Open Source Ecology - User contributions [en]

Stepper Motor Controller

2012-08-30T18:16:00Z

Petefrey:

'' See also [[Stepper Motor]] and [[Open Source Stepper Motor Controller]]''

The stepper motor and its controller is one of the most central components of our automated manufacturing tools, which in turn are one of the most central components of the GVCS.

==Details==

Luckily, there are a number of off-the-shelf options available which can be purchased and used immediately. Unfortunately, these are somewhat expensive, they won't be standardized among the community, and we're going to need quite a few of them. The RepRap, laser cutter, torchtable, cnc machine, circuit maker, and pick and place machine could need up to 3 each or more. Since we're building a mini factory, we'll likely need them in other applications as well.

It is essential that the community thoroughly understand stepper motors - their uses, limitations, and ways to maximize performance. Moving things precisely is a skill we need to get very good at.

To that end, at a minimum, we need to standardize on an off-the-shelf system in the near term, and create one or perhaps more of our own motor controllers that will suit our needs in the longer term.

Below is the wikipedia entry for stepper motors as well as tons of info on the RepRap page.

http://en.wikipedia.org/wiki/Stepper_motor

This is a goldmine for drivers:
http://reprap.org/wiki/StepperMotor#Stepper_drivers

===Team/contributors===
Please list your name here if you are working on this at all.

=Off-the-shelf options=
*5 axis version of controller brain (minus power handling) - can this be used with any power-handling system? - [http://cgi.ebay.com/Stepper-Motor-Driver-5-Axis-Interface-Board-adapter-CNC_W0QQitemZ280629123412QQcategoryZ71394QQcmdZViewItemQQ_trksidZp4340.m263QQ_trkparmsZalgo%3DSIC%26its%3DI%252BC%26itu%3DUCI%252BIA%252BUA%252BFICS%252BUFI%26otn%3D10%26pmod%3D170534793516%26ps%3D63%26clkid%3D8364085935586332348]
*An up to .75A brawn module from Sparkfun - [http://www.sparkfun.com/products/10267]
**Any advantage cf. open source RepRap stepper controllers?
**This does offer USB connection, and is open source - [http://schmalzhaus.com/EasyDriver/]
*3 axis, 3A kit on eBay, $200 - [http://cgi.ebay.com/CNC-Kit-3-Axis-NEMA-23-Stepper-Motor-Driver-Controller-/300403585925]
[[Category:Open Source Microfactory]][[Category:Torch Table]]
* CNC Stepper Motor Controller at [http://www.instructables.com/id/Easy-to-build-CNC-Mill-Stepper-Motor-and-Driver-ci/].
*Rugged motor driver. 2.9 Amps. Only $23. [http://ruggedcircuits.com/html/rugged_motor_driver.html]

===Turnkey systems===
*2-axis, 4A, 24V system - [http://www.probotix.com/index.php?view=product&path=24&product_id=34]

=Technical background information=
In this section, we gather together the knowledge of stepper motor controllers and stepper motors.
==Education==
Here all the information is listed to bring you up-to-speed on stepper motors and stepper motor controllers.
===Overview===
*Overview of stepper motor and driver technology: http://www.ams2000.com/pdf/step101.pdf
*Good resource with links, explanations, and physics: http://www.cs.uiowa.edu/~jones/step/

===Motor driver circuits (must read)===
<ins>Must-read</ins> info on motor driving circuits. Basic [http://www.cs.uiowa.edu/~jones/step/circuits.html], and current limiting [http://www.cs.uiowa.edu/~jones/step/current.html].

===Stepper motor sizes===
*Nema 23 motors are about 6x6x8 cm size - and require _______ amps for driving.
**[[Xylotex]] says body length is 3"

===Electromechanical operation===
*Good diagrams here showing the inside of a stepper motor [http://www.engineersgarage.com/articles/stepper-motors].
*Choose motor type and number of leads, and it generates an image of the motor [http://en.nanotec.com/steppermotor_animation.html]. Not in English.
*Stepper motor disassembled. http://www.ducttapeeng.com/smd/smd1.htm

===Microstepping===
The link below explains microstepping in detail. Basically, a stepper motor has about 200 little poles inside it. It is moved by alternating the magnetic field in such a way that the motor moves from one pole to the next, or steps, hence the name. This is sort of a 'digital' mechanical action - discrete jumps in position. With microstepping, instead of the field turning completely off on one pole and moving to the next, the field is on both adjacent poles at the same time, creating a 'tug of war' between the poles. The microstep angle is proportional to the ratio of current in each adjacent pole. If the currents are equal, the rotor pole will go halfway between the stator poles. If one pole has 75% of the current and the other has 25% of the current, it will go proportionally to the one with higher current, a quarter step. This can be thought of as an 'analog' mechanical action, so microstepping as you can see can give you better accuracy but may not be as trivial to implement. My explanation is simplified, the below link explains it properly.

