Difference between revisions of "Component: Stepper Motor Template (Mechatronics)"

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{| style="width:50%"
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{| width="50%"
 
 
|-
 
|-
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| width="20%" style="color: gray;" | Author
+
| width="20%" style="color:gray;" | Author
 
| Matrix Ltd
 
| Matrix Ltd
 
|-
 
|-
−
| width="20%" style="color: gray;" | Version
+
| width="20%" style="color:gray;" | Version
−
| 1.2 (Release)
+
| 1.2
 
|-
 
|-
−
| width="20%" style="color: gray;" | Category
+
| width="20%" style="color:gray;" | Category
 
| Mechatronics
 
| Mechatronics
 
|}
 
|}
  
  
 +
==Stepper Motor Template component==
 +
Enables the creation of a stepper motor component by specifying objects for its appearance. 'Attach to...' property should be exposed in any components buit from this - this sets a target object to be joined to the motor shaft. The target can then be rotated around the axis with a custom gear ration, or moved linearly according to the pitch of a given lead screw.
  
−
==[[File:Component Icon faf668b1_a0e6_426f_b1ef_9d4f8e54d784.png|Image]] Stepper Motor Template component==
+
==Detailed description==
−
Enables the creation of a stepper motor component by specifying objects for its appearance.
 
−
'Attach to...' property should be exposed in any components buit from this -
 
−
this sets a target object to be joined to the motor shaft.
 
−
The target can then be rotated around the axis with a custom gear ration, or moved linearly
 
−
according to the pitch of a given lead screw.
 
  
−
This component can be used as a base to create ''child'' components
+
''No detailed description exists yet for this component''
  
−
The following components all inherit the traits of Stepper Motor Template:
+
==Examples==
  
−
{| class="wikitable" width="50%"
 
−
|+|-
 
−
|[[File:Component Icon cfd176dc_a2c1_4dad_ac45_117781624c82.png|Image]] Stepper _ Generic
 
−
|A generic stepper motor model.  Includes a visual simulation showing the activaton pattern
 
−
of the coils.
 
−
Make another object move along with the stepper shaft using the 'Target' property.
 
−
The target object can rotate with the stepper shaft with a given gearing ratio, or be
 
−
moved linearly according to a given lead screw pitch.
 
−
|-
 
−
|[[File:Component Icon 23f522d8_3986_4482_a2dd_eac5e407c0d6.png|Image]] Stepper (NEMA8)
 
−
|A NEMA8 stepper motor model.  Includes a visual simulation showing the activaton pattern
 
−
of the coils.
 
−
Make another object move along with the stepper shaft using the 'Target' property.
 
−
The target object can rotate with the stepper shaft with a given gearing ratio, or be
 
−
moved linearly according to a given lead screw pitch.
 
−
|}
 
  
−
==Examples==
 
 
===Attaching a primitive to a stepper motor===
 
===Attaching a primitive to a stepper motor===
  
Line 72: Line 50:
 
==Downloadable macro reference==
 
==Downloadable macro reference==
  
−
===<span style="font-weight: normal;"><u><tt>IncrementStep</tt></u></span>===
+
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
−
Move the motor forward by one step.
+
|-
 +
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 +
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''IncrementStep'''
 +
|-
 +
| colspan="2" | Move the motor forward by one step.&nbsp;
 +
|-
 +
|-
 +
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 +
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 +
|}
  
−
'''Parameters'''
 
  
−
:''This macro has no parameters''
+
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 +
|-
 +
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 +
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetTarget'''
 +
|-
 +
| colspan="2" | Assign a panel object to be moved by the motor. Once linked, the object will respond to the 'Motor Simulation' properties, and it will be moved whenever the motor is stepped.&nbsp;
 +
|-
 +
|-
 +
| width="10%" align="center" | [[File:]] -
 +
| width="90%" | target
 +
|-
 +
| colspan="2" | An object to be moved by the motor.&nbsp;
 +
|-
 +
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 +
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 +
|}
  
  
−
'''Return value'''
+
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 +
|-
 +
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 +
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''DecrementStep'''
 +
|-
 +
| colspan="2" | Move the motor backwards by one step.&nbsp;
 +
|-
 +
|-
 +
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 +
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 +
|}
  
−
:''This call does not return a value''
 
  
 +
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 +
|-
 +
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 +
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''EnableMotor'''
 +
|-
 +
| colspan="2" | Turn on the motor.  This must be done before it will respond to any other macros.&nbsp;
 +
|-
 +
|-
 +
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 +
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 +
|}
  
−
===<span style="font-weight: normal;"><u><tt>DecrementStep</tt></u></span>===
 
−
Move the motor backwards by one step.
 
