Multi Stepper TB67S209 Click

Multi Stepper Click is a compact add-on board that contains a bipolar stepper motor driver. This board features the TB67S209FTG, CLOCK-in controlled bipolar stepping motor driver from Toshiba Semiconductor. It supports a PWM constant-current control drive, selectable mixed decay mode, and allows from full-step up to 1/32 steps resolution for less motor noise and smoother control. It has a wide operating voltage range of 10V to 47V with an output current capacity of 2.8A in addition to several built-in error detection circuits.

Click Product page

Click library

• Author : Stefan Filipovic
• Date : Feb 2022.
• Type : I2C type

Software Support

We provide a library for the Multi Stepper TB67S209 Click as well as a demo application (example), developed using MikroElektronika compilers. The demo can run on all the main MikroElektronika development boards.

Package can be downloaded/installed directly from NECTO Studio Package Manager(recommended way), downloaded from our LibStock™ or found on Mikroe github account.

Library Description

This library contains API for Multi Stepper TB67S209 Click driver.

Standard key functions :

• multisteppertb67s209_cfg_setup Config Object Initialization function.

  void multisteppertb67s209_cfg_setup ( multisteppertb67s209_cfg_t *cfg );

• multisteppertb67s209_init Initialization function.

  err_t multisteppertb67s209_init ( multisteppertb67s209_t *ctx, multisteppertb67s209_cfg_t *cfg );

• multisteppertb67s209_default_cfg Click Default Configuration function.

  err_t multisteppertb67s209_default_cfg ( multisteppertb67s209_t *ctx );

Example key functions :

• multisteppertb67s209_set_step_mode This function sets the step mode resolution settings.

  err_t multisteppertb67s209_set_step_mode ( multisteppertb67s209_t *ctx, uint8_t mode );

• multisteppertb67s209_drive_motor This function drives the motor for the specific number of steps at the selected speed.

  void multisteppertb67s209_drive_motor ( multisteppertb67s209_t *ctx, uint32_t steps, uint8_t speed );

• multisteppertb67s209_set_direction This function sets the motor direction by setting the AN pin logic state.

  void multisteppertb67s209_set_direction ( multisteppertb67s209_t *ctx, uint8_t dir );

Example Description

This example demonstrates the use of the Multi Stepper TB67S209 Click board by driving the motor in both directions for a desired number of steps.

The demo application is composed of two sections :

Application Init

Initializes the driver and performs the Click default configuration.

void application_init ( void )
{
    log_cfg_t log_cfg;  /**< Logger config object. */
    multisteppertb67s209_cfg_t multisteppertb67s209_cfg;  /**< Click config object. */

    /** 
     * Logger initialization.
     * Default baud rate: 115200
     * Default log level: LOG_LEVEL_DEBUG
     * @note If USB_UART_RX and USB_UART_TX 
     * are defined as HAL_PIN_NC, you will 
     * need to define them manually for log to work. 
     * See @b LOG_MAP_USB_UART macro definition for detailed explanation.
     */
    LOG_MAP_USB_UART( log_cfg );
    log_init( &logger, &log_cfg );
    log_info( &logger, " Application Init " );

    // Click initialization.
    multisteppertb67s209_cfg_setup( &multisteppertb67s209_cfg );
    MULTISTEPPERTB67S209_MAP_MIKROBUS( multisteppertb67s209_cfg, MIKROBUS_1 );
    if ( I2C_MASTER_ERROR == multisteppertb67s209_init( &multisteppertb67s209, &multisteppertb67s209_cfg ) ) 
    {
        log_error( &logger, " Communication init." );
        for ( ; ; );
    }

    if ( MULTISTEPPERTB67S209_ERROR == multisteppertb67s209_default_cfg ( &multisteppertb67s209 ) )
    {
        log_error( &logger, " Default configuration." );
        for ( ; ; );
    }

    log_info( &logger, " Application Task " );
}

Application Task

Drives the motor clockwise for 200 steps and then counter-clockiwse for 100 steps with 2 seconds delay before changing the direction. Each step will be logged on the USB UART where you can track the program flow.

void application_task ( void )
{
    log_printf ( &logger, " Move 200 steps clockwise \r\n\n" );
    multisteppertb67s209_set_direction ( &multisteppertb67s209, MULTISTEPPERTB67S209_DIR_CW );
    multisteppertb67s209_drive_motor ( &multisteppertb67s209, 200, MULTISTEPPERTB67S209_SPEED_FAST );
    Delay_ms ( 1000 );
    Delay_ms ( 1000 );

    log_printf ( &logger, " Move 100 steps counter-clockwise \r\n\n" );
    multisteppertb67s209_set_direction ( &multisteppertb67s209, MULTISTEPPERTB67S209_DIR_CCW );
    multisteppertb67s209_drive_motor ( &multisteppertb67s209, 100, MULTISTEPPERTB67S209_SPEED_FAST );
    Delay_ms ( 1000 );
    Delay_ms ( 1000 );
}

The full application code, and ready to use projects can be installed directly from NECTO Studio Package Manager(recommended way), downloaded from our LibStock™ or found on Mikroe github account.

Other Mikroe Libraries used in the example:

• MikroSDK.Board
• MikroSDK.Log
• Click.MultiStepperTB67S209

Additional notes and informations

Depending on the development board you are using, you may need USB UART Click, USB UART 2 Click or RS232 Click to connect to your PC, for development systems with no UART to USB interface available on the board. UART terminal is available in all MikroElektronika compilers.