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 Selfmade motion controller (new version) 
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Joined: Mon Nov 22, 2010 1:18 pm
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Post Re: Selfmade motion controller (new version)
Its very decent of you to make the firmware available . I am sure everybody will thank you for that . Good luck with future developments you never know you might make me take up timelapse again :D
D1


Sun Oct 25, 2015 2:58 am
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Location: Frankfurt, Germany
Post Re: Selfmade motion controller (new version)
Some more functions added:



The Android control app is also now available in the Google Play Store:
Image


The Arduino Firmware can be found on my website:
http://puremoco.com/pages/firmware.php

Since I switched from MEGA 2560 to the Due, there will be two firmware versions. The functions are always the same, but some changes were made because of little differences between the boards.

For shot-move-shot and gigapan-mode, the MEGA 2560 is sufficient. But for faster video movement, a Due should be used.

I will add a pin layout for the software on my website, so you can build your own projects with my control software. If you are interested in purchasing my Stepper shield for the SilentStepSticks and the matching housing, please write me a message. Shipping worldwide.

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Sat Nov 07, 2015 7:08 am
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Joined: Sat Apr 21, 2012 10:16 am
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Location: Long Beach California
Post Re: Selfmade motion controller (new version)
Hi BlueGene

what Optocoupler your are using?
i find some tristate optocoupler, HCPL-2400-000E from Broadcom Limited, maybe that make this simple, one coupler per input?
my idea was a relay like SIL03-1A72-71D from Standex-Meder Electronics, and only power the relay in need for a H or L from the controller.

Dirk


Sat May 21, 2016 11:56 pm
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Post Re: Selfmade motion controller (new version)
@mexicodirk:

I use simple PC123, nothing special...

So there is no tristate, and thats also the reason why there are so many of them on my board.

But a collegue of mine told me, that tristate can also be reached with the Arduino by simply setting the pin as input. I haven't tested it yet, but it works for him with the SilentStepStick (TMC2100)-drivers.

More information:
http://forum.arduino.cc/index.php?topic=12212.0

But I am already designing a new board/controller. Since the TMC2130 SilentStepStick will be available soon, I will use them from now on. I already got two from Watterott for testing. They have a lot more configuration settings, due to the SPI-interface. The optocouplers will not be necessery anymore, so the whole PCB and controller will get smaller, lighter and cheaper.

As soon as I have received my new PCBs and drivers, I will keep this topic updated.

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Sun May 22, 2016 2:03 am
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Post Re: Selfmade motion controller (new version)
Hi BlueGene,

As you are one of the first adopters, please keep us informed about your findings on the TMC2130, maybe a review when compared against the TMC2100? It's always interesting to know. I may update too.

Edward


Sun May 22, 2016 2:52 am
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Post Re: Selfmade motion controller (new version)
Thanks BlueGene

i will try that some day.
yes the TMC2130 looks very good.

i hope my teensy don't died :D :D


Sun May 22, 2016 10:43 am
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Post Re: Selfmade motion controller (new version)
@edward:

Currently, testing is in a very young phase. On one hand, its good to have control over many parameters, on the other hand, you somehow must find the perfect settings and transmit them to the driver.

For configuration, I am currently working on an Excel-tool, which gives you an GUI and you will get the codes which you must transmit to the driver. Further information on my blog(Video will be updated as soon the tool is finished):
http://www.puremoco.com/pages/blog01_tmc2130.php

This configuration process is the big disadvantage, if you can call it so... But I think the advantages are making up for this:

- Comparing to the TMC2100, you will need less pins on your microcontroller, because all to config is done by the SPI-bus (only 1 chip select pin is necessery, the 3 other lines are in parallel). So routing the custom PCB is easier, because of less connections
- support of 1/8, 1/32, 1/64, 1/128 and 1/256 microstepping(which the TMC2100 does not have)
- Stepper current can be also set by software (for running and stillstand). So you can optimize the power consumption according to your setup/needs.
- StallGuard enables you a safety feature (=endswitch). But I did not got it working until now.
- StallGuard can also be used to detect the maximum running speed of your stepper motor (which now must be done manually).

Those are the main advantages which I found until now. The documentation is about 100 pages, so there might be some other features, which I did not discovered yet.

I am currently planning the custom PCB design, and as soon they arrive, I will continue with the parameter config of the drivers.

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http://www.puremoco.com/

Photography-Website:
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Sun May 22, 2016 11:14 am
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Post Re: Selfmade motion controller (new version)
Thank you, BlueGene, you've put in a lot of work with the Excel sheet, I watched your demo video and I look forward to seeing the download link when you are ready.