  
−
'''Parameters'''
+
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 +
|-
 +
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 +
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''DisableMotor'''
 +
|-
 +
| colspan="2" | Turn off the motor.  It will no longer respond to any other macros.&nbsp;
 +
|-
 +
|-
 +
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 +
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 +
|}
  
−
:''This macro has no parameters''
 
  
 +
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 +
|-
 +
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 +
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetTrim'''
 +
|-
 +
| colspan="2" | Allows the level of trim for each servo channel to be adjusted progmatically.&nbsp;
 +
|-
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 +
| width="90%" | Channel
 +
|-
 +
| colspan="2" | The channel to set the position for.  First channel is zero.&nbsp;
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 +
| width="90%" | Trim
 +
|-
 +
| colspan="2" | Legacy: 0=0us, 1=+25us, 2=+50us, 3=+75us, 4=+100us, 5=-25us, 6=-50us, 7=-75us, 8=-100us or Smooth: 0-200&nbsp;
 +
|-
 +
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 +
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 +
|}
  
−
'''Return value'''
 
  
−
:''This call does not return a value''
+
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 +
|-
 +
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 +
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''IsAutoMoving'''
 +
|-
 +
| colspan="2" | Is the AutoMoveToPosition movement complete.  Returns 1 if the servos are still moving.  Returns 0 if all servo movement is complete.&nbsp;
 +
|-
 +
|-
 +
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
 +
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 +
|}
  
  
−
===<span style="font-weight: normal;"><u><tt>EnableMotor</tt></u></span>===
+
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
−
Turn on the motor.  This must be done before it will respond to any other macros.
+
|-
 +
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 +
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetAutoMoveSpeedInt'''
 +
|-
 +
| colspan="2" | Sets the speed of the auto move to position macro.  Default speed is shown in the Servo_Period_Multiplier property.&nbsp;
 +
|-
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
 +
| width="90%" | Speed
 +
|-
 +
| colspan="2" | 1=Slowest (Default), 2= Double, 3=Triple, 4=Quadruple&nbsp;
 +
|-
 +
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 +
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 +
|}
  
−
'''Parameters'''
 
  
−
:''This macro has no parameters''
+
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 +
|-
 +
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 +
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''IsServoAutoMoving'''
 +
|-
 +
| colspan="2" | Is the AutoMoveToPosition movement complete for a specific servo output.  Returns 1 if the servo is still moving.  Returns 0 if the servo movement is complete.&nbsp;
 +
|-
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 +
| width="90%" | Channel
 +
|-
 +
| colspan="2" | Servo Motor Output Range: 0-7&nbsp;
 +
|-
 +
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
 +
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 +
|}
  
  
−
'''Return value'''
+
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 +
|-
 +
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 +
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''AutoMoveToPosition'''
 +
|-
 +
| colspan="2" | Automatically moves towards the new position at a fixed rate determined by the AutoMoveSpeed.&nbsp;
 +
|-
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 +
| width="90%" | Channel
 +
|-
 +
| colspan="2" | The channel to assign the new position. Range: 0-7&nbsp;
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 +
| width="90%" | Position
 +
|-
 +
| colspan="2" | Position to automatically move to. Range: 0-255&nbsp;
 +
|-
 +
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 +
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 +
|}
  
−
:''This call does not return a value''
 
  
 +
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 +
|-
 +
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 +
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''EnableServo'''
 +
|-
 +
| colspan="2" | Enables a servo channel effectivly setting the position of the motor to the value in the local position variable.&nbsp;
 +
|-
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 +
| width="90%" | Channel
 +
|-
 +
| colspan="2" | The channel to set the position for.  First channel is zero.&nbsp;
 +
|-
 +
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 +
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 +
|}
  
−
===<span style="font-weight: normal;"><u><tt>DisableMotor</tt></u></span>===
 
−
Turn off the motor.  It will no longer respond to any other macros.
 
