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 |
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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.