Accelstepper Homing with TB6600
andrew heron
Hi;
I am new to programming so would like some help. I am using a NEMA 23 with Arduino, TB6600 and accelstepper.
My goal is to set the system to home to a position and then return back to a set position.
The home movement is counterclockwise and the move to the new position is clockwise.
Based upon the program I have below it moves to the home position fine, but then continues in the same direction. It doesn’t change direction.
Hoping you can help.
/* Motor Homing code using AccelStepper */
#include <AccelStepper.h>
// AccelStepper Setup
// Define a stepper and the pins it will use
AccelStepper stepperX(AccelStepper::DRIVER, 6, 7); // pin 6 -> PUL+, pin 7 -> DIR+
// Define the Pins used
#define home_switch 9 // Pin 9 connected to Home Switch (MicroSwitch)
// Stepper Travel Variables
long initial_homing=-1; // Used to Home Stepper at startup
void setup()
{
Serial.begin(9600); // Start the Serial monitor with speed of 9600 Bauds
pinMode(8,OUTPUT);
pinMode(home_switch, INPUT_PULLUP);
delay(5);
stepperX.setPinsInverted(false,false,true);
stepperX.setEnablePin(8); //pin8 -> ENA+
// Set Max Speed and Acceleration of each Steppers at startup for homing
stepperX.setMaxSpeed(100.0); // Set Max Speed of Stepper (Slower to get better accuracy)
stepperX.setAcceleration(100.0); // Set Acceleration of Stepper
// Start Homing procedure of Stepper Motor at startup
Serial.print("Stepper is Homing . . . . . . . . . . . ");
while (digitalRead(home_switch)) { // Make the Stepper move CCW until the switch is activated
stepperX.moveTo(initial_homing); // Set the position to move to
initial_homing--; // Decrease by 1 for next move if needed
stepperX.run(); // Start moving the stepper
delay(5);
}
stepperX.setCurrentPosition(0); // Set the current position as zero for now
stepperX.setMaxSpeed(200.0); // Set Max Speed of Stepper (Slower to get better accuracy)
stepperX.setAcceleration(200.0); // Set Acceleration of Stepper
initial_homing=1;
while (!digitalRead(home_switch)) { // Make the Stepper move CW until the switch is deactivated
stepperX.moveTo(initial_homing);
initial_homing++;
stepperX.run();
delay(100);
}
}
void loop()
{
{
stepperX.setMaxSpeed(1000.0); // Set Max Speed of Stepper (Faster for regular movements)
stepperX.setAcceleration(1000.0);
stepperX.moveTo(2000);
}
stepperX.run();
stepperX.enableOutputs();
}
Geoff Smith
/* Motor Homing code using AccelStepper */#include <AccelStepper.h>// AccelStepper Setup// Define a stepper and the pins it will use AccelStepper stepperX(AccelStepper::DRIVER, 6, 7); // pin 6 -> PUL+, pin 7 -> DIR+ // Define the Pins used#define home_switch 9 // Pin 9 connected to Home Switch (MicroSwitch)// Stepper Travel Variableslong initial_homing=-1; // Used to Home Stepper at startup void setup() { Serial.begin(9600); // Start the Serial monitor with speed of 9600 Bauds pinMode(8,OUTPUT); pinMode(home_switch, INPUT_PULLUP); delay(5); stepperX.setPinsInverted(false,false,true); stepperX.setEnablePin(8); //pin8 -> ENA+ // Set Max Speed and Acceleration of each Steppers at startup for homing stepperX.setMaxSpeed(100.0); // Set Max Speed of Stepper (Slower to get better accuracy) stepperX.setAcceleration(100.0); // Set Acceleration of Stepper // Start Homing procedure of Stepper Motor at startup Serial.print("Stepper is Homing . . . . . . . . . . . "); void homing1() { long i = -1; while (digitalRead(home_switch)) // Make the Stepper move CCW until the switch is activated { stepperX.move(i); stepperX.run(); // Start moving the stepper delay(5); } stepperX.setCurrentPosition(0); // Set the current position as zero for now stepperX.setMaxSpeed(200.0); // Set Max Speed of Stepper (Slower to get better accuracy) stepperX.setAcceleration(200.0); // Set Acceleration of Stepper }
void homing2() { long i = 1; // Make the Stepper move CW until the switch is deactivated while (!digitalRead(home_switch)) { stepperX.move(i); stepperX.run(); delay(100); } } void loop(){ void homing1(); void homing2();