  
−
'''Parameters'''
+
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 +
|-
 +
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 +
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetAutoMoveSpeed'''
 +
|-
 +
| colspan="2" | Sets the speed of the auto move to position macro.  Default speed is shown in the Servo_Period_Multiplier property.&nbsp;
 +
|-
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 +
| width="90%" | Speed
 +
|-
 +
| colspan="2" | 1=Slowest (Default), 2= Double, 3=Triple, 4=Quadruple&nbsp;
 +
|-
 +
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 +
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 +
|}
  
−
:''This macro has no parameters''
 
  
 +
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 +
|-
 +
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 +
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''AutoMoveToPositionInt'''
 +
|-
 +
| colspan="2" | Automatically moves towards the new 16-bit position at a fixed rate determined by the AutoMoveSpeed.&nbsp;
 +
|-
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 +
| width="90%" | Channel
 +
|-
 +
| colspan="2" | The channel to assign the new position. Range: 0-7&nbsp;
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
 +
| width="90%" | Position
 +
|-
 +
| colspan="2" | Position to automatically move to. Range: 0-65535&nbsp;
 +
|-
 +
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 +
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 +
|}
  
−
'''Return value'''
 
  
−
:''This call does not return a value''
+
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 +
|-
 +
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 +
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Initialise'''
 +
|-
 +
| colspan="2" | Sets up the servo motor interrupts&nbsp;
 +
|-
 +
|-
 +
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 +
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 +
|}
  
  
 +
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 +
|-
 +
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 +
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''WriteLEDs'''
 +
|-
 +
| colspan="2" | Allows control of all 8-LEDs on the front of the Formula Flowcode.&nbsp;
 +
|-
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 +
| width="90%" | LED_Byte
 +
|-
 +
| colspan="2" | &nbsp;
 +
|-
 +
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 +
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 +
|}
  
−
==Simulation macro reference==
 
  
−
===<span style="font-weight: normal;"><u><tt>SetTarget</tt></u></span>===
+
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
−
Assign a panel object to be moved by the motor.
+
|-
−
 
+
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
−
Once linked, the object will respond to the 'Motor Simulation' properties, and it
+
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Initialise'''
−
 
+
|-
−
will be moved whenever the motor is stepped.
+
| colspan="2" | Starts up the formula flowcode PWM for motor control and performs the wait for button press&nbsp;
−
 
+
|-
−
'''Parameters'''
+
|-
−
 
+
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
−
:[[Variable Types|HANDLE]] ''target''
+
| width="90%" style="border-top: 2px solid #000;" | ''Return''
−
::An object to be moved by the motor.
+
|}
−
 
 
−
 
 
−
'''Return value'''
 
−
 
 
−
:''This call does not return a value''
 
  
  
Line 148: Line 321:
  
 
==Property reference==
 
==Property reference==
−
<span style="font-weight: normal;"><u>Driver</u></span>
 
  
−
This property is of type ''Fixed list of ints'' and can be referenced with the variable name ''Driver''.
+
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
−
 
+
|-
−
''<span style="color:red;">No additional information</span>''
+
| width="10%" align="center" style="background-color:#D8C9D8;" | [[File:Fc9-prop-icon.png]]
−
 
+
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Properties'''  
−
 
+
|-
−
 
+
|-
−
<span style="font-weight: normal;"><u>Coil 1</u></span>
+
| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
−
 
+
| width="90%" | Winding Type
−
This property is of type ''Single digital pin'' and can be referenced with the variable name ''Coil_1''.
+
|-
−
 
+
| colspan="2" | The polarity settings of the motor windings. Refer to the data-sheet for your chosen hardware to determine this value.&nbsp;
−
Chip pin to which the first motor coil is connected.
+
|-
−
 
+
| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
−
<span style="font-weight: normal;"><u>Coil 2</u></span>
+
| width="90%" | Step Type
−
 
+
|-
−
This property is of type ''Single digital pin'' and can be referenced with the variable name ''Coil_2''.
+
| colspan="2" | Trade accuracy against torque by changing the type of stepping. Refer to the data-sheet for your chosen hardware to determine which modes your device supports.&nbsp;
−
 
+
|-
−
Chip pin to which the second motor coil is connected.
+
| width="10%" align="center" | [[File:Fc9-type-14-icon.png]]
−
 
+
| width="90%" | Steps Per Revolution
−
<span style="font-weight: normal;"><u>Coil 3</u></span>
+
|-
−
 
+
| colspan="2" | The number of steps it takes for the motor shaft to turn a full circle (360 degrees). Refer to the data-sheet for your chosen hardware to determine this value.&nbsp;
−
This property is of type ''Single digital pin'' and can be referenced with the variable name ''Coil_3''.
+
|-
−
 
+
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
−
Chip pin to which the third motor coil is connected.
+
| width="90%" | Angle Increment
−
 