There are so many more useful parameters to this new driver!The StallGuard sounds interesting, to use it as move limits, etc. Also setting the stepper current by software is handy, instead of messing about with a multimeter.
I am interested in the silent mode mainly, that's how I use mine, less torque available but enough to move what I want with some gear reduction, and really smooth and quiet. I wonder if it behaves the same as the TMC2100 in this respect?

Edward


Sun May 22, 2016 2:52 pm
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Post Re: Selfmade motion controller (new version)
Yes, the silentmode should behave like with the TMC2100. But I think, it is possible to set it for all microstepping-settings. I did not find a restriction to only 1/4 and 1/16 like with the TMC2100. But I still have to test it out...

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Fri May 27, 2016 10:33 pm
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Post Re: Selfmade motion controller (new version)
The new PCBs for the TMC2130 finally arrived and I have already finished one. Now I need to test everything and adjust the firmware and Android app.

Image Image Image

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Thu Jun 16, 2016 12:27 pm
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Post Re: Selfmade motion controller (new version)
I have been working on this for quite some time and finally it seems to work: 5-point-keyframe mode for live video motion.

The big problem behind this function is the calculation of the points. You have 5 points, but you will also need the points between the points to get a smooth spline curve. Calculating those points requires some processing power. Since I am using an Arduino Due, which runs on 84 MHz, this a bigger problem. Live calculation of the points will slow down the movement, because the Arduino need to calulate the points for 6 axis.

Since this not working quite well, I have decided to calculate the points in advance and store them as an array in the RAM. This is also not so simple, because the Due only has 96 KB RAM. The maximum array size for each axis is 3.700. Otherwise the Arduino IDE will warn you about the RAM.

So for video mode, there is a calculation for 3700 points for each axis. This will take about 20-30 seconds to finish. There is also a calculation of the maximum speeds. This must of course be lower than the physical max. speed of the steppers. If this is not the case, you have to increase the time for the movement, until the calculated max. speed is lower than the physical max. speed.

During the run sequence, every X milliseconds (which you have set earlier) the new position is read from the array and handed over to the Accelstepper library, which moves the steppers to this position. This works now for fast movements without issues. For slow motions, I have to change something, because to motion is not so smooth. The Accelstepper library takes the max. Speed and runs with an acceleration/deceleration. So if the movement is finish before the new positions is updated, the stepper will stop for a short moment. So I must also update the speed in addition to the position. But for faster movements, this is not a problem, since a new position is called every 3-10 milliseconds.

The same function is called for shot-move-shot mode, but in this case you have plenty of time for calculation of the next point. So in timelapse mode, the next position is calculated live during the sequence.

The app layout was modified for testing, so there will be some changes in design.









Image

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Photography-Website:
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Tue Jul 12, 2016 9:16 am
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Location: Merritt Island, Florida, Estates Unitas
Post Re: Selfmade motion controller (new version)
I'm impressed with how quiet it is. Your P/T head is working nice as well. Have you thought about a faster arduino? The teensy is very fast. We considered modifying our code to run on it, but solved our speed issues by dropping accel-stepper library and writing our own code for moving the motor, but we are only driving one motor. Oh, yeah, the video showing it moving through the five keyframes marked by the yellow post-it pages shows that you need a focus motor. Everyone should buy a focus motor!


Thu Jul 14, 2016 9:16 am
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Post Re: Selfmade motion controller (new version)
Focus and zoom will be added later;)

Here you have another video with the pan-tilt. The first part is run with the "stealthChop" mode of the Trinamic drivers. The only noise is caused by the friction of the worm wheel. The second part is run with "spreadCycle", which is comparable to all other small stepper drivers and this will generate a lot of noise...


With the new TMC2130 it is possible to run the stealthChop at all microstepping-settings, even full steps. There is even an background interpolation to 1/256 microstepping, so the movement will be very smooth

You only have to consider, that the torque is lower with stealthChop. But this might only be a problem for highly dynamic movements like in 3D-printers. I did not encouter any issues with this mode yet.

The fastest teensy is running at 72MHz, which is less than the Arduino Due... Using a Raspberry or similiar will be difficult, because there are running several background tasks, which might interfere with the timing of the stepper motion (not real-time)

_________________
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Photography-Website:
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Thu Jul 14, 2016 11:41 am
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Post Re: Selfmade motion controller (new version)
Quick preview of the new function, which will be available soon: Astro-Mode

- 1-axis control for star, sun or moon-tracking
- HDR-setting for 3 exposures
- Delay-setting for DSLR noise reduction
- setting of repetitions
- mirror lock-up configuration
- calculation of total time
- compatible with all pan-tilt-heads due to free configuration

In addition, each parameter will be described inside a dedicated pop-up-window(help). This feature will be added also for all other modes and settings to enable a quick start into the application.