A note about microstepping though is that it's sole function isn't always to increase resolution. It will cut down on motor vibration, noise, and wear when it is used to drive the motor through smooth rotations, because instead of one pole snapping to the next in quick succession, one pole gradually transitions to the next in the microstep increments you are using. Using quarter steps for example would give you four little gaps to snap to, as opposed to one big step.

http://www.zaber.com/wiki/Tutorials/Microstepping

===MIT Motor control lab===
A laboratory assignment from MIT opencourseware where they take an audrino board and control a motor.
[http://ocw.mit.edu/courses/mechanical-engineering/2-017j-design-of-electromechanical-robotic-systems-fall-2009/labs/]

===Digi-Key/STMicroelectronics 72 slide tutorial on small motor drivers (must read)===
Great practical tutorial on building motor controllers. Discusses different power classes of motors, different ICs available (STMicroelectronics ICs) and what different architectures for motor controllers can be used and when they should be used. <ins>Must read.</ins> [http://www.digikey.com/PTM/IndividualPTM.page?site=us&lang=en&ptm=9991&WT.pn_sku=497-1395-5-ND&WT.z_ptm_source=Part_Detail]

==A modern design example==
Here we will detail the operation of a common design for modern stepper motor controllers. We hope to fully understand this design and either base our design off of it or take it's essential features and create a new design.
===High-level architecture===
Insert picture of overall architecture showing the control computer, the indexer, the power supply, and the driving circuit.

===Indexer===
Discuss indexer functionality and implementation.

===Driver circuitry===
In this section we focus on what seems to be the most common modern design for stepper motor controllers, the chopper circuit. From Wikipedia:

''"Modern stepper controllers drive the motor with much higher voltages than the motor nameplate rated voltage, and limit current through chopping. The usual setup is to have a positioning controller, known as an indexer, sending step and direction pulses to a separate higher voltage drive circuit which is responsible for commutation and current limiting"''

=Components and chips=
In this section critical relevant electronic components are listed, including suppliers. The purpose is to aggregate a list of key components so that a design can be built around the best, lowest cost, components.

===Microcontrollers===
I'd recommend, hands down, going with Atmel AVR microcontrollers. They've got a huge support community, eg, Arduino.

===Motor driver chips and H-bridges===
This section is loosely for ICs that are designed to drive motors. Some are just simply H-bridges with protection circuitry, others include things like PWM.

'''Allegro A3959''' [http://www.allegromicro.com/en/Products/Part_Numbers/3959/]
Extremely interesting chip. Up to ±3A output current built in sense and PWM. Its $5.91 at Digikey [http://search.digikey.com/scripts/DkSearch/dksus.dll?Detail&name=620-1069-ND] for a DIP package, and as low as $2.76 for a surface mount package. The DIP package is only $4.98 at Newark [http://www.newark.com/jsp/search/productdetail.jsp?id=27C9545].

'''National Semiconductor LM298 (obsolete)''' [http://search.digikey.com/scripts/DkSearch/dksus.dll?vendor=0&keywords=lm298]
Commonly used with stepper motors. $8.32 at Digikey

'''National Semiconductor LMD18245T''' [http://search.digikey.com/scripts/DkSearch/dksus.dll?vendor=0&keywords=LMD18245T]
Commonly used with stepper motors. $20.09 at Digikey. $18.25 at Newark [http://www.newark.com/jsp/search/productdetail.jsp?SKU=41K2747].