+
|-
−
<span style="font-weight: normal;"><u>Coil 4</u></span>
+
| colspan="2" | Amount of change in the shaft angle when the IncrementStep / DecrementStep functions are called.&nbsp;
−
 
+
|-
−
This property is of type ''Single digital pin'' and can be referenced with the variable name ''Coil_4''.
+
| width="10%" align="center" | [[File:Fc9-type-17-icon.png]]
−
 
+
| width="90%" | Rotating Part
−
Chip pin to which the fourth motor coil is connected.
+
|-
−
 
+
| colspan="2" | Select a panel object here that will represent the moving part of the motor - for example, an output shaft or actuator.&nbsp;
−
<span style="font-weight: normal;"><u>Winding Type</u></span>
+
|-
−
 
+
| width="10%" align="center" | [[File:Fc9-type-17-icon.png]]
−
This property is of type ''Fixed list of ints'' and can be referenced with the variable name ''Winding_Type''.
+
| width="90%" | Rotation Centre
−
 
+
|-
−
The polarity settings of the motor windings.
+
| colspan="2" | Select a panel object to be the centre of rotation of the 'Rotating Part'.  If non is chosen, the 'Rotating Part' will revove around its own axes.&nbsp;
−
 
+
|-
−
Refer to the data-sheet for your chosen hardware to determine this value.
+
| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
−
 
+
| width="90%" | Rotate Around
−
<span style="font-weight: normal;"><u>Step Type</u></span>
+
|-
−
 
+
| colspan="2" | The axis of the 'Rotaion Centre' object around which the 'Rotating Part' will rotate.&nbsp;
−
This property is of type ''Fixed list of ints'' and can be referenced with the variable name ''Step_Type''.
+
|-
−
 
+
| width="10%" align="center" | [[File:Fc9-type-7-icon.png]]
−
Trade accuracy against torque by changing the type of stepping.
+
| width="90%" | Waveforms
−
 
+
|-
−
Refer to the data-sheet for your chosen hardware to determine which modes your device supports.
+
| colspan="2" | Allows waveforms to be auto generated on the data recorder window.&nbsp;
−
 
+
|-
−
<span style="font-weight: normal;"><u>Steps Per Revolution</u></span>
+
| width="10%" align="center" | [[File:Fc9-type-7-icon.png]]
−
 
+
| width="90%" | Coil Simulation
−
This property is of type ''Signed integer'' and can be referenced with the variable name ''Steps_Per_Rev''.
+
|-
−
 
+
| colspan="2" | Turn coil simulation on and off.&nbsp;
−
The number of steps it takes for the motor shaft to turn a full circle (360 degrees).
+
|-
−
 
+
| width="10%" align="center" | [[File:Fc9-type-17-icon.png]]
−
Refer to the data-sheet for your chosen hardware to determine this value.
+
| width="90%" | Coil 1
−
 
+
|-
−
<span style="font-weight: normal;"><u>Rotating Part</u></span>
+
| colspan="2" | Choose a panel object to represent the first coil. The simulation will automatically change this object's color to visualise when it is energised.&nbsp;
−
 
+
|-
−
This property is of type ''Panel object'' and can be referenced with the variable name ''moving_part''.
+
| width="10%" align="center" | [[File:Fc9-type-17-icon.png]]
−
 
+
| width="90%" | Coil 2
−
Select a panel object here that will represent the moving part of the motor - for example, an
+
|-
−
 
+
| colspan="2" | Choose a panel object to represent the second coil.  The simulation will automatically change this object's color to visualise when it is energised.&nbsp;
−
output shaft or actuator.
+
|-
−
 
+
| width="10%" align="center" | [[File:Fc9-type-17-icon.png]]
−
<span style="font-weight: normal;"><u>Rotation Centre</u></span>
+
| width="90%" | Coil 3
−
 
+
|-
−
This property is of type ''Panel object'' and can be referenced with the variable name ''axis''.
+
| colspan="2" | Choose a panel object to represent the third coil.  The simulation will automatically change this object's color to visualise when it is energised.&nbsp;
−
 
+
|-
−
Select a panel object to be the centre of rotation of the 'Rotating Part'. If non is chosen, the
+
| width="10%" align="center" | [[File:Fc9-type-17-icon.png]]
−
 
+
| width="90%" | Coil 4
−
'Rotating Part' will revove around its own axes.
+
|-
−
 
