Controller Configuration

This section descibes how the dual-axis stepper motor controller is configured. The reader should have an understanding of the system components and how they are connected. See Components and Connections

The dual-axis controller system has two identical stepper controller boards running identical firmware. The configuration process allows the boards and the firmware to work together to control two completely independent axes, while connected to a single USB port.

Controller configuration is done entirely in software and stored in non-volatile memory. There are no jumpers or DIP switches. Configuration settings are read and written using the command line interpreter that runs on the motor controller boards, with communication over USB via a virtual serial port to a terminal emulator. Axis configurations can interactively be set and tested before committing the settings to non-volatile memory with the save command.

Configuration settings fall under two main categories - board settings and axis settings.

Board settings control hardware that is unique to each controller board:

• f master configures the direction and routing of the board inter-connect bus
  • The horizontal controller must be master (f = 1)
  • The vertical controller must be slave (f = 0)
• n currentLimit sets the current limiting hardware for the on-board H-bridges

Axis settings allow complete control of the stepper motor motion, without requiring any additional application code. These settings allow the user to:

• make motion commands blocking or nonBlocking
• set the stepper motor velocity profile, see accel, maxSpeed, decel
• set an optional settling delay following all motion commands, see msSettle
• set units of movement to degrees or steps, see units
• set soft travel limits, see noLimits, lowTravelLimit, and highTravelLimit
• set stepper motor micro stepping, see microSteps
• set an axis drive ratio, see stepsPayload360
• set one of three braking options, see brakeType
• reverse the motor rotation convention, see reverse

When changing a configuration setting, a terminal emulator must be connected to the proper controller board via USB, and the desired axis must be selected with the axis command.

See also:

Command Matrix and Default Configurations