issue using closed loop stepper

[EdFleta]

Hi Maxim,

With the new H2 version I am using a closed loop stepper from Cloudray (Nema 23 + CL23 driver). Since the minimum step configuration is 800 with the driver, I have modified ligne 7 of the software to : "#define MOTOR_STEPS 800.0".

However, in some cases (without being able to define precise circumstances - but more generally at first start) the stepper runs very slowly and I have to keep pushing the running buttons left or right for a while until the motor reaches full speed.

Is there any config that I should adapt for closed loop steppers?

best regards, eddie

[kachurovskiy]

Hi @EdFleta, I've tried using H2 with a closed loop stepper today for the first time to check this :) I'm having different problems - it sometimes makes a few steps back before moving forward. Sometimes it moves forward by too much :( I suspect that my cheap servo might be to blame... That said, I love how smooth the lead screw movements are 😻

As for your problem, it would really help to have a video of it happening. E.g. just put your phone in recording mode and play with the device until the problem starts happening. You can also cut out the irrelevant parts of the video on your phone e.g. in Google Photos app before uploading it here. Cheers!

[kachurovskiy]

Hi @Johannmupa, I've changed the code a bit and now there's DISABLE_STEPPER_WHEN_RESTING parameter in https://github.com/kachurovskiy/nanoels/blob/main/h2/h2.ino which is false by default. I used to disable stepper when it's not moving but it turned out not useful for closed loop steppers for 2 reasons:

• closed loop stepper drivers, unlike open loop drivers, have a delay when enabling - they ignore some impulses for 100-300ms after they were enabled
• closed loop stepper drivers don't hum or heat up when idle so there's no benefit disabling them

If you don't want to download new software version just for this one fix, you can comment out line digitalWrite(ENA, LOW); in your code to never disable the stepper or disconnect the corresponding ENA wire on your stepper driver. There's a good chance it will help with your issue, at least partially. Cheers!

[Johannmupa]

Dear Maxim,
I have uploaded the latest code and it works fine. After a lot of testing there are no issues.
thanks a lot

[kachurovskiy]

Awesome, congratulations 🥳

[EdFleta]

Hi, I did the same and I confirm closed loop steppers work better with this version. (especially on smaller increments)
eddie

[kachurovskiy]

@EdFleta consider taking a short video of your setup and problems and uploading it here. Cheers!

[Johannmupa]

Thanks, I've just posted it Am Sa., 19. Nov. 2022 um 19:46 Uhr schrieb Maxim Kachurovskiy < ***@***.***>:

…

@Johannmupa <https://github.com/Johannmupa> interesting, please consider starting a new discussion with more info about your problem - ideally with photos/videos showing it. Thank you! — Reply to this email directly, view it on GitHub <#86 (reply in thread)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/A4I5T45U52ZVHISDXB3UP33WJDD2RANCNFSM6AAAAAASEJZI2A> . You are receiving this because you were mentioned.Message ID: ***@***.***>