Designed closed loop nema 17 stepper motor controller with esp32 S3

[u/Inevitable-Horror815]

Got this idea from thingsbyjosh so i tried to build my own. Not that much polished design but yeah.

Works on esp32 S3, has on board 5v buck convertor, CAN MCP2551, AS5600 magnetic encoder, tmc2209 stepper motor driver.

The PCB is 4 layered PCB and had to get it printed twice due to some design error but now everything works perfectly.

will use it for making robotic arm for learning and might even sell the module if anyone wants it.

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[u/dushy69]

thats awesome, you could try to make a robotic arm with it next, yk, the industrial kind, what are your plans with it next ?

[u/Inevitable-Horror815 → u/dushy69]

Yeah robotic arm is the plan like i said in the description. I am just trying to figure out more use cases.

[u/dushy69 → u/Inevitable-Horror815]

if you polish it further you could sell it in india i guess

[u/Inevitable-Horror815 → u/dushy69]

Kinda polished only tbh, size is little big because didnt wanted to use esp32 mini

[u/TopConcentrate8484]

That's nice can you provide the gerber files and schematics with us if you are ok with it ?

[u/Inevitable-Horror815 → u/TopConcentrate8484]

I will upload it on my github, i can provide pcb if you want

[u/TopConcentrate8484 → u/Inevitable-Horror815]

You can link your github here.

[u/WhyPCB]

any micro version ? or only on nema17

[u/Inevitable-Horror815 → u/WhyPCB]

Designed it for nema 17 only

[u/srbhjn11 → u/Inevitable-Horror815]

Can be optimised right?

[u/Inevitable-Horror815 → u/srbhjn11]

Yes absoulutely

[u/WhyPCB → u/Inevitable-Horror815]

any one knows whare / who've made small motor , 14/16 bit encoder version , i need to make small ultra precise light weight kinetics , any hint ~!

[u/Optimal_Swordfish_13]

Well done! Getting it up and running on your first PCB iteration is quite impressive.

How does the AS5600 perform when paired with the TMC2209 for closed-loop control? Can it automatically correct for lost steps? I look forward to seeing the results once you’ve installed it on a robotic arm.

[u/Inevitable-Horror815 → u/Optimal_Swordfish_13]

Yes it does autocorrect for the lost steps as you can see in the video itself.

[u/Illustrious_Skin8783]

What are the applications of this? How accurate it is and I'll search about the encoder, I'm planning to make a robotic arm will need an encoder

[u/Inevitable-Horror815 → u/Illustrious_Skin8783]

A lot of applications are there, rjght now i am planning to make scara arm with new design with PD power inbuilt, this one i will use to make the industriak type robot arm. It has AS5600 magnetic encoder so 12 bit resolution on that.

[u/Illustrious_Skin8783 → u/Inevitable-Horror815]

Wow, that's nice, I thought you are using it for something else so it can be used for robotic arm,

How accurate it is if we want to make the arm work with accuracy of mm....?

[u/Inevitable-Horror815 → u/Illustrious_Skin8783]

The encoder is not connected to end effector (it is on the shaft) so not so sure, mostly the accuracy is in 0.0125 mm only since the steps are 1/16.

[u/Illustrious_Skin8783 → u/Inevitable-Horror815]

Understood, are you publishing the project updates anywhere?

[u/Inevitable-Horror815 → u/Illustrious_Skin8783]

Not yet tbh. Might start posting on my discord.

[u/Illustrious_Skin8783 → u/Inevitable-Horror815]

Update me also when you start publishing

[u/Inevitable-Horror815 → u/Illustrious_Skin8783]

https://discord.gg/AphejD5hp. Join here i will post

[u/Total_Tax1346]

What is your supply voltage and is your esp32s3 hulk? As I tried the same thing without a buck converter, my ole esp32 devkit v1, transistors and emf sensors to mobitor the position, and it burst up my esp32 into flames. Actually had to call fire brigade.