'''STMICROELECTRONICS - L298N''' [http://www.newark.com/jsp/search/productdetail.jsp?SKU=32M1527] IC MOTOR DRVR FULL BRIDGE 2A MULTIWATT15 $2.78 at Newark

'''ALLEGRO SANKEN - SLA7026M''' [http://www.newark.com/jsp/search/productdetail.jsp?SKU=95B3005] IC, MOTOR CTRL/DRVR, STEPPER, 3A, SIP-18 $7.08 at Newark

=Open source projects=
*RepRap 3D printer http://reprap.org/wiki/StepperMotor
**Tons of info, meta source
*An AVR-Based Microstepping Bipolar Chopper Stepper Motor Driver (STMD) http://www.avrstmd.com/
* Cerebral Meltdown motor controller [http://www.cerebralmeltdown.com/heliostatprojects/Arduino_Sun_Tracker_Circuit/Driver_Board/index.html]

=OSE controller=
==System requirements==
This is the requirements section for the OSE motor controller, as a system. These requirements will dictate the design, as well as the off-the-shelf system chosen.

'''Functionality''' 
List what functions the system needs to have.

'''Performance''' 
List the performance (torque, accuracy, etc) the system needs.

'''Manufacturability''' 
List important manufacturability details - minimum feature size on circuit board, for example.
*The first version should be design to be constructed on a breadboard.

'''Motor compatibility''' 
Will this system be compatible with only one motor? One type of motor (unipolar, bipolar)? What size motor (current rating)?

'''Cost''' 
How critical is the cost? Do we need to have two designs - one low-cost design for driving a single motor, and a higher cost design for driving 3 - 4 motors?

'''Ease of construction and ease of use''' 
Does the system need to be designed for construction and use by a layman with absolutely no electronics experience?

'''Size''' 
Does the controller have a size requirement? Any other physical requirements?

'''Other requirements''' 

==Already an OSE controller?==
There appears to be some work already being done, although somewhat loosely or perhaps incidental work. Need to investigate.
http://opencapitalist.org/content/4-axis-motor-controller
==Brainstorming==
Please sign you name by putting four tildas (~) in a row.

===Power supply===
[[File:Atx_power_supply_unit_table.png|thumb|right|500px|Current for each voltage for an ATX power supply unit [http://www.formfactors.org/developer/specs/ATX12V_PSDG_2_2_public_br2.pdf].]]
What if we used power supply units from PCs? They're pretty high current and they can be placed in series for 12 volt, 24 volt, 36 volt, etc, systems. They've got 5 volt taps to run the microcontroller off of. They're ubiquitous and either free or cheap. [[User:Jason|Jason]] 00:46, 23 May 2011 (PDT)
*Wiring diagrams [http://en.wikipedia.org/wiki/Power_supply_unit_%28computer%29#Wiring_diagrams]. Notice both +12V and -12V rails available. [[User:Jason|Jason]] 13:57, 23 May 2011 (PDT)
*Here is a table of the common supply currents from here [http://www.formfactors.org/developer/specs/ATX12V_PSDG_2_2_public_br2.pdf]. It appears that the -12V line doesn't have enough current to be used, however, the 3.3V, 5V, and 12V each have a generous amount of current. [[User:Jason|Jason]] 09:56, 25 May 2011 (PDT)
*Perhaps two PSUs can be used, one as the positive rail, one as the negative rail. Investigation is needed. [[User:Jason|Jason]] 10:14, 25 May 2011 (PDT)

===Crazy idea - combine inverter and motor controller circuits onto one===
It seems to me that the high cost of both motor controllers and inverters are some pricy power electronics components. What if we could reuse those expensive power electronics components to make a single circuit that can either be an inverter or motor controller? An inverter takes DC power from batteries and creates an AC signal. However, when running motors, you don't need that functionality, because you're taking DC power and running motors with it. So, potentially, with a single expensive piece of power electronics, you could combine inverter and motor controlling capabilities for just a little more than supporting just a single function. Discuss. [[User:Jason|Jason]] 03:32, 23 May 2011 (PDT)

===Vacuum tubes===
http://openfarmtech.org/forum/discussion/220/making-vacuum-tubes

We have need of some power electronics, which include inverters and motor controllers. The primary cost of these circuits are the power electronic components. While we could definitely look at what it would take to make some of these semiconductor components, another option would be to look into what it would take to make vacuum tubes. This could potentially cut out those $20 mosfets we will need, and all the other components should be inexpensive in comparison. We aren't creating perfect audio here, or trying to make a communications system. We're simply powering stuff. Maybe its feasible. [[User:Jason|Jason]] 12:03, 23 May 2011 (PDT)

