Daisy Driver 2.0 is a low cost robot actuator with great repeatable accuracy. It is good for compliant systems, 3D printers, actuators, and more. It provids a closed-loop motor driver that can be daisy chained. Shorter wiring, easier maintenance, lower cost of failure.
- a STM32F405RGT6 MCU (168Mhz, 1 Mbyte memory),
- an IPS2200 absolute rotation induction sensor (12 bits aka 4096 positions, 0.087890625deg/step)
- an TMC2130 stepper driver (SilentStep, bump sensing)
- 2x CAN bus connections
- 2x power connections
- 1x USB connection
- and an RGB LED
Code for the Daisy Driver 2 PCB that will be added to Sixi 3 robot actuators. It may also appear in future versions of the world-famous Makelangelo polargraph robot
This code lives in both the root node (CAN bus address 0) and the clients (CAN bus address != 0).
It provides a serial USB Gcode interface so that it behaves like any traditional CNC machine.