Image Image Image

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Sun Oct 09, 2016 12:50 pm
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Post Re: Selfmade motion controller (new version)
I am very impressed with how quiet it is in stealth mode. Even more impressed you are able to use stealth mode at low microsteps and even full step. We are using the Watterott drivers for a new silent focus motor. We have a larger motor than we used to because of the reduced torque. You need a NEMA 17 to get reasonable torque at the 0.6 amps those drivers like to run at.

May I ask how the control software is coming? Last I heard, there were some problems with smoothing curves and determining the positions for all the frames between keyframes. Has that part been worked out now? It would be really exciting to use this for fully keyframe-able realtime motion control in a portable package. In that regard, this is a real breakthrough. We've almost gotten used to timelapse MOCO being small, battery powered and back-pack-able. The impression of realtime rigs is something the size of a car. If you want to shoot with it on top of a mountain, you needed a budget that could afford helicopter time to fly in the load. This could really be a game changer for amateur or independent film makers if such capability could be carried in a back-pack.

What are your thoughts about us using it to run a portable rig? Is there a copy of the app available for download yet? Will you be wanting someone to field test it and can I get on the list of people who can do that?


Thu Oct 20, 2016 1:11 pm
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Post Re: Selfmade motion controller (new version)
The new TMC2130 are really handy in terms of microstepping, stealthMode and current-config. However the configuration is a little tricky due to the protocol, but it offers much functionality. The new drivers are also in stock since some weeks ago. I don't know how to purchase them outside Germany...

As you can see in the "Preview: PureControl - 5-point-keyframe - fast videomode"-Video, smoothing curves works quite well. The might be a very little delay/deviation, but I guess it should not be that critical if you don't analyze the complete motion like I do.

Currently I only have a german video, which explains the setting and use of the video mode. I must first clean up the user interface, before I can do a new tutorial video about the settings. Currently it is not quite obvious how to use it. (because I added all the new functions into the exisiting layout.)

The app is in the Play Store, but only as a demo without Bluetooth-connectivity. The firmware is available on my website. All my customers which buy the complete controller or the assembly kit, will receive the full version of the app. All other users, which want to build up there own controllers with an Arduino Due, have to pay 35 € for the full version of the app. It is not listed in the Play Store, so you will need to contact me directly. (I will write you an mail James)

---------------------------------------
To keep the controller up to date and enable a smaller form factor, I will do some testing with the Teensy 3.6:
https://www.kickstarter.com/projects/pa ... -35-and-36

Compared to the Arduino Due it has:
- 180 MHz instead of 84 MHz (which might be quite usefull for video mode and the calculation)
- 1024 kByte instead of 512 kByte Flash (also handy for video mode and the buffering of the values)
- 256 kB RAM instead of 96 kB
- a lot smaller form factor

It should be 100% compatible with the existing Arduino code and can even be programmed the same way over the Arduino IDE. There must be only made some changes to the pin-layout/definition.

Would be great if this would work well, because the controller could be a lot smaller and lighter then. I only must change the app/firmware that way, that it will still be compatible no matter which controller is used. So future updates will be available also for the older controllers

V1: Arduino Due and TMC2100
V2: Arduino Due and TMC2130
(V3: Teensy 3.6 and TMC2130)

_________________
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Photography-Website:
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Sat Oct 22, 2016 10:40 am
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Post Re: Selfmade motion controller (new version)
A little update of my motion controller (PureControl V3) ;)

Full details on my website:
http://puremoco.com/pages/motioncontroller.php

Following updates have been made/added:
- Teensy 3.6 instead of the Arduino Due --> much more processing power and memory
- more compact design
- much better thermal design due to aluminium plate as heatsink for the stepper drivers
- build-in support for PlayStation 4 controller (control all 6 axis at once manually), support for other USB-devices can be added(keyboard, joystick etc.)
- all new PCB design, almost all components are directly soldered to the PCB (easier and faster assembly process)

Image Image
Image Image

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Fri Feb 10, 2017 10:42 pm
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Post Re: Selfmade motion controller (new version)
Comments are a bit in short supply on the forum at mo but wouldn't want you to get discouraged you are developing some really nice kit . If this had been done in the heyday of timelapse this would have been the perfect solution for most people .
I hope theirs still enough interest in timelapse but at least your building other features in that should make it interesting to a wider market . Think would still prefer to run my own drivers but think i have mentioned that before and it shouldn't be a problem .
D1


Sat Feb 11, 2017 9:01 am
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Post Re: Selfmade motion controller (new version)
Support for the PlayStation 4 controller has now been added to the PureControl. It is now possible to control all 6 axis with the game-controller and set all keyframes:


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Sat Mar 04, 2017 11:33 am
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