==Software/firmware==
The software is essentially a separate project from the hardware. From what I understand, there are essentially two forms the software can take: either implementing a very basic 'step' function only into the microcontroller, and controlling everything else from the PC side, or doing most of the control from within the microcontroller. Some functionality that can be in either are:
*acceleration/deceleration
*automatically microstepping depending on the motor speed, to allow for smooth movement
*accounting for motor resonances and damping them
*in general modeling the system it's driven load as closely as possible to allow accurate open-loop operation at decent performance

I think there are quite a few more parameters to deal with. In the end, we will probably be essentially designing this thing to interface with EMC2, which has many of these features. We may need a dedicated linux box for each table. Or should we design the system to connect to a network? Perhaps it should interface with something like a beagleboard?

I think in any case, the controller firmware should have both the option to run in two modes: one just being a simple step mode controlled externally, and the other being a highly integrated control within the microcontroller requiring only high-level commands externally. The microcontroller can then be flashed to operate with a specific motor or system, and the external software just gives it high-level commands which are fairly generic across pieces of hardware its controlling.

===Requirements===
Software requirements to go here.

==Hardware/circuit==
The hardware needs to be optimized rather closely with the usage scenario to save costs. It may be possible to have several different circuit designs that run essentially the same firmware, so that the design which is the minimum needed can generally be used. It may even be possible to have several circuit configurations all work on the same PCB, with certain parts not loaded depending on the desired operation.

===Requirements===
Hardware requirements to go here.

==Design proposal==
Proposed design to go here.

==Roadmap==
===Version 0.0===
Version 0.0 will simply be an agreed upon off-the-shelf system suitable for most RepLab needs. This will standardize the hardware people are using, either for those who can't yet build their own system, or for those who don't wish to mess with the electronics. The chosen system should have a controller which is compatible with motors we build in the future, and motors which are compatible with the controller we build in the future.

In addition, the microcontroller should ideally be the same as the microcontroller used in the open source design. This will allow the software to be developed and tested completely independently of the hardware.

==Version 0.0==
This section needs to be filled in asap. Careful considerations must be made, however, to make sure the chosen off-the-shelf system is compatible with the open source version of the system. A re-programmable AVR based system would be ideal.

Open Source Stepper Motor Controller Problem Statement

2012-08-30T18:00:20Z

Petefrey:

''See also [[Stepper Motor]] and [[Stepper Motor Controller]].''

=Problem Statement=

To date, there is no open source variant of the respected [[Gecko G540]] stepper motor controller. Smaller ones are available for [[RepRap]], but is there an open source option that could be used on a larger device such as the [[Torch Table Build]]? The problem statement involves driving the cost of these stepper controllers down to about $10 or so per axis by the ability to mill them on a bootstrapping CNC Circuit Mill. Thus, the problem statement is threefold:

#What is the best bootstrapping CNC circuit mill available that could produce not only the stepper motor controller but also the microcontroller (Arduino equivalent)?
#What is the best open source stepper controller that can be used, and can it be adapted to higher voltage power supplies that would allow sufficient power to drive a torch table?
#If the above is not possible, then we move on to an [[Open Source Stepper Motor Controller]] designed from the ground up

See [http://en.wikipedia.org/wiki/Stepper_motor Stepper Motor on Wikipedia] for a high level description and a nice animation of how one works. 
[http://www.cs.uiowa.edu/~jones/step/ A Tutorial on Control of Stepping Motors]. 

=Requirements=

The stepper motor being considered is the Xylotex Nema 23 Double Stack/Double Shaft Bipolar Stepper Motor.
See [http://www.xylotex.com/StepperMotor.htm].

