steppermotor using atmega8(mach3)

kiki · Joined: 06 Dec 2013 Posts: 21

hi,everyone...
here i have done my project.i make program for stepper motor and the driver i used h-bridge mosfet and the stepper motor running well but hahaha ,here is the problem: i have little problem when the stepper motor is running.the stepper motor sounded a bit rough and vibrates...
i am using stepper motor nema23 425 oz-in dual shaft (1.8 degrees).and here the program i make :

$regfile = "m8def.dat"
$crystal = 12000000 'I used external crystal(11059200)
'$sim

Dim Count As Byte

Config Portc = Output

'============================
' portc= &b0000------- A1
' |||________ A2
' ||_________ B1
' |__________ B2
'=============================
Config Pind.0 = Input
Config Pind.1 = Input
Config Pind.2 = Input
Config Pind.3 = Input
Config Pind.4 = Input
Config Portd.6 = Output
Config Portd.7 = Output

Config Pinb.0 = Input
Config Pinb.1 = Input

Stepper Alias Pind.0
Direction Alias Pind.1
Fullstep Alias Pind.2
Halfstep Alias Pind.3
Selector Alias Pind.4
Eror Alias Portd.6
Run Alias Portd.7

Atas Alias Pinb.0
Bawah Alias Pinb.1

Reset Stepper
Reset Direction
Reset Run
Set Selector

Count = 0
If Selector = 0 Then
Goto Auto
Else
Goto Manual
End If

'===============================================================================
Auto:
Do

If Fullstep = 0 And Halfstep = 0 Then
Do
Set Run
Waitms 100
Reset Run
Waitms 100
If Fullstep = 1 Or Halfstep = 1 Then Exit Do
Loop
End If

If Fullstep = 1 And Halfstep = 1 Then
Do
Set Run
Waitms 100
Reset Run
Waitms 100
If Fullstep = 0 Or Halfstep = 0 Then Exit Do
Loop
End If

If Fullstep = 0 And Halfstep = 1 Then Goto Full
If Halfstep = 0 And Fullstep = 1 Then Goto Half

Loop

'===============================================================================
Full:
Set Run
Waitms 1
Do
If Stepper = 1 And Direction = 0 Then
Incr Count

If Count = 9 Then Count = 1

If Count = 1 Then Portc = &B1001

If Count = 2 Then Portc = &B0001

If Count = 3 Then Portc = &B0101

If Count = 4 Then Portc = &B0100

If Count = 5 Then Portc = &B0110

If Count = 6 Then Portc = &B0010

If Count = 7 Then Portc = &B1010

If Count = 8 Then Portc = &B1000
Waitus 190
End If

If Stepper = 1 And Direction = 1 Then
Decr Count

If Count = 0 Or Count = 255 Then Count = 8

If Count = 8 Then Portc = &B1000

If Count = 7 Then Portc = &B1010

If Count = 6 Then Portc = &B0010

If Count = 5 Then Portc = &B0110

If Count = 4 Then Portc = &B0100

If Count = 3 Then Portc = &B0101

If Count = 2 Then Portc = &B0001

If Count = 1 Then Portc = &B1001

Waitus 190
End If

Portc = &B0000

Loop

'================================================================================
Half:
Set Run
Waitms 1
Do
If Stepper = 1 And Direction = 0 Then
Incr Count
If Count = 17 Then Count = 1
If Count = 1 Then Portc = &B1001

If Count = 2 Then Portc = &B1001

If Count = 3 Then Portc = &B1001

If Count = 4 Then Portc = &B0001

If Count = 5 Then Portc = &B0101

If Count = 6 Then Portc = &B0101

If Count = 7 Then Portc = &B0101

If Count = 8 Then Portc = &B0100

If Count = 9 Then Portc = &B0110

If Count = 10 Then Portc = &B0110

If Count = 11 Then Portc = &B0110

If Count = 12 Then Portc = &B0010

If Count = 13 Then Portc = &B1010

If Count = 14 Then Portc = &B1010

If Count = 15 Then Portc = &B1010

If Count = 16 Then Portc = &B1000

Waitus 85
End If

If Stepper = 1 And Direction = 1 Then
Decr Count
If Count = 255 Or Count = 0 Then Count = 16