+
| colspan="2" | Choose a panel object to represent the fourth coil.  The simulation will automatically change this object's color to visualise when it is energised.&nbsp;
−
<span style="font-weight: normal;"><u>Rotate Around</u></span>
+
|-
−
 
+
| width="10%" align="center" | [[File:Fc9-type-1-icon.png]]
−
This property is of type ''Fixed list of ints'' and can be referenced with the variable name ''rot_axis''.
+
| width="90%" | Colour Non Active Coil
−
 
+
|-
−
The axis of the 'Rotaion Centre' object around which the 'Rotating Part' will rotate.
+
| colspan="2" | Make coil object this colour when they are NOT energised.&nbsp;
−
 
+
|-
−
<span style="font-weight: normal;"><u>Waveforms</u></span>
+
| width="10%" align="center" | [[File:Fc9-type-1-icon.png]]
−
 
+
| width="90%" | Colour Active Coil
−
This property is of type ''True or false'' and can be referenced with the variable name ''Waveforms''.
+
|-
−
 
+
| colspan="2" | Make the coil objects this colour when they ARE energised,.&nbsp;
−
Allows waveforms to be auto generated on the data recorder window.
+
|-
−
 
+
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
−
<span style="font-weight: normal;"><u>Coil Simulation</u></span>
+
| width="90%" | Gear Ratio
−
 
+
|-
−
This property is of type ''True or false'' and can be referenced with the variable name ''coils_enable''.
+
| colspan="2" | Set a non-zero value here to make the target object rotate whenever the motor spins.  The target will revolve around the same axis as the motor's own 'Moving Part' (e.g. drive shaft). A value of 1.00 make the target spin at the same speed as the motor. Choose other values to set the ratio of a 'virtual gearbox' to change the speed of the target's movement.&nbsp;
−
 
+
|-
−
Turn coil simulation on and off.
+
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
−
 
+
| width="90%" | X Linear Pitch
−
<span style="font-weight: normal;"><u>Coil 1</u></span>
+
|-
−
 
+
| colspan="2" | Set this to a non-zero value to move the target object linearly along its X-Axis whenever the motor spins. The value is the distance to move (world units) per complete rotation of the motor shaft - i.e. it simulates a typical linear drive that uses a lead-screw, with the property value equal to the screw pitch.&nbsp;
−
This property is of type ''Panel object'' and can be referenced with the variable name ''coil1_object''.
+
|-
−
 
+
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
−
Choose a panel object to represent the first coil.  The simulation will automatically change this
+
| width="90%" | Y Linear Pitch
−
 
+
|-
−
object's color to visualise when it is energised.
+
| colspan="2" | Set this to a non-zero value to move the target object linearly along its Y-Axis whenever the motor spins. The value is the distance to move (world units) per complete rotation of the motor shaft - i.e. it simulates a typical linear drive that uses a lead-screw, with the property value equal to the screw pitch.&nbsp;
−
 
+
|-
−
<span style="font-weight: normal;"><u>Coil 2</u></span>
+
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
−
 
+
| width="90%" | Z Linear Pitch
−
This property is of type ''Panel object'' and can be referenced with the variable name ''coil2_object''.
+
|-
−
 
+
| colspan="2" | Set this to a non-zero value to move the target object linearly along its Z-Axis whenever the motor spins. The value is the distance to move (world units) per complete rotation of the motor shaft - i.e. it simulates a typical linear drive that uses a lead-screw, with the property value equal to the screw pitch.&nbsp;
−
Choose a panel object to represent the second coil.  The simulation will automatically change this
+
|-
−
 
+
| width="10%" align="center" style="background-color:#D8C9D8;" | [[File:Fc9-conn-icon.png]]
−
object's color to visualise when it is energised.
+
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Connections'''  
−
 
+
|-
−
<span style="font-weight: normal;"><u>Coil 3</u></span>
+
|-
−
 
+
| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
−
This property is of type ''Panel object'' and can be referenced with the variable name ''coil3_object''.
+
| width="90%" | Driver
−
 
+
|-
−
Choose a panel object to represent the third coil.  The simulation will automatically change this
+
| colspan="2" | &nbsp;
−
 
+
|-
−
object's color to visualise when it is energised.
+
| width="10%" align="center" | [[File:Fc9-type-5-icon.png]]
−
 
+
| width="90%" | Coil 1
−
<span style="font-weight: normal;"><u>Coil 4</u></span>
+
|-
−
 
