How does the motor zeroing work?
So I'm trying to build a robot with three stepper motors that need to be zeroed, and if all possible I would like to zero them like the Prusa i3 MK3 without limit switches but I can't for the life of me figure out how this works or where to find the code controlling it. Could someone either explain how the motors zero themselves without limit switches or point me to where the zeroing code is so I can pick through it myself?
RE: How does the motor zeroing work?
This feature only works with a limited number of stepper drivers. I know the TMC2130 and the tmc2209 can do sensorless homing, for sensorless homing to work, you need there to be a Safe position where the motor travel can come to a dead stop, without damaging anything... the X and Y axis on the Prusa Mk3's effectively bash the ends of travel to trigger 'Virtual' end stops... maybe someone can help with code... (Perhaps the TMC Data Sheets)
regards Joan
I try to make safe suggestions,You should understand the context and ensure you are happy that they are safe before attempting to apply my suggestions, what you do, is YOUR responsibility. Location Halifax UK
RE: How does the motor zeroing work?
I bought some TMC stepper driver sticks and IIRC they came with a pin one could connect directly to an endstop input on the RAMPS I plugged it into, but I assume you'll need to talk SPI to the driver in the first place to enable the feature and configure the parameters.