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    Driver L6470 Pentru Motoare Pas Cu Pas Electrice1 PDF

    Uploaded by

    Alice Ioana
    The document contains code for controlling stepper motors using an AutoDriver board. It includes functions for configuring the step mode, speed, acceleration/deceleration, and running the motor in different ways like moving a set number of steps or until a stop command. The code shows examples of initializing the board, running motor movement on serial commands, and includes three separate program examples that demonstrate different movement operations.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd

    Driver L6470 Pentru Motoare Pas Cu Pas Electrice1 PDF

    Uploaded by

    Alice Ioana
    54 views10 pages
    The document contains code for controlling stepper motors using an AutoDriver board. It includes functions for configuring the step mode, speed, acceleration/deceleration, and running the motor in different ways like moving a set number of steps or until a stop command. The code shows examples of initializing the board, running motor movement on serial commands, and includes three separate program examples that demonstrate different movement operations.

    Original Title

    Driver L6470 pentru motoare pas cu pas electrice1.pdf

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    © © All Rights Reserved

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    The document contains code for controlling stepper motors using an AutoDriver board. It includes functions for configuring the step mode, speed, acceleration/deceleration, and running the motor in different ways like moving a set number of steps or until a stop command. The code shows examples of initializing the board, running motor movement on serial commands, and includes three separate program examples that demonstrate different movement operations.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    54 views10 pages

    Driver L6470 Pentru Motoare Pas Cu Pas Electrice1 PDF

    Uploaded by

    Alice Ioana
    The document contains code for controlling stepper motors using an AutoDriver board. It includes functions for configuring the step mode, speed, acceleration/deceleration, and running the motor in different ways like moving a set number of steps or until a stop command. The code shows examples of initializing the board, running motor movement on serial commands, and includes three separate program examples that demonstrate different movement operations.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 10

    Driver L6470 pentru motoare pas cu pas electrice

    #include <AutoDriver.h>

    #include <dSPINConstants.h>

    AutoDriver boardA(10, 6);

    byte stepMode=STEP_FS;

    float stepsPerSecond=500;

    byte dir=FWD;

    float stepsPerSec=500;

    void setup()

    void configSyncPin(byte pinFunc, byte syncSteps);

    void configStepMode(byte stepMode);

    void setMaxSpeed(float stepsPerSecond);

    void setMinSpeed(float stepsPerSecond);

    void setFullSpeed(float stepsPerSecond);

    void setAcc(float stepsPerSecondPerSecond);

    void setDec(float stepsPerSecondPerSecond);

    void setOCThreshold(byte threshold);

    void setPWMFreq(int divisor, int multiplier);

    void setSlewRate(int slewRate);

    void setOCShutdown(int OCShutdown);

    void setOscMode(int oscillatorMode);

    void setVoltageComp(int vsCompMode);

    void setSwitchMode(int switchMode);

    void setAccKVAL(byte kvalInput);

    void setDecKVAL(byte kvalInput);

    void setRunKVAL(byte kvalInput);

    void setHoldKVAL(byte kvalInput);

    void setLoSpdOpt(boolean enable);


    void resetDev();

    void busyCheck();

    void run(byte dir, float stepsPerSec);

    void move(byte dir, unsigned long numSteps);

    void softStop();

    void hardStop();

    void softHiZ();

    void hardHiZ();

    long getPos();

    void resetPos();

    void setMark(long newMark);

    void setPos(long newPos);

    void goTo(long pos);

    void goToDir(byte dir, long pos);

    void goHome();

    void stepClock(byte dir);

    void goUntil(byte action, byte dir, float stepsPerSec);

    void releaseSw(byte action, byte dir);

    void setParam(byte param, unsigned long value);

    unsigned long getParam(byte param);

    dSPINConfig();

    Serial.begin(9600);

    Serial.println("Dati comanda de pornire");

    boardA.resetDev();

    void loop()

    if (Serial.available() !=0)
    {

    Serial.println("A primit comanda");

    Serial.read();

