Experience a paradigm shift in motion control systems with TB67S109 and PIC32MZ2048EFM100
Where every step counts: The ultimate bipolar stepper motor driver
Published Nov 11, 2023
Click board™
Multi Stepper Click - TB67S109
Dev Board
Curiosity PIC32 MZ EF
Compiler
NECTO Studio
MCU
PIC32MZ2048EFM100
Our driver's core purpose is to be the catalyst for innovation in automation, ensuring that your office automation and industrial projects meet the highest standards of precision.
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Hardware Overview
How does it work?
Multi Stepper Click is based on the TB67S109AFTG, a two-phase bipolar stepping motor driver using a PWM chopper (customized by external resistance R2 and capacitor C1) from Toshiba Semiconductor. The TB67S109AFTG comes with a built-in clock-in decoder (CLOCK-in controlled), which means that each up-edge of the CLK signal, routed to the PWM pin of the mikroBUS™ socket, will shift the motor's electrical angle per step. It also incorporates a low on-resistance MOSFET output stage, which can deliver a 2.8A current with a motor output voltage rating of 47V, in addition to integrated protection mechanisms such as over-current and over-temperature detection. In addition, it allows from full-step up to 1/32 steps resolution, with the help of which motor noise can be significantly reduced with smoother operation and more precise control. As mentioned, the TB67S109AFTG supports various step resolution configurations through its control signals. These control signals are provided through the PCA9555A port expander, which establishes communication with the MCU via the I2C serial interface. This Click board™ also allows a connection of external step-resolution control signals on the onboard header J1 on pins labeled as P1 and P2 for the device's DMODE1 and DMODE2 control. The PCA9555A also allows choosing the least significant bit (LSB) of its I2C
address by positioning SMD jumpers labeled ADDR SEL to an appropriate position marked as 0 and 1. The output channel's current value can be set manually using an onboard trimmer labeled VR1, which sets the reference voltage from 0V to 3.3V. The default configuration of the JP4 jumper is the VREF position that sets both channels' output current via the VR1 trimmer. In this case, avoid position P4 on a jumper JP4 since the VREFA pin requires an analog signal for setting. Also, this Click board™ has a Standby function, activated when all three step-resolution control signals are in their low logic state, used to switch to Standby mode by setting all motor control pins to a low logic state. When the Standby mode is active, the TB67S109AFTG stops supplying the power to the internal oscillating circuit and motor output part (the motor drive cannot be performed). In addition to the I2C communication, several GPIO pins connected to the mikroBUS™ socket are also used. The Enable pin, labeled as EN and routed to the CS pin of the mikroBUS™ socket, optimizes power consumption used for power ON/OFF purposes. Also, a simple rotation direction function routed to the AN pin on the mikroBUS™ socket allows MCU to manage the direction of the stepper motor (clockwise or counterclockwise), while the RST pin of the mikroBUS™ socket initializes an electrical angle in the internal
counter to set an initial position. The output channel's current value can be set manually using an onboard trimmer labeled VR1, which sets the reference voltage from 0V to 3.3V. The default configuration of the JP4 jumper is the VREF position that sets both channels' output current via the VR1 trimmer. In this case, avoid position P4 on a jumper JP4 since the VREFA pin requires an analog signal for setting. Also, this Click board™ has a Standby function, activated when all three step-resolution control signals are in their low logic state, used to switch to Standby mode by setting all motor control pins to a low logic state. When the Standby mode is active, the TB67S109AFTG stops supplying the power to the internal oscillating circuit and motor output part (the motor drive cannot be performed). In addition to the I2C communication, several GPIO pins connected to the mikroBUS™ socket are also used. The Enable pin, labeled as EN and routed to the CS pin of the mikroBUS™ socket, optimizes power consumption used for power ON/OFF purposes. Also, a simple rotation direction function routed to the AN pin on the mikroBUS™ socket allows MCU to manage the direction of the stepper motor (clockwise or counterclockwise), while the RST pin of the mikroBUS™ socket initializes an electrical angle in the internal counter to set an initial position.
Features overview
Development board
Curiosity PIC32 MZ EF development board is a fully integrated 32-bit development platform featuring the high-performance PIC32MZ EF Series (PIC32MZ2048EFM) that has a 2MB Flash, 512KB RAM, integrated FPU, Crypto accelerator, and excellent connectivity options. It includes an integrated programmer and debugger, requiring no additional hardware. Users can expand
functionality through MIKROE mikroBUS™ Click™ adapter boards, add Ethernet connectivity with the Microchip PHY daughter board, add WiFi connectivity capability using the Microchip expansions boards, and add audio input and output capability with Microchip audio daughter boards. These boards are fully integrated into PIC32’s powerful software framework, MPLAB Harmony,
which provides a flexible and modular interface to application development a rich set of inter-operable software stacks (TCP-IP, USB), and easy-to-use features. The Curiosity PIC32 MZ EF development board offers expansion capabilities making it an excellent choice for a rapid prototyping board in Connectivity, IOT, and general-purpose applications.
