Quick Start

This is a Python library for controlling the closed-loop stepper motor controller from ZDT stepper（张大头步进电机） via UART serial connection. It includes all the documented commands from the spec sheet, and handles all parameters in a type-safe manner. It can also be extended with additional functionality, CAN communication, and can be modified for other serial controller devices. Fully tested and compatible with Python 3.10 and above.

Installation

pip install zdt_stepper

Basic Example

from serial import Serial
from stepper.device import Device
from stepper.stepper_core.parameters import DeviceParams
from stepper.stepper_core.configs import Address

# Connect to motor
serial = Serial("COM4", 115200, timeout=0.1)
device = Device(
    device_params=DeviceParams(
        serial_connection=serial,
        address=Address(0x01)
    )
)

# Basic movement controls
device.enable()
device.move_cw(1000)  # Move 1000 pulses clockwise
device.move_to(0)     # Move to absolute position 0
device.jog(500)       # Continuous movement at 500 pulses/sec
device.stop()         # Stop movement

Features

• Comprehensive motor control (enable/disable, absolute/relative moves, jogging)
• Advanced movement profiles with acceleration control
• Real-time position and status monitoring
• PID tuning and closed-loop control
• Configuration management (microsteps, currents, protection settings)
• Homing and calibration routines
• Command string interface for simple control
• Extensive error handling and debugging

Status Monitoring

# Get various status information
print(f"Position: {device.real_time_position.position}")
print(f"Speed: {device.real_time_speed.speed}")
print(f"Status: Enabled={device.is_enabled}, In Position={device.is_in_position}")
print(f"Voltage: {device.bus_voltage.voltage}")
print(f"Current: {device.phase_current.current}")

Configuration

# Configure motor parameters
device.set_microstep(32)
device.set_open_loop_current(1000)
device.set_pid(p=100, i=50, d=20)
device.set_speed(1000)
device.set_acceleration(500)

# Save settings permanently
device.enable_store()
device.set_config()

Command Interface (under development)

# Use simple command strings for control
device.parse_cmd("HOM")          # Home the motor
device.parse_cmd("MOV 1000")     # Move to position 1000
device.parse_cmd("JOG 500")      # Jog at 500 pulses/sec
device.parse_cmd("STP")          # Stop movement
device.parse_cmd("PID 100 50 20") # Set PID parameters

The Command Object Interface (for debugging)

from serial import Serial
from stepper.commands.move import Enable, Move
from stepper.stepper_core.parameters import DeviceParams, PositionParams
from stepper.stepper_core.configs import (
    Address, Direction, Speed,
    Acceleration, PulseCount, AbsoluteFlag
)

# Connect to motor
serial = Serial("COM4", 115200, timeout=0.1)
device = DeviceParams(
    serial_connection=serial,
    address=Address(0x01)
)

# Enable motor
Enable(device=device).status
# Configure movement
params = PositionParams(
    direction=Direction.CW,
    speed=Speed(500),
    acceleration=Acceleration(127),
    pulse_count=PulseCount(160),
    absolute=AbsoluteFlag.RELATIVE
)

# Move motor
Move(device=device, params=params).status

# Move to absolute position
params.absolute = AbsoluteFlag.ABSOLUTE
Move(device=device, params=params).status

Status Monitoring

from stepper.commands.get import GetSysStatus

status = GetSysStatus(device=device).raw_data.data_dict
print(status)

Configuration

from src.stepper.commands.set import SetConfig
from src.stepper.stepper_constants import Microstep, StallTime

config = GetConfig(device=device).raw_data
config.microstep = Microstep(value=32)
config.stall_time = StallTime(value=100)
SetConfig(device=device, params=config).status

Development

# Install dev dependencies
pip install zdt_stepper[dev]

List of all functions under the device class

System Information

• init_time
• version
• motor_rh
• bus_voltage
• phase_current
• encoder_value
• pulse_count
• target_position
• open_loop_setpoint
• real_time_speed
• real_time_position
• position_error
• sys_status
• status

Status Flags

• is_enabled
• is_in_position
• is_stalled
• is_stall_protection_active
• encoder_ready
• encoder_calibrated
• is_homing
• is_homing_failed
• is_sync
• is_store

Movement Parameters

• jog_direction
• jog_speed
• jog_acceleration
• move_speed
• move_acceleration
• move_direction
• move_pulse_count
• move_mode

Configuration

• pid
• config
• homing_params
• homing_status
• state_dict
• params_dict

PID Control

• set_pid()
• set_p()
• set_i()
• set_d()

Device Configuration

• set_config()
• set_stepper_type()
• set_control_mode()
• set_communication_mode()
• set_enable_level()
• set_default_direction()
• set_microstep()
• set_microstep_interp()
• set_screen_off()
• set_open_loop_current()
• set_max_closed_loop_current()
• set_max_voltage()
• set_baud_rate()
• set_canrate()
• set_id()
• set_checksum_mode()
• set_response_mode()
• set_stall_protect()
• set_stall_speed()
• set_stall_current()
• set_stall_time()
• set_on_target_window()

Start Speed Configuration

• set_start_speed_params()
• set_start_direction()
• set_start_speed()
• set_start_acceleration()
• set_start_en_control()

System Configuration

• set_loop_mode()
• set_speed_reduction()

System Commands

• sys_calibrate_encoder()
• sys_factory_reset()
• sys_clear_stall()
• sys_zero_all_positions()

Homing Methods

• set_homing_params()
• set_homing_mode()
• set_homing_direction()
• set_homing_speed()
• set_homing_timeout()
• set_collision_detection_speed()
• set_collision_detection_current()
• set_collision_detection_time()
• set_auto_home()
• home()
• set_home()
• stop_home()

Movement Control

• enable()
• disable()
• estop()
• jog()
• jog_cw()
• jog_ccw()
• jog_at_speed()
• set_jog_speed()
• set_jog_direction()
• set_jog_acceleration()
• stop()
• move()
• move_to()
• move_cw()
• move_ccw()
• set_move_speed()
• set_move_direction()
• set_move_acceleration()
• set_speed()
• set_direction()
• set_acceleration()
• sync_move()

Sync and Store Control

• enable_sync()
• disable_sync()
• enable_store()
• disable_store()

Utility Methods

• wait()
• debug()
• resolve_bug()
• tic()
• toc()
• jog_time()
• parse_cmd()

License

MIT License