+
| colspan="2" | Chip pin to which the first motor coil is connected.&nbsp;
−
This property is of type ''Panel object'' and can be referenced with the variable name ''coil4_object''.
+
|-
−
 
+
| width="10%" align="center" | [[File:Fc9-type-5-icon.png]]
−
Choose a panel object to represent the fourth coil.  The simulation will automatically change this
+
| width="90%" | Coil 2
−
 
+
|-
−
object's color to visualise when it is energised.
+
| colspan="2" | Chip pin to which the second motor coil is connected.&nbsp;
−
 
+
|-
−
<span style="font-weight: normal;"><u>Colour Non Active Coil</u></span>
+
| width="10%" align="center" | [[File:Fc9-type-5-icon.png]]
−
 
+
| width="90%" | Coil 3
−
This property is of type ''Color picker'' and can be referenced with the variable name ''colour_non_act''.
+
|-
−
 
+
| colspan="2" | Chip pin to which the third motor coil is connected.&nbsp;
−
Make coil object this colour when they are NOT energised.
+
|-
−
 
+
| width="10%" align="center" | [[File:Fc9-type-5-icon.png]]
−
<span style="font-weight: normal;"><u>Colour Active Coil</u></span>
+
| width="90%" | Coil 4
−
 
+
|-
−
This property is of type ''Color picker'' and can be referenced with the variable name ''colour_act''.
+
| colspan="2" | Chip pin to which the fourth motor coil is connected.&nbsp;
−
 
+
|-
−
Make the coil objects this colour when they ARE energised,.
+
| width="10%" align="center" style="background-color:#D8C9D8;" | [[File:Fc9-conn-icon.png]]
−
 
+
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Simulations'''
−
<span style="font-weight: normal;"><u>Gear Ratio</u></span>
+
|-
−
 
+
|}
−
This property is of type ''Floating point'' and can be referenced with the variable name ''gear_ratio''.
 
−
 
 
−
Set a non-zero value here to make the target object rotate whenever the motor spins. The target
 
−
 
 
−
will revolve around the same axis as the motor's own 'Moving Part' (e.g. drive shaft).
 
−
 
 
−
A value of 1.00 make the target spin at the same speed as the motor. Choose other values
 
−
 
 
−
to set the ratio of a 'virtual gearbox' to change the speed of the target's movement.
 
−
 
 
−
<span style="font-weight: normal;"><u>X Linear Pitch</u></span>
 
−
 
 
−
This property is of type ''Floating point'' and can be referenced with the variable name ''x_pitch''.
 
−
 
 
−
Set this to a non-zero value to move the target object linearly along its X-Axis whenever the motor spins.
 
−
 
 
−
The value is the distance to move (world units) per complete rotation of the motor shaft - i.e. it
 
−
 
 
−
simulates a typical linear drive that uses a lead-screw, with the property value equal to the
 
−
 
 
−
screw pitch.
 
−
 
 
−
<span style="font-weight: normal;"><u>Y Linear Pitch</u></span>
 
−
 
 
−
This property is of type ''Floating point'' and can be referenced with the variable name ''y_pitch''.
 
−
 
 
−
Set this to a non-zero value to move the target object linearly along its Y-Axis whenever the motor spins.
 
−
 
 
−
The value is the distance to move (world units) per complete rotation of the motor shaft - i.e. it
 
−
 
 
−
simulates a typical linear drive that uses a lead-screw, with the property value equal to the
 
−
 
 
−
screw pitch.
 
−
 
 
−
<span style="font-weight: normal;"><u>Z Linear Pitch</u></span>
 
−
 
 
−
This property is of type ''Floating point'' and can be referenced with the variable name ''z_pitch''.
 
−
 
 
−
Set this to a non-zero value to move the target object linearly along its Z-Axis whenever the motor spins.
 
−
 
 
−
The value is the distance to move (world units) per complete rotation of the motor shaft - i.e. it
 
−
 
 
−
simulates a typical linear drive that uses a lead-screw, with the property value equal to the
 
−
 
 
−
screw pitch.
 

Revision as of 21:05, 16 November 2021

Author Matrix Ltd
Version 1.2
Category Mechatronics


Stepper Motor Template component

Enables the creation of a stepper motor component by specifying objects for its appearance. 'Attach to...' property should be exposed in any components buit from this - this sets a target object to be joined to the motor shaft. The target can then be rotated around the axis with a custom gear ration, or moved linearly according to the pitch of a given lead screw.

