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Product Manual Lynx Version 1.0 Phi Robotics Research Pvt. Ltd. www.phi-robotics.com Table of Contents 1 Introduction ................................................................................................................................................... 2 2 Board Features ............................................................................................................................................... 2 3 Specifications ................................................................................................................................................. 2 3.1 4 PCB Details ............................................................................................................................................ 2 Hardware Connections ................................................................................................................................... 3 4.1 Power Supply ......................................................................................................................................... 3 4.2 Motor Connections ................................................................................................................................ 3 4.3 Microcontroller Connections................................................................................................................. 3 4.4 Rotating the Motor ............................................................................................................................... 4 4.5 LEDs....................................................................................................................................................... 4 5 Pseudo Code ................................................................................................................................................... 5 6 Reference ....................................................................................................................................................... 5 1 Introduction Lynx is a micro stepping stepper motor driver board powered by A3977. It has a built-in translator and is designed to operate bipolar stepper motor in full, half, quarter and one-eighth step-modes. Lynx has motor supply voltage of 8V to 35V and maximum current rating of ±2.5 A. The A3977 includes a fixed off-time current regulator that has the ability to operate in slow, fast, or mixed decay modes. This current-decay control scheme results in reduced audible motor noise, increased step accuracy, and reduced power dissipation. The advantage of having the translator and driver in one package is minimizing the number of control lines. This single board can replace two or more devices in many designs thereby reducing cost of the system. The board interface is ideal for applications where a complex microprocessor is unavailable or overburdened. Lynx is compatible with Phi Robotics xLynx-CB board. 2 3 Board Features Supports up to 8 micro steps per full step 10 pin header for connection Specifications Current output rating: ±2.5 A Drain to source resistance (ON): 0.45 Ω source, 0.36 Ω sink Logic supply voltage: 3V -5.5V Motor supply voltage: 8V to 35V 3.1 PCB Details PCB size: 50.8 mm x 38.1 mm PCB type: FR4 Board thickness: 1.6 mm Solder mask: Black Surface finish: Immersion gold 4 Hardware Connections Figure 1-Lynx top view 4.1 Power Supply Lynx requires 3V to 5.5V for logic supply. Logic supply pins are provided on connector J1. Lynx supports motor supply voltage of 8V to 35V. Terminal T2 is provided for the same. 4.2 Motor Connections Terminals T2 and T3 are for stepper motor connections. Coil A of the motor should be connected to terminal T2 and coil B should be connected to T3. 4.3 Microcontroller Connections A 10 pin FRC header (J1) is provided for connecting Lynx with microcontroller. The connector has logic power supply pins, motor direction pin (DIR), step size selection pins (MS1, MS2), step pin to rotate motor by one step and control pins like reset, sleep and home. Lynx requires only GPIO interface and no special peripheral like ADC, I2C or SPI. Figure 2 shows pin layout for connector J1. Figure 2 - J1 header pin layout 4.4 Rotating the Motor For rotating stepper motor first, Lynx should be set in active mode by setting sleep and reset pins high, as these pins are active low. Step size for motor can be selected using the pins MS1 and MS2. Table 1 shows MS1MS2 setting for step size selection. Table 1 - Step size selection Step Size Full step Half step Quarter step One eighth step MS2 Low Low High High MS1 Low High Low High The direction of the motor can be set using DIR pin. Setting DIR pin high will rotate motor in clockwise direction whereas, setting pin low will rotate the motor in anti-clockwise direction. After setting the board in active mode and setting appropriate step size, a low to high transition on STEP pin will drive the motor by single step. User can provide pulses with appropriate frequency to achieve the required motor speed. 4.5 LEDs HOME LED: Indicates the initial condition of the translator POWER LED: Logic power supply indicator BAT LED: Motor battery supply indicator 5 Pseudo Code /* Following motor pins should be connected to microcontroller GPIO pins DIR: for setting motor direction MS1, MS2: For setting step size RESET: For resetting the driver SLEEP: To enable driver sleep mode to save power STEP: To rotate motor by one step */ void lynxInit(void) { gpioSet(RESET); // set active mode gpioSet(SLEEP); // disable sleep mode // user can set the step size according to application requirement lynxSetStepSize(FULL_STEP); } void lynxSingleStep(void) { gpioSet(STEP); delay_us(1); gpioSet(STEP); } // give pulse to step pin of lynx // STEP pulse width should be minimum 1 us void lynxRun(uint8_t dir, uint32_t stepCount, uint32_t delay) { // set motor rotation direction lynxSetDirection(dir); loop(stepCount) { // generate STEP pules continuously to keep running the motor lynxSingleStep(); // use delay to set the motor speed // minimum delay should be 1 us // as maximum step frequency can be 500KHz delay_us(delay); } } 6 Reference A3977 Datasheet: http://www.allegromicro.com/en/Products/Motor-Driver-And-Interface-ICs/BipolarStepper-Motor-Drivers/A3977.aspx Phi Robotics Research Pvt. Ltd. www.phi-robotics.com