基于树莓派的3086A-MFP10S驱动的42步进电机导轨控制系统

基于树莓派的3086A-MFP10S驱动的42步进电机导轨控制系统

C51单片机版本：
https://blog.csdn.net/weixin_53403301/article/details/122658780

所用步进电机导轨为两相六线的42电机（实际上为两相四线 两个com端未接）
驱动器选择了以3086A-MFP10S为芯片的模块

增加记忆回归功能 并且定义了导轨长度 使其运动时不超过限度 k1左滑 k2右划 k3回归中心点 k4重新校准中心点

视频效果如下：

基于C51单片机3086A-MFP10S驱动的42步进电机导轨控制系统

如需调整速度则可以通过更改延时的方式来进行 此为毫秒级最快的速度

代码如下：

import RPi.GPIO as GPIO
import time
import threading

GPIO.setwarnings(False)
GPIO.setmode(GPIO.BCM)
GPIO.setup(16, GPIO.OUT)
GPIO.setup(20, GPIO.OUT)
GPIO.setup(21, GPIO.OUT)


GPIO.output(16,0)
GPIO.output(20,0)
GPIO.output(21,0)

DJ_delay = 0.0015
DJ_buf = [[0,0],[0,1],[1,1],[1,0]]
global DJ_i
DJ_i = 0
DJ_size = 350
global DJ_jugg_flag
DJ_jugg_flag = 0

def zz():
    global DJ_i
    time.sleep(DJ_delay)
    GPIO.output(16,DJ_buf[DJ_i][0])
    GPIO.output(20,1)
    GPIO.output(21,DJ_buf[DJ_i][1])
    DJ_i = DJ_i + 1
    if DJ_i == 4:
        DJ_i = 0

def fz():
    global DJ_i
    time.sleep(DJ_delay)
    GPIO.output(16,DJ_buf[DJ_i][0])
    GPIO.output(20,1)
    GPIO.output(21,DJ_buf[DJ_i][1])
    DJ_i = DJ_i - 1
    if DJ_i == -1:
        DJ_i = 3

def DJ_jugg():
    global DJ_jugg_flag
    DJ_jugg_flag = 0
    DJ_flag = 0
    
    while True:
        GPIO.output(16,0)
        GPIO.output(20,0)
        GPIO.output(21,0)
        while DJ_jugg_flag == 1:
            if DJ_flag < DJ_size:
                zz()
                DJ_flag = DJ_flag +1
            else:
                DJ_flag = DJ_size
                DJ_jugg_flag = 0
        while DJ_jugg_flag == 2:
            if DJ_flag > -DJ_size:
                fz()
                DJ_flag = DJ_flag -1
            else:
                DJ_flag = -DJ_size
                DJ_jugg_flag = 0
        
        if DJ_jugg_flag == 3:           
            while DJ_flag > 0:
                fz()
                DJ_flag = DJ_flag -1
            while DJ_flag < 0:
                zz()
                DJ_flag = DJ_flag +1            
            DJ_flag = 0
            DJ_jugg_flag = 0
            
        if DJ_jugg_flag == 4:            
            DJ_flag = 0
            DJ_jugg_flag = 0
            
        if DJ_jugg_flag == 5:
            GPIO.output(16,0)
            GPIO.output(20,0)
            GPIO.output(21,0)
            break
        
def jugg():
    global DJ_jugg_flag
    thread_DJ = threading.Thread(target=DJ_jugg)
    thread_DJ.setDaemon(True)
    thread_DJ.start() 
    while True:        
        a = input(":")
        DJ_jugg_flag = int(a)        
        if DJ_jugg_flag == 5:            
            break

jugg()

GPIO.output(16,0)
GPIO.output(20,0)
GPIO.output(21,0)
time.sleep(1)
GPIO.cleanup()

驱动电路和步进电机导轨都是同一个买家买的 如果会写单片机 可以买他家的独立驱动板 另外他家也有带单片机的控制板
滑台参数：
有效行程：150mm、200mm、250mm、300mm 可选。
滑台总长：（有效行程+75mm）42mm40mm （长宽高 不含电机）。
驱动电压：5-12V / 500mA-2A。
电机尺寸：424225mm。
步 距 角：1.8° 。（电机转一圈需要200个脉冲(360/1.8)）

驱动器时序要求：


参考：
https://blog.csdn.net/qq_45539458/article/details/111403209