Warning

This is the dev documentation for an unreleased version of MPF!

This is the documentation for MPF 0.56, which is the “dev” (next) release of MPF that is a work-in-progress. Unless you’re specifically looking for this version, you probably want to use the version of documentation called “latest” which is for the latest released version of MPF. That documentation is at docs.missionpinball.org/en/latest.

Trinamic’s StepRocker

Related Config File Sections
hardware:
trinamics_steprocker:
steppers:

Connect the StepRocker to USB and MPF can control any steppers connected to it.

TODO: Add a picture of a StepRocker

This is an example:

hardware:
  platform: virtual
  stepper_controllers: trinamics_steprocker

trinamics_steprocker:
  port: /dev/ttyACM0

steppers:
    # Scenario: 1.8 degree stepper attached to a 7:1 gear ratio with homing flag that you want to control in units of revolutions
  positionStepper:
    number: 0
    homing_direction: clockwise        # when facing the shaft
    homing_mode: hardware
    reset_position: 0
    reset_events: test_reset
    named_positions:
      0.0: test_00
      0.6: test_01
      1.0: test_10
    platform_settings:
      move_current: 25                      # percent
      hold_current: 5                       # percent
      homing_speed: 0.1                     # user units/sec
      microstep_per_fullstep: 16            # 1/16 mode (1 step = 1/16 of a full step)
      fullstep_per_userunit: 1400           # UU=1 Revolution = 200 full steps per rev (1.8 deg stepper) * 7 gear ratio
      velocity_limit: 0.5                   # user units/sec   (so, 0.8 RPS of output gear )
      acceleration_limit: 2.0               # user units/sec^2  (so, 2 RPS^S of output gear)

This example is tested to be valid MPF config. However, it is not integration tested.

hardware:
  platform: virtual
  stepper_controllers: trinamics_steprocker

trinamics_steprocker:
  port: /dev/ttyACM0

steppers:
    # Scenario: 1.8 degree stepper attached to a 7:1 gear ratio with homing flag that you want to control in units of revolutions
  positionStepper:
    number: 0
    homing_direction: clockwise        # when facing the shaft
    homing_mode: hardware
    reset_position: 0
    reset_events: test_reset
    named_positions:
      0.0: test_00
      0.6: test_01
      1.0: test_10
    platform_settings:
      move_current: 25                      # percent
      hold_current: 5                       # percent
      homing_speed: 0.1                     # user units/sec
      microstep_per_fullstep: 16            # 1/16 mode (1 step = 1/16 of a full step)
      fullstep_per_userunit: 1400           # UU=1 Revolution = 200 full steps per rev (1.8 deg stepper) * 7 gear ratio
      velocity_limit: 0.5                   # user units/sec   (so, 0.8 RPS of output gear )
      acceleration_limit: 2.0               # user units/sec^2  (so, 2 RPS^S of output gear)

Overview video about steppers:

What if it did not work?

Have a look at our hardware troubleshooting guide.