Detailed description

No detailed description exists yet for this component

Examples

Attaching a primitive to a stepper motor

This example links a panel primitive to the output of the motor. FC6 Icon.png Stepper Example 1 The linked object can be rotated or moved in a fixed direction by the motor.

StepperProps.jpg


Linear movement using a stepper motor

This example links two stepper motors together using linear type movements rather then rotational similar to a stepper attached to a lead screw. FC6 Icon.png Stepper Example 2 The stepper is linked to the objects on the panel using properties and grouping.

LinStepper.jpg


Creating a multi-axis actuator using stepper motors

This example links three stepper motors together using panel primitive objects and groups. FC6 Icon.png Stepper Example 3 Here we can see the actuator arm in motion.

LinkedStepper.jpg

Downloadable macro reference

Fc9-comp-macro.png IncrementStep
Move the motor forward by one step. 
Fc9-void-icon.png - VOID Return


Fc9-comp-macro.png SetTarget
Assign a panel object to be moved by the motor. Once linked, the object will respond to the 'Motor Simulation' properties, and it will be moved whenever the motor is stepped. 
[[File:]] - target
An object to be moved by the motor. 
Fc9-void-icon.png - VOID Return


Fc9-comp-macro.png DecrementStep
Move the motor backwards by one step. 
Fc9-void-icon.png - VOID Return


Fc9-comp-macro.png EnableMotor
Turn on the motor. This must be done before it will respond to any other macros. 
Fc9-void-icon.png - VOID Return


Fc9-comp-macro.png DisableMotor
Turn off the motor. It will no longer respond to any other macros. 
Fc9-void-icon.png - VOID Return


Fc9-comp-macro.png SetTrim
Allows the level of trim for each servo channel to be adjusted progmatically. 
Fc9-u8-icon.png - BYTE Channel
The channel to set the position for. First channel is zero. 
Fc9-u8-icon.png - BYTE Trim
Legacy: 0=0us, 1=+25us, 2=+50us, 3=+75us, 4=+100us, 5=-25us, 6=-50us, 7=-75us, 8=-100us or Smooth: 0-200 
Fc9-void-icon.png - VOID Return


Fc9-comp-macro.png IsAutoMoving
Is the AutoMoveToPosition movement complete. Returns 1 if the servos are still moving. Returns 0 if all servo movement is complete. 
Fc9-u8-icon.png - BYTE Return


Fc9-comp-macro.png SetAutoMoveSpeedInt
Sets the speed of the auto move to position macro. Default speed is shown in the Servo_Period_Multiplier property. 
Fc9-u16-icon.png - UINT Speed
1=Slowest (Default), 2= Double, 3=Triple, 4=Quadruple 
Fc9-void-icon.png - VOID Return


Fc9-comp-macro.png IsServoAutoMoving
Is the AutoMoveToPosition movement complete for a specific servo output. Returns 1 if the servo is still moving. Returns 0 if the servo movement is complete. 
Fc9-u8-icon.png - BYTE Channel
Servo Motor Output Range: 0-7 
Fc9-u8-icon.png - BYTE Return


Fc9-comp-macro.png AutoMoveToPosition
Automatically moves towards the new position at a fixed rate determined by the AutoMoveSpeed. 
Fc9-u8-icon.png - BYTE Channel
The channel to assign the new position. Range: 0-7 
Fc9-u8-icon.png - BYTE Position
Position to automatically move to. Range: 0-255 
Fc9-void-icon.png - VOID Return


Fc9-comp-macro.png EnableServo
Enables a servo channel effectivly setting the position of the motor to the value in the local position variable. 
Fc9-u8-icon.png - BYTE Channel
The channel to set the position for. First channel is zero. 
Fc9-void-icon.png - VOID Return


Fc9-comp-macro.png SetAutoMoveSpeed
Sets the speed of the auto move to position macro. Default speed is shown in the Servo_Period_Multiplier property. 
Fc9-u8-icon.png - BYTE Speed
1=Slowest (Default), 2= Double, 3=Triple, 4=Quadruple 
Fc9-void-icon.png - VOID Return


Fc9-comp-macro.png AutoMoveToPositionInt
Automatically moves towards the new 16-bit position at a fixed rate determined by the AutoMoveSpeed. 
Fc9-u8-icon.png - BYTE Channel
The channel to assign the new position. Range: 0-7 
Fc9-u16-icon.png - UINT Position
Position to automatically move to. Range: 0-65535 
Fc9-void-icon.png - VOID Return


Fc9-comp-macro.png Initialise
Sets up the servo motor interrupts 
Fc9-void-icon.png - VOID Return