Specifications are:

{|
|-
! Holding Torque
| 269 oz.in
|-
! Rated Current
| 2.8A/phase
|-
! Phase Resistance
| 1.13 Ohms
|-
! Phase Inductance
| 3.6mH
|-
! Step Angle
| 1.8 degree (200 spr)
|-
! Motor Body Length
| 3 inches
|-
! Shaft width
| .25 inch
|-
! Front Shaft length
| .75 inch
|-
! Back Shaft length
| .62 inch
|-
! Wire lead length
| ~12 inches
|-
|}

=Possible Solutions=

A possible solution is to use an existing open source driver option and a CNC mill to build them.:

#http://reprap.org/wiki/StepperMotor#Stepper_drivers
#[[Mantis Machine 9]] - appears to have a boot-strappable stepper controller and microcontroller design that could be made on this $100 mill. Good points - $20 spindle; $100 for everything. Modify this to metal for stability, and this would make a great universal bootstrapping circuit mill to last a lifetime.
#[[SnapLock]] appears to be a robust bootstrapping mill, but [http://mtm.cba.mit.edu/machines/mtm_snap-lock/design/bom.html cost is $600]
#[[MyDIYCNC]] - $580 for complete kit
#[[RepRap Prusa Mendel]] - simplified version of RepRap Mendel. What's the cost for just circuit milling?
#'''News''' - [http://opencapitalist.org/content/4-axis-stepper-motor-controller Open Capitalist Controller] is making a custom version of their open source controller, capable of handling 3.5A and 40V power, as a CNC circuit-millable version, design files to be provided by May 1, 2011
#[http://www.dr-iguana.com/prj_StepperDriver/ Dr Iguana's open source stepper driver] - this is an open source microprocessor controller using a dsPic microcontroller. Check out the video - it is FAST!!! All source code, schematics, gerber files & BOM are available at the same link.

==KitsRUs==

# KitsRUs [http://www.kitsrus.com/kits2.html| Kit 94 Digital Rotary Control of a Unipolar Stepper Motor]
## [http://www.kitsrus.com/jpg2/k94_pcb.jpg| Picture of PCB]
## [http://www.kitsrus.com/zip/encoder.zip| encoder.zip Kit 94 source code 2K]
## [http://www.kitsrus.com/projects/ecw1j.pdf| ecw1j.pdf Kit 94 Bourn Grey Switch encoder Data Sheet]
# KitsRUs Kit 109 Unipolar Stepper Motor Driver Kit
## Drives any 5, 6 or 8 lead unipolar stepper motor. Based on the UCN5804 IC. All features of this IC (direction, on/off, pins 9 & 10) are brought out to SPDT PCB-mounted switches. Pulses from a 555 setup as an astable oscillator are used to rough position the motor. Switch to manual single-step mode for final positioning using a tact switch. 4 LED's give visual indication that step has been made. Three run modes supported. Full explanation
# KitsRUs Kit 113
## March 14, 2005. Kits 113 158 179. Peter Simmonds has developed a visual basic program with source code which can interface a PC running windows to the stepper motor kits K113, K158 and K179 via the parallel port. It uses a high speed timer component RSTimer. Both the source code and RSTimer are available for free at here. Two Stepper Motors Driven from a PC. Connects to the PC parallel port & will drive two stepper motors up to max. 3A each. All contained in an RS232, extended D-shell case. Software will accept 4 inputs from external switches. Software will also single step motors. Three run modes supported. All components supplied except the stepper motors. This kit uses a Grey switch aka bit switch, to single step a unipolar stepper motor in either direction. Uses a PIC 16C54 plus UCN5804 stepper driver IC. PCB is 4 in square, single sided.
# KitsRUs Kit 158, Bi-polar Stepper Motor Driver kit
## March 14, 2005. Kits 113 158 179. Peter Simmonds has developed a visual basic program with source code which can interface PC running windows to the stepper motor kits K113, K158 and K179 via the parallel port. It uses a high speed timer componentRSTimer. Both the source code and RSTimer are available for free at here
# KitsRUs Kit 187 Stepper Motor Drive
## The Stepper Motor Chopper Driver is a Bipolar Stepper Motor Drive with easily adjustable current control up to 2A, based on the SGS-Thompson L297 and L298 stepper motor controller and driver IC’s. Stepper motors are rated by current and and not by voltage. A chopper driver because it is switching on and off current allows a set current to be fed to the coils and not be dependent on the voltage of the power supply. The Chopper Driver also allows for the use of higher voltage power supplies (up to 36V) to overcome the effects of the inductance of the coils giving better performance and a higher top speed.

