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STD Wifi-Controlled Stepper Motor Controller for Parallel Cable Driven Robots (PCDR)

License: GPL 3.0

Mode: Editors' pick

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Update time: 2024-07-17 08:01:25
Creation time: 2024-03-28 15:50:12
Description
# OpenParallel (THIS VERISON IS OUTDATED V3 IS OUT) #### Description **OpenParallel** is a circut board designed for, in conjunction with other **OpenParallel** boards, embedding into stepper motor pulley assembelies for easy control of 3-6 DOFs **Parallel Cable Driven Robots (PCDRs)** over Wifi and Low-energy bluetooth. * * * #### Hardware *Currently*, as of version 2 of **OpenParallel**, the hardware consists of the following: * An onboard `ESP32-S3` for easy control via wifi and bluetooth. * Support for an external antenna to extend signal range. * 16MB onboard NAND flash for large firmwares. * 8MB onboard RAM for complex firmares and large instructions. * `TMC2209` stepper driver over uart. * 2 optional endstop inputs. * Dual power input barrel jacks for combining power supply amperages or daisy chaining power to other **OpenParallel** boards. * 5-24V input for motor control. * Up to 2A motor hold and run current.. * CP2102 for easy flashing with support for `RTS` and `DTR` signals. * Fits in the footprint of a standard nema 17 motor. * Power indicator led. * * * #### Firmware [The S3 branch of FluidNC](https://github.com/bdring/FluidNC/tree/S3_WIP) is the current official firmware of **OpenParallel** project. Follow instalation procedures listed on the FluidNC github [here](http://wiki.fluidnc.com/en/installation#use-vs-code-platformio-to-compile). Please ensure you set your build environment to `wifibt_s3`. While a fully functional firmware, FluidNC is overkill for this project and will soon be replaced by a purpose built firmware currently being developed. **OpenParallel** v1.0 firmware is expected to be released mid to late August, 2024. * * * #### Application *Currently*, the public branch of this project is essentially a cnc MCU board with one stepper driver output. This board is intended to be embeded in a device with a light-weight winch to precisely controll the length of a wire. Combined with 7 more similar devices, all a corner of a rectangular room, can control a position of a platform anywhere in said room with 6 DOFs. Platforms can mount items such as smaller robots, cameras, and tools. Release of design files for an official winch system will be released along with the expected release of **OpenParallel** v1.0 firmware in mid to late August, 2024.
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PCB
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ID Name Designator Footprint Quantity JLCPCB Part Class
1 3V3 3V3 TESTPAD-SMD-Ø1.2 1 TESTPOIN-SMD-Ø1.2MM
2 TESTPOIN-SMD-Ø1.2MM BOOT,EN,GND,MOTPWR,XLIM,YLIM TESTPAD-SMD-Ø1.2 6 TESTPOIN-SMD-Ø1.2MM
3 TS-1088-AC02016 BT0,RST SW-SMD_L4.0-W2.9-LS5.0-A 2 TS-1088-AC02016
4 2.2uF C1,C2 C0805 2 0805F225M500NT
5 10uF C3,C5,C24,C26 C0805 4 CL21A106KAYNNNE
6 10uf C4 C0805 1 C_0201_US
7 100nf C6 C0603 1 C_0201_US
8 100nF C7,C12,C16,C18,C19 C0402 5 GCM155R71C104KA55D
9 39pF C9 C0402 1 CC0402JRNPO9BN390
10 6.8nF C10 C0402 1 0402B682K500NT
11 4.7uF C11 C0603 1 CL10A475KO8NNNC
12 47uF C13,C15 C0805 2 CL21A476MQYNNNE
13 22nF C14 C0402 1 0402B223K500NT
14 100uF C17 CAP-SMD_BD6.3-L6.6-W6.6-FD 1 EEEFK1V101XP
15 100nF C25,C28,C35,C36 C0402 4 CL05B104KB54PNC
16 2P PH2.54 CN1,CN6 CONN-TH_2P-P2.54_HDR2 2 2P PH2.54
17 B560C-13-F D1 SMC_L6.9-W5.9-LS7.9-RD 1 B560C-13-F
18 LESD5D5.0CT1G D2,D3,D4 SOD-523_L1.2-W0.8-LS1.6-BI 3 LESD5D5.0CT1G
19 DC-470-2.1GP DC1,DC2 DC-IN-TH_DC-470-2.1GP 2 DC-470-2.1GP
20 10uH L1 IND-SMD_L5.4-W5.2 1 MWSA0503S-100MT
21 SZYY0805G LED1 LED0805-R-RD 1 SZYY0805G
22 MMBT9014C Q1,Q2 SOT-23-3_L2.9-W1.3-P1.90-LS2.4-BR 2 MMBT9014C
23 100kΩ R1 R0402 1 0402WGF1003TCE 100K
24 13kΩ R2 R0402 1 0402WGF1302TCE 13K
25 270kΩ R3 R0402 1 RC-02W2703FT 270K
26 51kΩ R4 R0402 1 0402WGF5102TCE 51K
27 5.1kΩ R6,R9,R10 R0402 3 0402WGF5101TCE 5.1K
28 0.11Ω R7,R8 R1206 2 1206W4J011KT5E 0.11
29 1kΩ R11,R13,R14 R0402 3 0402WGF1001TCE 1K
30 10kΩ R15,R16,R17,R18,R29,R30 R0402 6 0402WGF1002TCE 10K
31 TPS54360DDAR U1 SOIC-8_L5.0-W4.0-P1.27-LS6.0-BL-EP2.0 1 TPS54360DDAR
32 AMS1117-3.3_C369933 U2 SOT-223-4_L6.5-W3.5-P2.30-LS7.0-BR 1 AMS1117-3.3_C369933
33 B4B-XH-A-G U3 CONN-TH_B4B-XH-A-G 1 B4B-XH-A-G
34 TMC2209-LA U4 QFN-28_L5.0-W5.0-P0.50-BL-EP 1 TMC2209-LA
35 CP2102-GMR U6 WQFN-28_L5.0-W5.0-P0.50-BL-EP3.2 1 CP2102-GMR
36 ESP32-S3-WROOM-1U-N16R8 U7 WIRELM-SMD_ESP32-S3-WROOM-1U 1 ESP32-S3-WROOM-1U-N16R8
37 TYPE-C 16PIN 2MD(073) USB1 USB-C-SMD_TYPE-C-6PIN-2MD-073 1 TYPE-C 16PIN 2MD(073)

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