Fc9-comp-macro.png WriteLEDs
Allows control of all 8-LEDs on the front of the Formula Flowcode. 
Fc9-u8-icon.png - BYTE LED_Byte
 
Fc9-void-icon.png - VOID Return


Fc9-comp-macro.png Initialise
Starts up the formula flowcode PWM for motor control and performs the wait for button press 
Fc9-void-icon.png - VOID Return



Property reference

Fc9-prop-icon.png Properties
Fc9-type-16-icon.png Winding Type
The polarity settings of the motor windings. Refer to the data-sheet for your chosen hardware to determine this value. 
Fc9-type-16-icon.png Step Type
Trade accuracy against torque by changing the type of stepping. Refer to the data-sheet for your chosen hardware to determine which modes your device supports. 
Fc9-type-14-icon.png Steps Per Revolution
The number of steps it takes for the motor shaft to turn a full circle (360 degrees). Refer to the data-sheet for your chosen hardware to determine this value. 
Fc9-type-15-icon.png Angle Increment
Amount of change in the shaft angle when the IncrementStep / DecrementStep functions are called. 
Fc9-type-17-icon.png Rotating Part
Select a panel object here that will represent the moving part of the motor - for example, an output shaft or actuator. 
Fc9-type-17-icon.png Rotation Centre
Select a panel object to be the centre of rotation of the 'Rotating Part'. If non is chosen, the 'Rotating Part' will revove around its own axes. 
Fc9-type-16-icon.png Rotate Around
The axis of the 'Rotaion Centre' object around which the 'Rotating Part' will rotate. 
Fc9-type-7-icon.png Waveforms
Allows waveforms to be auto generated on the data recorder window. 
Fc9-type-7-icon.png Coil Simulation
Turn coil simulation on and off. 
Fc9-type-17-icon.png Coil 1
Choose a panel object to represent the first coil. The simulation will automatically change this object's color to visualise when it is energised. 
Fc9-type-17-icon.png Coil 2
Choose a panel object to represent the second coil. The simulation will automatically change this object's color to visualise when it is energised. 
Fc9-type-17-icon.png Coil 3
Choose a panel object to represent the third coil. The simulation will automatically change this object's color to visualise when it is energised. 
Fc9-type-17-icon.png Coil 4
Choose a panel object to represent the fourth coil. The simulation will automatically change this object's color to visualise when it is energised. 
Fc9-type-1-icon.png Colour Non Active Coil
Make coil object this colour when they are NOT energised. 
Fc9-type-1-icon.png Colour Active Coil
Make the coil objects this colour when they ARE energised,. 
Fc9-type-15-icon.png Gear Ratio
Set a non-zero value here to make the target object rotate whenever the motor spins. The target will revolve around the same axis as the motor's own 'Moving Part' (e.g. drive shaft). A value of 1.00 make the target spin at the same speed as the motor. Choose other values to set the ratio of a 'virtual gearbox' to change the speed of the target's movement. 
Fc9-type-15-icon.png X Linear Pitch
Set this to a non-zero value to move the target object linearly along its X-Axis whenever the motor spins. The value is the distance to move (world units) per complete rotation of the motor shaft - i.e. it simulates a typical linear drive that uses a lead-screw, with the property value equal to the screw pitch. 
Fc9-type-15-icon.png Y Linear Pitch
Set this to a non-zero value to move the target object linearly along its Y-Axis whenever the motor spins. The value is the distance to move (world units) per complete rotation of the motor shaft - i.e. it simulates a typical linear drive that uses a lead-screw, with the property value equal to the screw pitch. 
Fc9-type-15-icon.png Z Linear Pitch
Set this to a non-zero value to move the target object linearly along its Z-Axis whenever the motor spins. The value is the distance to move (world units) per complete rotation of the motor shaft - i.e. it simulates a typical linear drive that uses a lead-screw, with the property value equal to the screw pitch. 
Fc9-conn-icon.png Connections
Fc9-type-16-icon.png Driver
 
Fc9-type-5-icon.png Coil 1
Chip pin to which the first motor coil is connected. 
Fc9-type-5-icon.png Coil 2
Chip pin to which the second motor coil is connected. 
Fc9-type-5-icon.png Coil 3
Chip pin to which the third motor coil is connected. 
Fc9-type-5-icon.png Coil 4
Chip pin to which the fourth motor coil is connected. 
Fc9-conn-icon.png Simulations
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