==Electronics 123==

<pre>
Toll Free: 1-888-549-3749 (USA & Canada)
Tel: (330) 482-9944
Fax: (330) 266-7307
Web: http://www.electronics123.com

General customer support questions: E-mail: general@electronics123.com
Technical product questions/support: E-mail: support@electronics123.com

Address:
Physical: 102 East Park Ave, Columbiana, OH 44408-1353, USA.
Mailing: PO Box 21, Columbiana, OH 44408-0021, USA.
</pre>

===EasyDriver Stepper Motor Driver===

* A3967 microstepping driver
* MS1 and MS2 pins broken out to change microstepping resolution to full, half, quarter and eighth steps (defaults to eighth)
* Compatible with 4, 6, and 8 wire stepper motors of any voltage
* Adjustable current control from 150mA/phase to 750mA/phase
* Power supply range from 7V to 30V. The higher the voltage, the higher the torque at high speeds

Here is a simple motor controller for $14.25 at [http://www.electronics123.com/s.nl/it.A/id.3115/.f Electronics 123]. Fully assembled, no less.

The EasyDriver is a simple to use stepper motor driver, compatible with anything that can output a digital 0 to 5V pulse (or 0 to 3.3V pulse if you solder SJ2 closed on the EasyDriver). EasyDriver requires a 7V to 30V supply to power the motor and can power any voltage of stepper motor. The EasyDriver has an on board voltage regulator for the digital interface that can be set to 5V or 3.3V. Connect a 4-wire stepper motor and a microcontroller and you've got precision motor control! EasyDriver drives bi-polar motors, and motors wired as bi-polar. I.e. 4,6, or 8 wire stepper motors. On this version (v4.4) we fixed the silk error on the min/max adjustment.

This is the newest version of EasyDriver V4 co-designed with Brian Schmalz. It provides much more flexibility and control over your stepper motor, when compared to older versions. The microstep select (MS1 and MS2) pins of the A3967 are broken out allowing adjustments to the microstepping resolution. The sleep and enable pins are also broken out for further control.

[[Category:Problem Statements]]

==Advanced Microsystems, Inc.==

<pre>
Adr: 29 River Road Suite B, Essex Junction, VT 05452
TEL: 603-882-1447
Email: Sales@StepControl.com
Web: [http://www.ams2000.com/]
</pre>

AM IBC-400

.5A at 40 volts, non-inductive 
RS-422 serial interface 
[http://www.ams2000.com/docs/DataSheets/ibc400ds.pdf] 

SMC-40 Controller IC 

http://www.ams2000.com/docs/DataSheets/smc40ds.pdf 
http://www.ams2000.com/docs/TechManuals/smc40hwma.pdf 
http://www.ams2000.com/docs/TechManuals/smc40swma.pdf 

==Alzanti==

<pre>
Telephone: +44 (0) 8707 700700, (UK) 08707 700700
Fax No: +44 (0) 8707 700699, (UK) 08707 700699
E-mail: Alzanti Sales, sales@mclennan.co.uk
Web: [http://www.alzanti.com/]
</pre>

PVP152 - Single Axis Stepper Controller, with integral 1 Amp per phase bipolar drive; "Stand Alone" & "Computer" modes, up to 15 axes may be "daisy chained" from one RS232 port. Format is 160 x 100 Eurocard with DIN41612 connector. 
[http://www.alzanti.com/download/p152dat-mcl.pdf] 

==Arrick Robotics==

<pre>
Arrick Robotics
10768 Technology Dr. CR2335
Tyler, TX 75707 USA

Phone: 903.566.4700
Fax: 903.566.4709
Email: info@robotics.com
Web: [http://www.robotics.com/]
</pre>

Motion control systems, robotics, etc.

===C4 Controller===
C4 is an intelligent motion controller that sends pulses to one or two MD2 drivers (4 motors). C4 accepts short, simple commands from the host via an RS232 serial port and handles all of the timing functions needed to coordinate and control motors.

Any host with an RS-232 port (or USB with the provided converter) can talk to C4. Normally the host is a PC, but it can also be a Mac or even a small microcontroller like a Basic Stamp.

Multiple C4's can be controlled by a single host, either by daisy-chaining the serial port, or by using multiple USB ports and converters.

C4 does not drive stepper motors directly, that is the job of the MD2 driver.

Learn about C4's simple, powerful command structure in the User Guide.

==MD2 Controller==

The MD2 contains the power supply and drive circuitry for 2 stepper motors. The MD2 must receive real-time control pulses from an intelligent controller such as C4 to operate.

