Stepper motor Direct Drive using TB6600 driver(cheap option)

evolaco · Jun 10, 2018

minimus1899 said: ↑

Is mounting it to the dboard and to what ever it going on hard? With the fact it’s a funny shape ?

Regards
Andy
Click to expand...

Are you talking to me? I do not understand your message, I'm sorry, I use a translator

minimus1899 · Jun 10, 2018

evolaco said: ↑

Are you talking to me? I do not understand your message, I'm sorry, I use a translator
Click to expand...

Yes, sorry mate been a long day,

With regards to the pc cooler fan.....

With it been a funny shape altogether how are you going to mount it.

Regards
Andy

evolaco · Jun 11, 2018

minimus1899 said: ↑

Yes, sorry mate been a long day,

With regards to the pc cooler fan.....

With it been a funny shape altogether how are you going to mount it.

Regards
Andy
Click to expand...

the pc coller is mounted where the original black collers, I use a copper plate that I made by crushing a tube so that it makes the thickness so that it does not touch the solder, on the side of the chips I put the original cooler, all with thermal paste . I use it in a 2dof, each ibt2 controls a nominal 15th motor, 30a peak, works hard and does not heat up the cooler at all. It is a good option for the ibt2, with the original refrigerator in the no-load tests, it got so hot that it can not be touched, now at full load, the cooler does not heat up at all. Once the motor was blocked and it got so hot that I had to rectify the brush collector, the refrigerator did not heat up at all and the ibt2 held the motor lock.

evolaco · Jul 15, 2018

henrique fernandes said: ↑

hello everyone,
after reading many other forums and collecting information I decided to creat my own thread.
This is about my project of building a Force Feedback Direct drive, using a stepper motor with a low cost.
Based on the information I found, the most difficult part of this project was to find a driver for the stepper motor that can be controlled by PWM. I found some drivers like the Argon driver with some auxiliary components which is able to control the stepper using the PWM sent by the DISCOVERY board (but the cost for this is way more then I want to spend, and close to commercial steering wheels).
Considering this cost, I started to think in a cheaper solution that everyone can afford.
following this two basic facts I started looking for an alternative.

1 - commercial steering wheels are based on torque control, so it can give a high torque for strong effects and lower torque for the weak ones.
2 - to control the torque of an electrical motor we need to control the current, in this case in the coils of the stepper motor.

Based on this facts, I made a lot of research and I found that the most of the "Chinese cheap drivers" have current control by chopping the current. The problem then was that the mode of we set this current control is mostly through switches, so we couldn't control it by Arduino(I choose Arduino because I couldn't find the code to modify the firmware of the discovery force feedback, just the .hex file to burn on it.)
Searching a bit more about chopper stepper drivers I found some circuits DIY based on the chip Toshiba tb6600, which can drive steppers using 10 to 42VDC up to 4.5A, and the mode of control of this circuit is via 10K pot, so the plan is to use one of this driver ( I found for 10 aud from China), and replace this pot by a X9C103 Digital potentiometer, so we can control it via Arduino

PS: As the intention is to build the steering wheel not the driver I'll jump this part and buy one of this,(if someone is interested just let me know that I can share the project of this driver and some more information that I found about Chinese drivers, because I am convicted that we can use this "mod" in any driver)

After this, I used the main idea of another forum that uses an Arduino to convert the PWM coming from the DISCOVERY board into a percentage of effect intensity, to control torque( or percentage of Amps applied to the coils), controlling this way the torque.

I've already made the program to make this reading of the PWM duty cycle from the DISCO, and I uploaded my program so if anyone wants to have a look follows the link below.
https://github.com/97289034/Stepper...b/master/wheel_v1.3_first_test_fast_speed.ino
I tried to comment everything in the program but if anyone has a doubt or suggestion feel free to contact.

on this video, you can see the first test of my program. (I,m sorry about my bad English, I'm still studying English)
The program is reading the PWM well in my opinion, and the plan is to execute the program as fast as possible so we can have more readings in a fast refresh rate, and feel the minimum effect on the wheel.
This reading of PWM duty cycle from the DISCO is gonna be used to control the percentage of the digital potentiometer, and this way limiting the current applied to the stepper coils(controlling the torque consequently)
I also have the plan to use this percentage to set a multiplier for the speed of the wheel. this TB6600 driver as the most on the market works with pulses, so one step per pulse. This way if the effect percentage is high, the Arduino will send pulses at a higher frequency, making the stepper spins faster.
The direction pin PE11 will be used to set whether direction the stepper to spin.
51439

At the end of this next video, you can see the current chop of this driver, and this makes me confident that it's gonna work and feel good to drive. on the next couple of weeks, my stepper must arrive so I can post the progress.

if this plan works we can make a direct drive 13N.m for under 250 dollars.(this is cheaper then a logitec g29)
prices in aud
90 Keyway Dual Shaft Nema 34 Stepper Motor 13Nm
50 shipping for the motor
10 chinese driver
31 power supply 48v 5A
28 OMRON E6B2-CWZ6C Rotary Encoder 2000P/R New
25 discovery board
10 arduino
_________________
245 total

I would like to listen to a second opinion about this crazy plan before start buying stuff. Do you guys think this would work? any suggestion about the circuit or the mode of control?
Click to expand...

something new?

KennethSimDrive5 · Apr 19, 2019

henrique fernandes said: ↑

hello everyone,
after reading many other forums and collecting information I decided to creat my own thread.
This is about my project of building a Force Feedback Direct drive, using a stepper motor with a low cost.
Based on the information I found, the most difficult part of this project was to find a driver for the stepper motor that can be controlled by PWM. I found some drivers like the Argon driver with some auxiliary components which is able to control the stepper using the PWM sent by the DISCOVERY board (but the cost for this is way more then I want to spend, and close to commercial steering wheels).
Considering this cost, I started to think in a cheaper solution that everyone can afford.
following this two basic facts I started looking for an alternative.