Microcontroller Overview
MCU Card / MCU
Architecture
PIC32
MCU Memory (KB)
2048
Silicon Vendor
Microchip
Pin count
100
RAM (Bytes)
524288
You complete me!
Accessories
The 28BYJ-48 is an adaptable 5VDC stepper motor with a compact design, ideal for various applications. It features four phases, a speed variation ratio of 1/64, and a stride angle of 5.625°/64 steps, allowing precise control. The motor operates at a frequency of 100Hz and has a DC resistance of 50Ω ±7% at 25°C. It boasts an idle in-traction frequency greater than 600Hz and an idle out-traction frequency exceeding 1000Hz, ensuring reliability in different scenarios. With a self-positioning torque and in-traction torque both exceeding 34.3mN.m at 120Hz, the 28BYJ-48 offers robust performance. Its friction torque ranges from 600 to 1200 gf.cm, while the pull-in torque is 300 gf.cm. This motor makes a reliable and efficient choice for your stepper motor needs.
Used MCU Pins
mikroBUS™ mapper
Take a closer look
Schematic
Step by step
Project assembly
Start by selecting your development board and Click board™. Begin with the Curiosity PIC32 MZ EF as your development board.
Track your results in real time
Application Output
1. Once the code example is loaded, pressing the "DEBUG" button initiates the build process, programs it on the created setup, and enters Debug mode.
2. After the programming is completed, a header with buttons for various actions within the IDE becomes visible. Clicking the green "PLAY" button starts reading the results achieved with the Click board™. The achieved results are displayed in the Application Output tab.
Software Support
Library Description
This library contains API for Multi Stepper TB67S109 Click driver.
Key functions:
multisteppertb67s109_set_step_mode- This function sets the step mode resolution settings.multisteppertb67s109_drive_motor- This function drives the motor for the specific number of steps at the selected speed.multisteppertb67s109_set_direction- This function sets the motor direction by setting the AN pin logic state.
Open Source
Code example
This example can be found in NECTO Studio. Feel free to download the code, or you can copy the code below.
/*!
* @file main.c
* @brief MultiStepperTB67S109 Click example
*
* # Description
* This example demonstrates the use of the Multi Stepper TB67S109 click board by driving the
* motor in both directions for a desired number of steps.
*
* The demo application is composed of two sections :
*
* ## Application Init
* Initializes the driver and performs the click default configuration.
*
* ## Application Task
* Drives the motor clockwise for 200 steps and then counter-clockiwse for 100 steps with
* 2 seconds delay before changing the direction.
* Each step will be logged on the USB UART where you can track the program flow.
*
* @author Stefan Filipovic
*
*/
#include "board.h"
#include "log.h"
#include "multisteppertb67s109.h"
static multisteppertb67s109_t multisteppertb67s109;
static log_t logger;
void application_init ( void )
{
log_cfg_t log_cfg; /**< Logger config object. */
multisteppertb67s109_cfg_t multisteppertb67s109_cfg; /**< Click config object. */
/**
* Logger initialization.
* Default baud rate: 115200
* Default log level: LOG_LEVEL_DEBUG
* @note If USB_UART_RX and USB_UART_TX
* are defined as HAL_PIN_NC, you will
* need to define them manually for log to work.
* See @b LOG_MAP_USB_UART macro definition for detailed explanation.
*/
LOG_MAP_USB_UART( log_cfg );
log_init( &logger, &log_cfg );
log_info( &logger, " Application Init " );
// Click initialization.
multisteppertb67s109_cfg_setup( &multisteppertb67s109_cfg );
MULTISTEPPERTB67S109_MAP_MIKROBUS( multisteppertb67s109_cfg, MIKROBUS_1 );
if ( I2C_MASTER_ERROR == multisteppertb67s109_init( &multisteppertb67s109, &multisteppertb67s109_cfg ) )
{
log_error( &logger, " Communication init." );
for ( ; ; );
}
if ( MULTISTEPPERTB67S109_ERROR == multisteppertb67s109_default_cfg ( &multisteppertb67s109 ) )
{
log_error( &logger, " Default configuration." );
for ( ; ; );
}
log_info( &logger, " Application Task " );
}
void application_task ( void )
{
log_printf ( &logger, " Move 200 steps clockwise \r\n\n" );
multisteppertb67s109_set_direction ( &multisteppertb67s109, MULTISTEPPERTB67S109_DIR_CW );
multisteppertb67s109_drive_motor ( &multisteppertb67s109, 200, MULTISTEPPERTB67S109_SPEED_FAST );
Delay_ms ( 2000 );
log_printf ( &logger, " Move 100 steps counter-clockwise \r\n\n" );
multisteppertb67s109_set_direction ( &multisteppertb67s109, MULTISTEPPERTB67S109_DIR_CCW );
multisteppertb67s109_drive_motor ( &multisteppertb67s109, 100, MULTISTEPPERTB67S109_SPEED_FAST );
Delay_ms ( 2000 );
}
void main ( void )
{
application_init( );
for ( ; ; )
{
application_task( );
}
}
// ------------------------------------------------------------------------ END