    Serial.println("Incepe deplasare inainte");

    boardA.configStepMode(STEP_FS);

    boardA.setMaxSpeed(stepsPerSecond);

    boardA.setFullSpeed(stepsPerSecond);

    boardA.run(dir, stepsPerSec);

    delay(1000);

    void dSPINConfig(void)

    boardA.configSyncPin(BUSY_PIN, 0);

    boardA.configStepMode(STEP_FS);

    boardA.setMaxSpeed(10000);

    boardA.setFullSpeed(10000);

    boardA.setAcc(10000);

    boardA.setDec(10000);

    boardA.setSlewRate(SR_530V_us);

    boardA.setOCThreshold(OC_750mA);

    boardA.setPWMFreq(PWM_DIV_2, PWM_MUL_2);

    boardA.setOCShutdown(OC_SD_DISABLE);

    boardA.setVoltageComp(VS_COMP_DISABLE);

    boardA.setSwitchMode(SW_USER);

    boardA.setOscMode(INT_16MHZ_OSCOUT_16MHZ);

    boardA.setAccKVAL(255);

    boardA.setDecKVAL(255);

    boardA.setRunKVAL(255);

    boardA.setHoldKVAL(32);

    }
    Programul 2

    #include <AutoDriver.h>

    #include <dSPINConstants.h>

    AutoDriver boardA(10, 6);

    byte stepMode=STEP_FS;

    float stepsPerSecond=200;

    byte dir=FWD;

    float stepsPerSec=500;

    void setup()

    { void configSyncPin(byte pinFunc, byte syncSteps);

    void configStepMode(byte stepMode);

    void setMaxSpeed(float stepsPerSecond);

    void setMinSpeed(float stepsPerSecond);

    void setFullSpeed(float stepsPerSecond);

    void setAcc(float stepsPerSecondPerSecond);

    void setDec(float stepsPerSecondPerSecond);

    void setOCThreshold(byte threshold);

    void setPWMFreq(int divisor, int multiplier);

    void setSlewRate(int slewRate);

    void setOCShutdown(int OCShutdown);

    void setOscMode(int oscillatorMode);

    void setVoltageComp(int vsCompMode);

    void setSwitchMode(int switchMode);

    void setAccKVAL(byte kvalInput);

    void setDecKVAL(byte kvalInput);

    void setRunKVAL(byte kvalInput);

    void setHoldKVAL(byte kvalInput);

    void setLoSpdOpt(boolean enable);


    void resetDev();

    void busyCheck();

    void run(byte dir, float stepsPerSec);

    void move(byte dir, unsigned long numSteps);

    void softStop();

    void hardStop();

    void softHiZ();

    void hardHiZ();

    long getPos();

    void resetPos();

    void setMark(long newMark);

    void setPos(long newPos);

    void goTo(long pos);

    void goToDir(byte dir, long pos);

    void goHome();

    void stepClock(byte dir);

    void goUntil(byte action, byte dir, float stepsPerSec);

    void releaseSw(byte action, byte dir);

    void setParam(byte param, unsigned long value);

    unsigned long getParam(byte param);

    dSPINConfig();

    Serial.begin(9600);

    Serial.println("Dati comanda de pornire");

    boardA.resetDev();

    void loop()

    if (Serial.available() !=0)
    {

    Serial.println("Citeste comanda");

    Serial.read();

    Serial.println("Incepe miscarea");

    boardA.busyCheck();

    boardA.configStepMode(STEP_FS);

    boardA.setMaxSpeed(stepsPerSecond);

    boardA.setFullSpeed(stepsPerSecond);

    boardA.move(dir, 300);

    delay(1000);

    boardA.softStop();

    delay(1000);

