Vertical Plotter -wiring The Tb6600 - Arduino Forum

Hello

I am doing a vertical plotter with two tb6600 drivers. It's using the serial to pass the coordinates. I hope i am not overwhelming with so many questions.

I tried to do this project with raspberry and at the end i saw that it will be much better with Arduino. I am newbie.

In the arduino uno code the pins for the tb6600 are defined

#define DirY 7 #define StepY 4 #define EnableY 8 #define DirX 12 #define StepX 9 #define EnableX 6

Enable and Dir are for ENA and DIR, Does Step goes to PUL?

in that case is that right? ENA- pin 8, PUL- pin 4 ,DIR- pin 7

ENA+,PUL+ and DIR+ go to 5v pin, no?

I am confuse because of this funcion?

digitalWrite(DirX, HIGH);digitalWrite(StepX, LOW);digitalWrite(EnableX,HIGH);

Is the servo motor connected to pin 3?

#include <Servo.h> ... Servo servoPen; ..... servoPen.attach(3);

I am attaching a png file with how i am guessing the schematics are.

and the whole code. Thanks in advantage for any help.

#include <Servo.h> long i=0; Servo servoPen; int PosServoUp = 66;//105 int PosServoDown = 54; // 30 float curX,curY,curZ; float tarX,tarY,tarZ; // target xyz position float delayy=80; float AB=635; float CO=490; float L0=sqrt((AB/2)*(AB/2)+CO*CO); float LA_precedente=L0; float LB_precedente=L0; float LA,LB,dlA,dlB; long StepsA,StepsB; long CbStepsA,CbStepsB; /******** mapping xy position to steps ******/ float STEPS_PER_CIRCLE = 3200; float DIAMETER = 13.50; //float STEPS_PER_MM = (STEPS_PER_CIRCLE/PI/DIAMETER); #define DirY 7 #define StepY 4 #define EnableY 8 #define DirX 12 #define StepX 9 #define EnableX 6 void setup(){ Serial.begin(115200); servoPen.attach(3); pinMode(DirX, OUTPUT);pinMode(StepX,OUTPUT);pinMode(EnableX, OUTPUT); pinMode(DirY, OUTPUT);pinMode(StepY,OUTPUT);pinMode(EnableY, OUTPUT); digitalWrite(DirX, HIGH);digitalWrite(StepX, LOW);digitalWrite(EnableX,HIGH); digitalWrite(DirY, HIGH);digitalWrite(StepY, LOW);digitalWrite(EnableY,HIGH); servoPen.write(PosServoUp); digitalWrite(EnableX,HIGH); digitalWrite(EnableY,HIGH); } void prepareMove() {   //float dx = tarX - curX;   //float dy = tarY - curY;   //float distance = sqrt(dx*dx+dy*dy);     // map xy to string length     LA=sqrt((AB/2+tarX)*(AB/2+tarX)+(CO-tarY)*(CO-tarY));     LB=sqrt((AB/2-tarX)*(AB/2-tarX)+(CO-tarY)*(CO-tarY));     dlA=LA-LA_precedente;     dlB=LB-LB_precedente; //en mm         ActivDir(dlA,dlB);     StepsA=(3200.00*dlA)/(PI*DIAMETER);     StepsB=(3200.00*dlB)/(PI*DIAMETER);     Rotation(StepsA,StepsB);     //Serial.print((3200*dlA)/(PI*DIAMETER));Serial.print(";");Serial.println((3200*dlB)/(PI*DIAMETER));         LA_precedente=LA_precedente+(PI*DIAMETER*float(CbStepsA))/3200.00;     LB_precedente=LB_precedente+(PI*DIAMETER*float(CbStepsB))/3200.00;     CbStepsA=0;     CbStepsB=0;   //curX = tarX;   //curY = tarY;   //Serial.print(curX);Serial.print(";");Serial.println(curY); } void parseCordinate(char * cmd) {   char * tmp;   char * str;   str = strtok_r(cmd, " ", &tmp);   while(str!=NULL){     str = strtok_r(0, " ", &tmp);     //Serial.printf("%s;",str);     if(str[0]=='X'){       tarX = atof(str+1);     }else if(str[0]=='Y'){       tarY = atof(str+1);     }else if(str[0]=='Z'){       tarZ = atof(str+1);     }else if(str[0]=='F'){       //float speed = atof(str+1);       //tarSpd = speed/60; // mm/min -> mm/s     }else if(str[0]=='A'){       //stepAuxDelay = atol(str+1);     }   }   prepareMove(); } void parsePen(char * cmd) {   char * tmp;   char * str;   str = strtok_r(cmd, " ", &tmp);   int pos = atoi(tmp);   servoPen.write(pos); } void parseMcode(char * cmd) {   int code;   code = atoi(cmd);   switch(code){     case 1:       parsePen(cmd);       break;   } } void parseGcode(char * cmd) {   int code;   code = atoi(cmd);   switch(code){     case 1: // xyz move       parseCordinate(cmd);       break;     case 28: // home       tarX=0; tarY=0;       prepareMove();       break;   } } void parseCmd(char * cmd) {   if(cmd[0]=='G'){ // gcode     parseGcode(cmd+1);     Serial.println("OK");   }else if(cmd[0]=='M'){ // mcode     parseMcode(cmd+1);     Serial.println("OK");   } } char buf[64]; char bufindex; void loop(){ if(Serial.available()){     char c = Serial.read();     //Serial.print(c);     buf[bufindex++]=c;     if(c=='\n'){       parseCmd(buf);       memset(buf,0,64);       bufindex = 0;     }   } } void Rotation(long x,long y) { float rx,ry,ax,ay; long m=max(abs(x),abs(y)); ax=0; ay=0; rx=abs(float(x))/float(m); ry=abs(float(y))/float(m); i=0; do{ ax=ax+rx; ay=ay+ry; if(ax>=1){ax--;digitalWrite(StepX,HIGH);digitalWrite(StepX,LOW);if(digitalRead(DirX)==1){CbStepsA=CbStepsA-1;}else{CbStepsA=CbStepsA+1;}} if(ay>=1){ay--;digitalWrite(StepY,HIGH);digitalWrite(StepY,LOW);if(digitalRead(DirY)==1){CbStepsB=CbStepsB+1;}else{CbStepsB=CbStepsB-1;}} i++; delayMicroseconds(delayy); }while(i<m); // StopCond   /*Serial.print("Steps A : ");   Serial.println(CbStepsA);   Serial.print("Steps B : ");   Serial.println(CbStepsB);*/ } void ActivDir(float x,float y) {   if (x<0)digitalWrite(DirX, HIGH);   else digitalWrite(DirX, LOW);   if (y<0)digitalWrite(DirY, LOW);   else digitalWrite(DirY, HIGH); }

arduinotb6600.png925×736 610 KB

arduinotb6600.png925×736 610 KB