepsPerMM));
  //delay(HomeHoldTime);

  //calibrateToHome2();
  //delay(HomeHoldTime);
}

void loop() {
  
  moveToTargetPosition(88);
  //stepper.stop();t
  Serial.println("Moved to 88 mm");
  delay(HomeHoldTime);
  
  moveToTargetPosition(0);
  Serial.println("Moved to home");

  delay(HomeHoldTime);
}

// Function to move to a specific target position in steps
void moveToTargetPosition(float positionInMM) {
  // Convert target position to steps
  targetPosition = positionInMM * stepsPerMM + final_slack; //* stepsPerMM;

  Serial.print("positionInMM: " + String(positionInMM) + " Target Position: " + String(targetPosition));
  Serial.print("\n");

  // Set the target position in steps
  stepper.moveTo(targetPosition);
  // Move the motor to the target position
  while (stepper.distanceToGo() != 0) {
    //Serial.println("Sending Pulse");
    stepper.run();
    
  }
  

  // Update the current position
  currentPosition = targetPosition;

  Serial.print("Moved to position (mm): ");
  Serial.println(currentPosition / stepsPerMM); // This is how you will get current position in MM.
}

  

However, surprisingly when I remove the Portenta H7 from the mid carrier and connect the Dir+ and Pulse+ pins to D3 and D5 along with the Dir- and Pulse- to the Ground pin of the Portenta H7 and run the sketch after updating the pins it all works. I can see the motor running as expected. Thus, I am not able to figure out why doesn’t it work when I use a MidCarrier??

I even tried connecting them to the PWM pins, however I see the same behaviour where the motor does not run when connected to the Mid carrier.

Find attached picture and the link to a video for the Portenta H7 motor run. I look forward to hearing back from you.

Thanks in advance.

[steve9]

AccelStepper(uint8_t interface = AccelStepper::FULL4WIRE, uint8_t pin1 = 2, uint8_t pin2 = 3, uint8_t pin3 = 4, uint8_t pin4 = 5, bool enable = true);

Try converting PD_5, PD_4 to pin numbers as suggested by Kurt in your linked thread