    Serial.println("Dati comanda a doua secventa");

    void dSPINConfig(void)

    boardA.configSyncPin(BUSY_PIN, 0);

    boardA.configStepMode(STEP_FS);

    boardA.setMaxSpeed(10000);

    boardA.setFullSpeed(10000);

    boardA.setAcc(10000);

    boardA.setDec(10000);

    boardA.setSlewRate(SR_530V_us);

    boardA.setOCThreshold(OC_750mA);

    boardA.setPWMFreq(PWM_DIV_2, PWM_MUL_2);

    boardA.setOCShutdown(OC_SD_DISABLE);

    boardA.setVoltageComp(VS_COMP_DISABLE);

    boardA.setSwitchMode(SW_USER);

    boardA.setOscMode(INT_16MHZ_OSCOUT_16MHZ);
    boardA.setAccKVAL(255);

    boardA.setDecKVAL(255);

    boardA.setRunKVAL(255);

    boardA.setHoldKVAL(32);

    Programul 3

    #include <AutoDriver.h>

    #include <dSPINConstants.h>

    AutoDriver boardA(10, 6);

    byte stepMode=STEP_FS;

    float stepsPerSecond=500;

    byte dir=FWD;

    float stepsPerSec=500;

    void setup()

    void configSyncPin(byte pinFunc, byte syncSteps);

    void configStepMode(byte stepMode);

    void setMaxSpeed(float stepsPerSecond);

    void setMinSpeed(float stepsPerSecond);

    void setFullSpeed(float stepsPerSecond);

    void setAcc(float stepsPerSecondPerSecond);

    void setDec(float stepsPerSecondPerSecond);

    void setOCThreshold(byte threshold);

    void setPWMFreq(int divisor, int multiplier);

    void setSlewRate(int slewRate);

    void setOCShutdown(int OCShutdown);

    void setOscMode(int oscillatorMode);

    void setVoltageComp(int vsCompMode);


    void setSwitchMode(int switchMode);

    void setAccKVAL(byte kvalInput);

    void setDecKVAL(byte kvalInput);

    void setRunKVAL(byte kvalInput);

    void setHoldKVAL(byte kvalInput);

    void setLoSpdOpt(boolean enable);

    void resetDev();

    void busyCheck();

    void run(byte dir, float stepsPerSec);

    void move(byte dir, unsigned long numSteps);

    void softStop();

    void hardStop();

    void softHiZ();

    void hardHiZ();

    long getPos();

    void resetPos();

    void setMark(long newMark);

    void setPos(long newPos);

    void goTo(long pos);

    void goToDir(byte dir, long pos);

    void goHome();

    void stepClock(byte dir);

    void goUntil(byte action, byte dir, float stepsPerSec);

    void releaseSw(byte action, byte dir);

    void setParam(byte param, unsigned long value);

    unsigned long getParam(byte param);

    dSPINConfig();

    Serial.begin(9600);
    Serial.println("Dati comanda de pornire");

    boardA.resetDev();

    void loop()

    if (Serial.available() !=0)

    Serial.println("Citeste comanda");

    Serial.read();

    Serial.println("Incepe miscarea");

    boardA.busyCheck();

    boardA.configStepMode(STEP_FS);

    boardA.setMaxSpeed(stepsPerSecond);

    boardA.setFullSpeed(stepsPerSecond);

    boardA.move(dir, 300);

    delay(1000);

    boardA.softHiZ();

    delay(1000);

    Serial.println("Dati comanda al doua secventa");

    void dSPINConfig(void)

    boardA.configSyncPin(BUSY_PIN, 0);

    boardA.configStepMode(STEP_FS);

    boardA.setMaxSpeed(10000);

    boardA.setFullSpeed(10000);

    boardA.setAcc(10000);

    boardA.setDec(10000);

    boardA.setSlewRate(SR_530V_us);
    boardA.setOCThreshold(OC_750mA);

    boardA.setPWMFreq(PWM_DIV_2, PWM_MUL_2);

    boardA.setOCShutdown(OC_SD_DISABLE);

    boardA.setVoltageComp(VS_COMP_DISABLE);

    boardA.setSwitchMode(SW_USER);

    boardA.setOscMode(INT_16MHZ_OSCOUT_16MHZ);

    boardA.setAccKVAL(255);

    boardA.setDecKVAL(255);

    boardA.setRunKVAL(255);

    boardA.setHoldKVAL(32);

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