If Count = 16 Then Portc = &B1000

If Count = 15 Then Portc = &B1010

If Count = 14 Then Portc = &B1010

If Count = 13 Then Portc = &B1010

If Count = 12 Then Portc = &B0010

If Count = 11 Then Portc = &B0110

If Count = 10 Then Portc = &B0110

If Count = 9 Then Portc = &B0110

If Count = 8 Then Portc = &B0100

If Count = 7 Then Portc = &B0101

If Count = 6 Then Portc = &B0101

If Count = 5 Then Portc = &B0101

If Count = 4 Then Portc = &B0001

If Count = 3 Then Portc = &B1001

If Count = 2 Then Portc = &B1001

If Count = 1 Then Portc = &B1001
Waitus 85
End If

Portc = &B0000
Loop

'===============================================================================
Manual:
Count = 0
Do
If Atas = 1 Then
Set Run
Incr Count
If Count = 9 Then Count = 1

If Count = 1 Then Portc = &B1001

If Count = 2 Then Portc = &B0001

If Count = 3 Then Portc = &B0101

If Count = 4 Then Portc = &B0100

If Count = 5 Then Portc = &B0110

If Count = 6 Then Portc = &B0010

If Count = 7 Then Portc = &B1010

If Count = 8 Then Portc = &B1000

Waitus 300
End If

If Bawah = 1 Then
Set Run
Decr Count
If Count = 0 Or Count = 255 Then Count = 8

If Count = 8 Then Portc = &B1000

If Count = 7 Then Portc = &B1010

If Count = 6 Then Portc = &B0010

If Count = 5 Then Portc = &B0110

If Count = 4 Then Portc = &B0100

If Count = 3 Then Portc = &B0101

If Count = 2 Then Portc = &B0001

If Count = 1 Then Portc = &B1001
Waitus 300
End If

If Atas = 0 And Bawah = 0 Then Portc = &B0000

Reset Run

Loop
Return

End
========================================
and the other problem,how to make portc not &b1111 or portc &b0000 but the portc is flowing..
so do anyone want to help me... how to make my program be perfectly, thanks.. Very Happy

bzijlstra · Posted: Mon Mar 09, 2015 4:41 pm Post subject: Small wait between steps...

Oke. What if you put a small wait between the steps. Have done the same and a waitus 40 did the trick here.

And perhaps you could put $hwstack, $swstack and $framesize inside your program.

Have fun
Ben Zijlstra

albertsm · Joined: 09 Apr 2004 Posts: 5921 Location: Holland

instead of :

If Count = 1 Then Portc = &B1001
If Count = 2 Then Portc = &B0001
If Count = 3 Then Portc = &B0101

you could consider a lookup table and Lookup() function.
This has the advantage that each step executes in the same time, no matter the value.
And you can even re-use some of the tables.

As Ben suggested, there is a time required between the steps. voltage and delay/frequency can be very important. you can also change delay once stepper is moving.
you could set portc to input when done, with port value to 0 so it becomes high Z.

kiki · Joined: 06 Dec 2013 Posts: 21

Oke thanks, I will test again the program..but I also have use the table() function and it same.because mach3 software that I use the steps signal can move fast and slow so in step signal is slowing down the stepper motor have vibrates. And I see the microstepping table for stepper motor it have voltage + , voltage 0, and voltage - so I am become confused about that. So in my mind I want to make my program/micro not have voltage + and not have voltage - because if we write the program portc=&b 1111 , the voltage of the portc must be+ and if we write the program portc=&b 0000 so the voltage of portc must be - right?
In my program I made: if count = 1 then portc=&b1001
In last execution I must put the portc=&b0000
Because if not my h-bridge mosfet can crash their voltage and the mosfet must be broken. So I am thinking I want the I/o port not working/flowing their voltage but how...I have no idea.help me please friends.