1 - commercial steering wheels are based on torque control, so it can give a high torque for strong effects and lower torque for the weak ones.
2 - to control the torque of an electrical motor we need to control the current, in this case in the coils of the stepper motor.

Based on this facts, I made a lot of research and I found that the most of the "Chinese cheap drivers" have current control by chopping the current. The problem then was that the mode of we set this current control is mostly through switches, so we couldn't control it by Arduino(I choose Arduino because I couldn't find the code to modify the firmware of the discovery force feedback, just the .hex file to burn on it.)
Searching a bit more about chopper stepper drivers I found some circuits DIY based on the chip Toshiba tb6600, which can drive steppers using 10 to 42VDC up to 4.5A, and the mode of control of this circuit is via 10K pot, so the plan is to use one of this driver ( I found for 10 aud from China), and replace this pot by a X9C103 Digital potentiometer, so we can control it via Arduino

PS: As the intention is to build the steering wheel not the driver I'll jump this part and buy one of this,(if someone is interested just let me know that I can share the project of this driver and some more information that I found about Chinese drivers, because I am convicted that we can use this "mod" in any driver)

After this, I used the main idea of another forum that uses an Arduino to convert the PWM coming from the DISCOVERY board into a percentage of effect intensity, to control torque( or percentage of Amps applied to the coils), controlling this way the torque.

I've already made the program to make this reading of the PWM duty cycle from the DISCO, and I uploaded my program so if anyone wants to have a look follows the link below.
https://github.com/97289034/Stepper...b/master/wheel_v1.3_first_test_fast_speed.ino
I tried to comment everything in the program but if anyone has a doubt or suggestion feel free to contact.

on this video, you can see the first test of my program. (I,m sorry about my bad English, I'm still studying English)
The program is reading the PWM well in my opinion, and the plan is to execute the program as fast as possible so we can have more readings in a fast refresh rate, and feel the minimum effect on the wheel.
This reading of PWM duty cycle from the DISCO is gonna be used to control the percentage of the digital potentiometer, and this way limiting the current applied to the stepper coils(controlling the torque consequently)
I also have the plan to use this percentage to set a multiplier for the speed of the wheel. this TB6600 driver as the most on the market works with pulses, so one step per pulse. This way if the effect percentage is high, the Arduino will send pulses at a higher frequency, making the stepper spins faster.
The direction pin PE11 will be used to set whether direction the stepper to spin.
51439

At the end of this next video, you can see the current chop of this driver, and this makes me confident that it's gonna work and feel good to drive. on the next couple of weeks, my stepper must arrive so I can post the progress.

if this plan works we can make a direct drive 13N.m for under 250 dollars.(this is cheaper then a logitec g29)
prices in aud
90 Keyway Dual Shaft Nema 34 Stepper Motor 13Nm
50 shipping for the motor
10 chinese driver
31 power supply 48v 5A
28 OMRON E6B2-CWZ6C Rotary Encoder 2000P/R New
25 discovery board
10 arduino
_________________
245 total

I would like to listen to a second opinion about this crazy plan before start buying stuff. Do you guys think this would work? any suggestion about the circuit or the mode of control?
Click to expand...

KennethSimDrive5 · Apr 19, 2019

hello sorry about that thing that i just post i didnt mean it so yeah sorry btw can i ask you guys is nema 34 3.8 or 3.5 nm is it good or weak because in my country stepper motor are really expensive thanks you all of you for asnwering this question

ahoenksiluman · Apr 24, 2019

KennethSimDrive5 said: ↑

hello sorry about that thing that i just post i didnt mean it so yeah sorry btw can i ask you guys is nema 34 3.8 or 3.5 nm is it good or weak because in my country stepper motor are really expensive thanks you all of you for asnwering this question
Click to expand...

3.5nm will feels like g29 faster rpm...i recomend more than 8nm, but its personal preference...
its kinda cheap in aliexpress...

KennethSimDrive5 · Apr 24, 2019

ahoenksiluman said: ↑

3.5nm will feels like g29 faster rpm...i recomend more than 8nm, but its personal preference...
its kinda cheap in aliexpress...
Click to expand...

btw can i use arduino mega or leonardo uno r3 atmega for this diy does it possible beacause in my country discoveryboard stmf432 price just worst price around 60$ or worst 120$

ahoenksiluman · Apr 24, 2019

KennethSimDrive5 said: ↑

btw can i use arduino mega or leonardo uno r3 atmega for this diy does it possible beacause in my country discoveryboard stmf432 price just worst price around 60$ or worst 120$
Click to expand...

arduino mega is different chip, i dont know bout that...
but u can use leonardo with aiwave or EMC software/firmware...

but if u wanna use mmos u can use stm32f407vet6 or stm32f407vgt6 (need st-link for flashing)

Ben Xie · Nov 26, 2019

I'm thinking of doing the same thing, please keep us updated! I might start with a small nema 17 or something as a proof of concept. How are you planning on mounting the encoder?

HCR Mad Bull · Jan 15, 2020

Hello, just wondering if you've continued this project at all? Would really love to be able to use a stepper motor like the nema 34.

Thanks Ben

paytufo · Apr 3, 2020

Ok , I can put the link. This may help you with the stepper controller. http://www.microelectronicos.net/2017/04/30/stepper-motor-controller-with-arduino/

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Stepper motor Direct Drive using TB6600 driver(cheap option)

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