Stepper Motor Control

When you think about highly-precise actuators, stepper motors probably aren’t the first device that comes to mind. However, as [Diffraction Limited]’s sub-micron capable micro-manipulator shows, they can reach extremely fine precision when paired with external feedback.

The micro-manipulator is made of a mobile platform supported by three pairs of parallel linkages, each linkage actuated by a crank mounted on a stepper motor. Rather than attaching to the structure with the more common flexures, these linkages swivel on ball joints. To minimize the effects of friction, the linkage bars are very long compared to the balls, and the wide range of allowed angles lets the manipulator’s stage move 23 mm in each direction.

To have precision as well as range, the stepper motors needed closed-loop control, which a magnetic rotary encoder provides. The encoder can divide a single rotation of a magnet into 100,000 steps, but this wasn’t enough for [Diffraction Limited]; to increase its resolution, he attached an array of alternating-polarity magnets to the rotor and positioned the magnetic encoder near these. As the rotor turns, the encoder’s local magnetic field rotates rapidly, creating a kind of magnetic gear.

A Raspberry Pi Pico 2 and three motor drivers control this creation; even here, the attention to detail is impressive. The motor drivers couldn’t have internal charge pumps or clocked logic units, since these introduce tiny timing errors and motion jitter. The carrier circuit board is double-sided and uses through-hole components for ease of replication; in a nice touch, the lower silkscreen displays pin numbers.

To test the manipulator’s capabilities, [Diffraction Limited] used it to position a chip die under a microscope. To test its accuracy and repeatability, he traced the path a slicer generated for the first layer of a Benchy, vastly scaled-down, with the manipulator. When run slowly to reduce thermal drift, it could trace a Benchy within a 20-micrometer square, and had a resolution of about 50 nanometers.

He’s already used the micro-manipulator to couple an optical fiber with a laser, but [Diffraction Limited] has some other uses in mind, including maskless lithography (perhaps putting the stepper in “wafer stepper”), electrochemical 3D printing, focus stacking, and micromachining. For another promising take on small-scale manufacturing, check out the RepRapMicron.

Continue reading “Designing An Open Source Micro-Manipulator” →

What can’t the little $5 WiFi module do? Now that [lhartmann] has got an ESP8266 controlling the motors of a 3D printer, that’s one more item to check off the list.

What’s coolest about this project is the way that [lhartmann] does it. The tiny ESP8266 has nowhere near the required number of GPIO pins, the primary SPI is connected to the onboard flash memory, and the secondary SPI is poorly documented and almost nobody uses it. So, [lhartmann] chose to use the I2S outputs.

I2S is most often an audio protocol, so this might at first seem like a strange choice. Although I2S sounds like I2C, it’s really essentially an SPI protocol with a fourth wire that alternates to designate the right or left channel. It’s actually just perfect for sending 16×2 bits of data at high data rates.

[lhartmann] takes these 32 bits and feeds them into four shift registers, producing 32 outputs from just the four I2S data lines. That’s more than enough signals to run the stepper motors. And since it updates at 192 kHz sample rate, it’s plenty fast enough to drive them.

The other side benefit of this technique is that it can work on single-board computers with just a little bit of software. Programming very complicated stepper movements then becomes just a matter of generating the right “audio” file and playing it out. [lhartmann] demonstrated this earlier with an Orange Pi. That’s pretty cool, too.

The code for turning the ESP8266 and a short handful of 74HC595s into a 3D printer controller are up on GitHub, so go check it out.

Thanks [CNLohr] for the tip!