Unknown issue in tmc2209 drive code

Other Hardware Motors, Mechanics, Power and CNC
1

I made a code for tmc2209, and I made a function.
However, the M_run() function malfunctions.
I definitely put a different value in the M_speeds value, but the motor works at the same speed.
There seems to be no problem with the code, but is it related to the motor?

void loop(){
  //bottom control
  M_run(step_B, dir_B, speeds_B, step_B_count, rounds_B);
  
  //top control
  M_run(step_T1, dir_T1, speeds_T, step_T1_count, rounds_T);
  M_run(step_T2, dir_T2, speeds_T, step_T2_count, rounds_T);
  M_run(step_T3, dir_T3, speeds_T, step_T3_count, rounds_T);
}

In the above code, the speed of bottom and top should be different.
I gave you a different value, but when you drive it, it works at the same speed.

Currently, I am using NEMA17 StepperMotor, and the motor driver uses tmc2209.
The power supply also uses 24V.

Full code

int en_B =  2;
int step_B = 3;
int dir_B = 4;

int en_T1 = 5;
int step_T1 = 6;
int dir_T1 = 7;

int en_T2 = 8;
int step_T2 = 9;
int dir_T2 = 10;

int en_T3 = 11;
int step_T3 = 12;
int dir_T3 = 13;

int switch_1 = 22;
int switch_2 = 24;
int switch_3 = 26;

//모터 속도 단위 마이크로초
int speeds_B = 10000;
int speeds_T = 100;
int spedds_T_setup = 100;

int rounds_B = 7200;
int rounds_T = 7200;

//1step_count
int step_B_count = 0;
int step_T1_count = 0;
int step_T2_count = 0;
int step_T3_count = 0;

//function
//setup top motor postion
void motorTopSetup(int sw, int M_step);

//setting pinMode bottom & top
void setting(int M_en, int M_step, int M_dir);
void setting(int M_en, int M_step, int M_dir, int sw);

//move to motor -> steppin, dirpin, motor speed, 1step check, count sppin
void M_run(int M_step, int M_dir, int M_speeds, int M_step_count, int M_rounds);

void setup(){
  //bottom setting
  setting(en_B, step_B, dir_B);
  //top setting
  setting(en_T1, step_T1, dir_T1, switch_1);
  setting(en_T2, step_T2, dir_T2, switch_2);
  setting(en_T3, step_T3, dir_T3, switch_3);

  //top motor setup
  while(1){
    motorTopSetup(switch_1, step_T2);
    motorTopSetup(switch_2, step_T3);
    motorTopSetup(switch_3, step_T1);

    if(digitalRead(switch_3) == LOW &&digitalRead(switch_1) == LOW && digitalRead(switch_2) == LOW){
      break;
    }
  }

  delay(1000);
}

void loop(){
  //bottom control
  M_run(step_B, dir_B, speeds_B, step_B_count, rounds_B);
  
  //top control
  M_run(step_T1, dir_T1, speeds_T, step_T1_count, rounds_T);
  M_run(step_T2, dir_T2, speeds_T, step_T2_count, rounds_T);
  M_run(step_T3, dir_T3, speeds_T, step_T3_count, rounds_T);
}

void motorTopSetup(int sw, int M_step){
  if(digitalRead(sw) == HIGH){
    digitalWrite(M_step, HIGH);
    delayMicroseconds(spedds_T_setup);
    digitalWrite(M_step, LOW);
    delayMicroseconds(spedds_T_setup);
  }
}

void setting(int M_en, int M_step, int M_dir){
  pinMode(M_en, OUTPUT);
  pinMode(M_step, OUTPUT);
  pinMode(M_dir, OUTPUT);

  digitalWrite(M_en, LOW);
  digitalWrite(M_dir, LOW);
}

void setting(int M_en, int M_step, int M_dir, int sw){
  pinMode(M_en, OUTPUT);
  pinMode(M_step, OUTPUT);
  pinMode(M_dir, OUTPUT);

  pinMode(sw, INPUT_PULLUP);

  digitalWrite(M_en, LOW);
  digitalWrite(M_dir, LOW);
}

void M_run(int M_step, int M_dir, int M_speeds, int M_step_count, int M_rounds){
  if(M_step_count == M_rounds){
    if(digitalRead(M_dir) == HIGH){
       digitalWrite(M_dir, LOW);
       M_step_count = 0;
    }else{
       digitalWrite(M_dir, HIGH);
       M_step_count = 0;
    }
  }else if(M_step_count == 0){
    digitalWrite(M_dir, HIGH);
  }
  
  digitalWrite(M_step, HIGH);
  delayMicroseconds(M_speeds);
  digitalWrite(M_step, LOW);
  delayMicroseconds(M_speeds);

  M_step_count++;
}

Please help me..

3

Use Serial.print inside the code to tell key data, and serial monitor to show them.

4 
  M_run(step_B, dir_B, speeds_B, step_B_count, rounds_B);
  Serial.println("bottom run finish");
  
  //top control
  M_run(step_T1, dir_T1, speeds_T, step_T1_count, rounds_T);
  Serial.println("top1 run finish");
  M_run(step_T2, dir_T2, speeds_T, step_T2_count, rounds_T);
  Serial.println("top2 run finish");
  M_run(step_T3, dir_T3, speeds_T, step_T3_count, rounds_T);
  Serial.println("top3 run finish");

  digitalWrite(M_step, HIGH);
  delayMicroseconds(M_speeds);
  Serial.println(M_speeds);
  digitalWrite(M_step, LOW);
  delayMicroseconds(M_speeds);.

I put serial.print in the loop() statement and M_run() function, which are the parts I need to solve.

1
1391×602 78.2 KB

The output is as follows.

It prints out as well as I expected.
But when you actually run it again, the top's M_speed is the same speed as the bottom.

5

Good. Looks correct.
I suggest doing the same in the function void motorTopSetup(int sw, int M_step)

6

I don't know if I understood correctly.
Is your opinion to change M_run() to function like motorTopSetup()??

Please understand that I use a translator because my English is not good...
..

7

Looks good so far.

Reply: No, no, no.

Install Serial.print in that function, similar to the previous debug print!

Is it the high speed or the low speed You actually experience?

8

It works at low speeds.
In code, speeds_B.
That is, it operates at bottom speed.

In my code, bottom is delay Microsseconds (10000).
However, top should operate as delayMicrosseconds(100); and when you actually use Serial.println(), the value seems to be used properly, but when you run it, both bottom and top operate at delayMicrosseconds(10000) speed.

9

What new debug print did You try and what is the result?

10

I've already confirmed above that the value is right in the desired part, and I think this is a motor problem, not a code problem.

Currently, a total of six motors are being controlled with Arduino Mega Hana.
Among the things I've been through before, when I just connected all 6 motors to the driver and turned the code that only drives 3 out of 6, there was a strange phenomenon that the other 3 also moved. I feel like it's because of the noise from the motor.
I think this phenomenon feels similar.

11

You didn't act upon the earlier suggestions. Maybe You'll figure things out on Your own.

12

Thank you. I'm sure I'll find a solution

13

This topic was automatically closed 180 days after the last reply. New replies are no longer allowed.