The MD2 driver has been available for many years and in the past software was provided that turned a PC and its parallel printer port into a controller. Modern Windows operating systems and the demise of the printer port now require use of a separate controller such as C4, but that has many advantages including smoother motion and relieving the PC for other tasks.

==Simple Step, Ltd==

<pre>
Phone: 1-973-948-2938
Fax: 1-973-948-0182
Adr: 12 West Owassa Turnpike, Newton, New Jersey 07860
Web: [https://www.simplestep.com/StaticPages/Home.aspx]
</pre>

===SSCB===

Price: $165

* 30 MHz Microprocessor Controller.
* User Programmable Baud Rates (9600, 19.2K, 38.4K, 57.6K (default), 115.2K).
* Multiple boards on a single serial port and the ability to intermix Simple Step board types on the network
* On Board network address switch select on every board.
* Choice of the Simple Step® Network RS232 or RS422/RS485 communications.
* Network address switch select on every unit.
* Option Connector for later add-on or custom boards.
* Two (2) User Controlled Open Collector Output Lines (1-20 ma and 1-500ma).
* Three (3) User Controlled Input Lines.
* Software Programmable Home Sensor Check.
* Diode protected Home Sensor.
* On Board 5 volt Switcher and Power LED.
* Heatsink Mounted to the PC Board.
* Small Board Size 3.57"x 2.9" x 1.3" (with heat sink)
* Large Dynamic Velocity range (from 1 step per second to 15,000 steps per second) per motor.
* User Programmable Motor Power Settings (Full,1/4,OFF)
* Synchronous Motor Movements with ALL Boards on the network (Up to 40 motors on 1 serial line)!
* Limit Switch Input.
* Optical Motor Home input.
* EMI (radiated) filtering on all boards to allow FCC and CE approvals.
* Prescaler installed on all units.
* User programmable advanced acceleration and deceleration settings based on User Programmable Start Velocity, End Velocity and Slope.
* User Programmable Half and Full step control.
* Bipolar Stepper motor drive.
* Single 7.0 - 46.0VDC operation.
* Up to 2 amp/phase, switching mode current controlled motor phase outputs (Hardware adjusted).
* Up to 65534 steps of motion (27.30625 feet with a user mechanical resolution of 0.005 inches per step).
* Decimal or Hexadecimal ASCII numeric values can be used.
* 400 Character IEEPROM buffer for all non-EEPROM versions.
* Jog control for each axis.
* Simple ASCII command set allowing use of standard PC communications packages.
* SSWin Program FREE with each purchase. (Windows 95/98/NT/2000/XP/Vista)
* Optional Internal 2K, 4K, 8K and 16K of User Programmable on board EEPROM (Flash).
* Programming language for EEPROM with decision branches based on User Input States (used with above Option).
* Optional 32 bit movement (2,147,483,647 steps).
* Optional RTOS (Real-Time Operating System).

===SSXYQE===

Price: $340.00

* 30 MHz Microprocessor Controllers.
* User Programmable Baud Rates (9600, 19.2K, 38.4K, 57.6K (default), 115.2K).
* Multiple boards on a single serial port and the ability to intermix Simple Step board types on the network
* On Board network address switch select on every board.
* Choice of the Simple Step® Network RS232 or RS422/RS485 communications.
* Option Connector for later add-on or custom boards.
* Two (2) User Controlled Open Collector Output Lines (1- 20 ma and 1-500ma).
* Two (2) User Controlled Input Lines.
* Software Programmable Home Sensor Check.
* Diode protected Home Sensor.
* On Board 5 volt Switcher and Power LED.
* Heatsink Mounted to the PC Board.
* Small Board Size 5.3" x 4.2" x 1.3" (with heat sink)
* Large Dynamic Velocity range (from 1 steps per second to 15,000 steps per second with motors <= 5 mH per phase) per motor.
* User Programmable Motor Power Settings (Full,1/4,OFF)
* Synchronous Motor Movements with ALL Boards on the network (Up to 40 motors on 1 serial line)!
* Limit Switch Input (per axis).
* Optical Motor Home input (per axis).
* EMI (radiated) filtering on all boards to allow FCC and CE approvals.
* User programmable advanced acceleration and deceleration settings based on User Programmable Start Velocity, End Velocity and Slope.
* User Programmable Half and Full step control (per axis).
* Two (2) Bipolar Stepper motor drives.
* Single 7.0 - 46.0VDC operation.
* Up to 2 amp/phase, switching mode current controlled motor phase outputs (Hardware adjusted per axis).
* Up to 65534 steps of motion (27.30625 feet with a user mechanical resolution of 0.005 inches per step).
* Counting speeds up to 15,000 steps per second (each channel).
* 2 Quadrature Encoders per board.
* User programmable counting directions.
* Counting from -2,147,483,648 to +2,147,483,647 steps.
* User programmable x1 or x4 counting modes.
* Simple ASCII command set allowing use of standard PC communications packages.
* SSWin Program FREE with each purchase. (Windows 95/98/NT/2000/XP/Vista)
* Optional Internal 2K, 4K, 8K and 16K of User Programmable on board EEPROM (Flash).
* Programming language for EEPROM with decision branches based on User Input States (used with above Option).
* Optional 32 bit movement (2,147,483,647 steps).
* Optional RTOS (Real-Time Operating System).

