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AnanasStepper 2.0 - 3.0

Open Source CAN Bus Based Servo Stepper for Multi Axis Gang Control

graypillowGrayPillow
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This is a part of a smart Robot control system(AnanasRobot), based on Stepper Motor and CAN bus. This project aims to build a motion control system including hardware and software to make Multi-Axis Gang Control easy and precise, applied to 3D printer, a 6+ axis robot arm or some more complex motion control system.
Main Features:
1.CAN-bus based(up to 1 Mbit).
2.STM32 32bit ARM MCU(Cortex-M0 48MHz).
3.Closed-loop control with 15bit magnetic encoders(TLE5012).
4.more power MOS Driver(A4950).
5.Extendable(For most 128 motors ), and Easy for Installation(With two twisted wires and power to get the whole system available).
6.USB Interface for CAN bus accessing easily.
7.API for multiple control systems, Windows Mac Linux FreeRTOS ROS (Arduino Beagleboneblack RapberryPi）

Sorry for the late. Actually, I have a prior agreement with WoW. They invested in the Kickstarter project of Ananas Steper3.0, so they need to agree on when to open source the circuit design and related software. Thank you for all your attention.


AnanasStepper 3.0 is coming!

For some special reasons, I will release the source code and design files after the Kickstarter compaign, Thanks for understanding me.

Kickstarter !!!!!!!!!

https://www.kickstarter.com/projects/249504031/ananasstepper-30-a-servo-stepper-for-multi-axis-control/description

We need your support !!!



WebPage: https://ananasrobot.github.io/AnanasStepper/

AnanasStepper 3.0

Main Feature

1.CAN bus based(up to 1 Mbit). 
2.STM32 32bit ARM MCU(Cortex-M0 48MHz). 
3.Closed loop control with 15bit magnetic encoders(TLE5012). 
4.more power MOS Driver(A4950).
5.Extendable(For most 128 motors ), and Easy for Installation(With two twisted wires and power to get the whole system available). 
6.USB Interface for  CAN bus accessing easily. 

7.API for multiple control systems,Windows Mac Linux FreeRTOS ROS (Arduino Beagleboneblack RapberryPi）

This an upgrade of AnanasStepper(https://github.com/Dark-Guan/Ananas), which is a stand alone closed loop stepper driver.With STM32 MCU, this version has more performance to driver stepper well and CAN Bus support.

AnanasStepper 2.0

1.CAN bus based(up to 1 Mbit). 
2.STM32 32bit ARM MCU(Cortex-M3 72MHz). 
3.Closed loop control with 14bit magnetic encoders(TLE5012). 
4.Driver integrated(A4988 DRV8825 or more power MOS Driver) 
5.Extendable(For more than 12+ motors), and Easy for Installation(With two twisted wires and power to get the whole system available). 
6.USB-CAN Adapter and SPI-CAN Adapter For systems without CAN bus. 
7.API for multiple control systems(Arduino Beagleboneblack RapberryPi）

All the wiring I need is 12V and a twisted pair for CAN to link All device all together. So the main module can control all of them and monitor the state(position temprature or current) of them.

Application Of AnanasStepper 2.0

There is plan to build a system with a Robot Arm and a 3D printer working together！

Coming Soon！

2 AnanasSteppers Do 2D plotter (test TWO Axis Gang Control)

I use 2 AnanasStepper to build a 2D plotter, Test 2D Axis Gang Control.

About https://hackaday.io/project/20980-ananasstepper-20/log/60311-2-ananassteppers-do-2d-plotter

AnanasStepper 2.0 play MIDI MUSIC

I tested AnanasStepper to Play MIDI music,And used My guitar as a loud-speaker!

It is not very nice but it works!!

Q&A:

https://hackaday.io/project/20980-ananasstepper-20/log/60341-qa-about-ananasstepper-20-1

CAN : https://en.wikipedia.org/wiki/CAN_bus

RUN CAN with SPI: MCP2515 :https://hackaday.io/project/20980-ananasstepper-20/log/61994-run-raspberry-with-can-busmcp2515

RUN CAN with Beaglebone: https://hackaday.io/project/20980-ananasstepper-20/log/62014-beaglebone-black-with-can

AnanasRobot Linear Actor:https://www.thingiverse.com/thing:2418362

AnanasStepper 1.0 :

https://hackaday.io/project/20980-ananasstepper-20/log/60033-everything-about-ananasstepper-10-is-here

https://hackaday.io/project/20980-ananasstepper-20/log/57101-demo-of-ananasstepper-10

https://hackaday.io/project/20980-ananasstepper-20/log/58154-ananasstepper-10-3d-printer-test

Linear-Actor-A.STEP

Linear-Actor-for AnanasRobot system https://www.thingiverse.com/thing:2418362/#files

step - 3.01 MB - 07/07/2017 at 14:23

Download

8825CAP.png

Portable Network Graphics (PNG) - 36.03 kB - 06/10/2017 at 16:25

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A4988CAP.png

Portable Network Graphics (PNG) - 37.51 kB - 06/10/2017 at 16:25

Preview

4988cape-V1.0.txt

plain - 2.79 kB - 06/10/2017 at 16:25

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8825cape-V1.0.txt

plain - 2.57 kB - 06/10/2017 at 16:25

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View all 12 files

  • 1 × STM32F103CBT6 Microprocessors, Microcontrollers, DSPs / ARM, RISC-Based Microcontrollers
  • 1 × TLE5012B Semiconductors and Integrated Circuits / Misc. Semiconductors and Integrated Circuits
  • 1 × TJA1050
  • 1 × A4988 Power Management ICs / Motion, Motor and Servo Control
  • 1 × DRV8825 Evaluation, Demonstration Kits, Boards and Modules / Evaluation Kits, Boards and Modules

View all 39 project logs

  • 1
    Step 1

    Prepare(Prepare AnanasStepper include Power wire and CAN bus wire)

    BOM:

    1. Ananas(AnanasStepper 20)
    2. Step Motor (2 phases-step-motor)
    3. Magnet
    4. Mount Space (a 3D printer part)
    5. Screw(4 Screw)
    6. Nuts(4 Nuts)
    7. Motor Wire
    8. Power Wire
    9. USB-CAN(or SPI-CAN)
  • 2
    Step 2

    Assemble Magnet And srew

    1. a.Assemble the 3D printed spacer.
    2. b.Assemble the Ananas.
    3. c, Final assemble the Nuts.
  • 3
    Step 3

    Connect AnanasSteppers(Power and CAN bus)

    First, Prepare All wires.

    Connect them follow the arrows.

View all 4 instructions

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Discussions

aape01 wrote 04/07/2017 at 05:42 • point

很好

  Are you sure? yes | no

GrayPillow wrote 04/07/2017 at 23:53 • point

Thanks!

  Are you sure? yes | no

Ryan Won wrote 04/07/2017 at 05:25 • point

looks great

  Are you sure? yes | no

GrayPillow wrote 04/07/2017 at 23:53 • point

Thanks!

  Are you sure? yes | no

navichan wrote 04/07/2017 at 05:16 • point

Very nice!

  Are you sure? yes | no

GrayPillow wrote 04/07/2017 at 23:53 • point

Thanks!

  Are you sure? yes | no

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