===SSXYZ===

Price: $384.00

* 30 MHz Microprocessor Controller.
* User Programmable Baud Rates (9600, 19.2K, 38.4K, 57.6K (default), 115.2K).
* Multiple boards on a single serial port and the ability to intermix Simple Step board types on the network
* On Board network address switch select on every board.
* Choice of the Simple Step® Network RS232 or RS422/RS485 communications.
* Option Connector for later add-on or custom boards.
* Two (2) User Controlled Open Collector Output Lines (1-20 ma and 1-500ma).
* Two (2) User Controlled Input Lines.
* Software Programmable Home Sensor Check.
* Diode protected Home Sensor.
* On Board 5 volt Switcher and Power LED.
* Heatsink Mounted to the PC Board.
* Small Board Size 6.00" x 4.14" x 1.2" (with heat sink).
* Large Dynamic Velocity range (from 1 step per second to 15,000 steps per second) per motor.
* User Programmable Motor Power Settings (Full,1/4,OFF)
* Synchronous Motor Movements with ALL Boards on the network (Up to 40 motors on 1 serial line)!
* Limit Switch Input.
* Optical Motor Home input.
* EMI (radiated) filtering on all boards to allow FCC and CE approvals.
* Prescaler installed on all units.
* User programmable advanced acceleration and deceleration settings based on User Programmable Start Velocity, End Velocity and Slope.
* User Programmable Half and Full step control.
* Bipolar Stepper motor drive.
* Single 7.0 - 46.0VDC operation.
* Up to 2 amp/phase, switching mode current controlled motor phase outputs (Hardware adjusted).
* Up to 65534 steps of motion (27.30625 feet with a user mechanical resolution of 0.005 inches per step).
* Decimal or Hexadecimal ASCII numeric values can be used.
* 400 Character IEEPROM buffer for all non-EEPROM versions.
* Jog control for each axis.
* Simple ASCII command set allowing use of standard PC communications packages.
* SSWin Program FREE with each purchase. (Windows 95/98/NT/2000/XP/Vista)
* Optional Internal 2K, 4K, 8K and 16K of User Programmable on board EEPROM (Flash).
* Programming language for EEPROM with decision branches based on User Input States (used with above Option).
* Optional 32 bit movement (2,147,483,647 steps).
* Optional RTOS (Real-Time Operating System).

===High Current Products===

* SSMicro77, Price: $237.00
* SSXYMicro77, Price: $371.00
* SSXYZMicro77, Price: $466.00

==Net Motion, Inc.==

<pre>
Adr: 4160 Technology Drive Fremont, CA 94538
Tel: 510-578-2808
Fax: 510-743-4130
E-Mail: sales@netmotion.com
Web: http://www.netmotion.com/
</pre>

ACE-SDX Advanced single axis microstep Driver 

* 12 to 48 VDC voltage input
* 100mA to 3.0A current setting
* 2-500 microstep
* 800K maximum pulse rate support
* Opto-isolated differential Pulse/Dir (CW/CCW) inputs
* Opto-isolated driver enable input
* Opto-isolated over-temperature alarm output
* Software Configurable

==See Also==

[[Stepper Motor]]