Compatibility of "Stepper Motor HAT" and 4.2A high torque NEMA 23

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thethongquach
 
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Compatibility of "Stepper Motor HAT" and 4.2A high torque NEMA 23

Post by thethongquach »

Hi! I was wondering if I could use an "Adafruit DC & Stepper Motor HAT for Raspberry Pi - Mini Kit" (Product ID: 2348) for a 4.2A high torque NEMA 23 motor. Even if I could just be able to connect one motor per HAT.

Motor HAT: https://www.adafruit.com/product/2348

NEMA 23: https://www.amazon.ca/Stepper-425oz-Tor ... 28&sr=8-13

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Re: Compatibility of "Stepper Motor HAT" and 4.2A high torque NEMA 23

Post by adafruit_support_bill »

Short answer: No.
* Manufacturer Part Number: 23HS45-4204S
* Motor Type: Bipolar Stepper
* Step Angle: 1.8 deg.
* Holding Torque: 3.0Nm(425oz.in)
* Rated Current/phase: 4.2A
* Phase Resistance: 0.9ohms
* Inductance: 3.8mH+/-20%(1KHz)
Judging from the ultra-low phase resistance, this motor appears to be designed for use with a current-limiting "chopper" type driver. It is not compatible with the simple H-bridge drivers on the HAT.

We do have the DRV8833 which has current limiting, but with an upper limit of 1.2A, you would not get anywhere near the rated torque out of those motors. I'd check out www.pololu.com for a wider selection of stepper drivers.

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Re: Compatibility of "Stepper Motor HAT" and 4.2A high torque NEMA 23

Post by thethongquach »

Alright! Thanks so much! I'll check out Pololu, I was also wondering if you could recommend some other HATs with a higher upper limit above 1.2A.

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Re: Compatibility of "Stepper Motor HAT" and 4.2A high torque NEMA 23

Post by adafruit_support_bill »

All the HATs I am aware of are aimed at the hobby market. Quite a few are based on the ancient L298 bridge chip which maxes out at about 2A. These are simple basic H-Bridge drivers capable of driving smaller, standard performance type steppers.

The motors you are looking at are high-performance motors that require a more sophisticated, industrial-grade driver chip.

They are similar to the motors I use in my CNC machine. I drive those with a set of DM542 drivers. These are available from multiple sources.

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Re: Compatibility of "Stepper Motor HAT" and 4.2A high torque NEMA 23

Post by thethongquach »

Would you be able to recommend me one that maxes out at 2A?
Last edited by thethongquach on Wed Aug 17, 2022 9:54 pm, edited 2 times in total.

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Re: Compatibility of "Stepper Motor HAT" and 4.2A high torque NEMA 23

Post by adafruit_support_bill »

Here is one that claims 2.5A. I don't have any experience with this board or the manufacturer.
https://www.amazon.com/Waveshare-Steppe ... 464&sr=8-6

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Re: Compatibility of "Stepper Motor HAT" and 4.2A high torque NEMA 23

Post by thethongquach »

Alright! Thanks so much!!! I'll be sure to ask if I have anymore questions!

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Re: Compatibility of "Stepper Motor HAT" and 4.2A high torque NEMA 23

Post by thethongquach »

Hello again! Would you be able to tell me if this plan would be able to work out? Your advice was great!

I would want to stack three "Adafruit DC & Stepper Motor HAT for Raspberry Pi - Mini Kit (Product ID: 2348)" (https://www.adafruit.com/product/2348) on a Raspberry Pi 4 Model B. Using this 12V 2.5A DC power adapter from Digikey (https://www.digikey.ca/en/products/deta ... 20/7682642) or this 12V 3A DC power adapter also from Digikey (https://www.digikey.ca/en/products/deta ... 20/7682645) to power it connected using an "Adafruit Female DC Power adapter - 2.1mm jack to screw terminal block (Product ID: 368)" (https://www.adafruit.com/product/368). All of that would power six (two stepper motors per HAT: three hats*two stepper motors per HAT=six stepper motors in total) "SOYO Stepper Motor: Unipolar/Bipolar, 200 Steps/Rev, 57×76mm, 8.6V, 1 A/Phase" from Polulu (https://www.pololu.com/product/1477).

Would it work? And is a 2.5A power supply enough for two 1A/phase servos for each HAT? Thanks so much for your time!

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Re: Compatibility of "Stepper Motor HAT" and 4.2A high torque NEMA 23

Post by adafruit_support_bill »

Current rating: 1 A per coil
Voltage rating: 8.6 V
Resistance: 8.6 Ω per coil
Those motors are rated for 1A per phase at 8.6v - which is consistent with Ohm's law and their 8.6Ω phase resistance. If you power them with 12v, they will be pulling 1.4A per phase. That will exceed the current ratings for both the motor and the HAT. https://learn.adafruit.com/all-about-st ... he-stepper

Since the HAT has no current limiting feature, anything over 8.6v will overload the motor and anything over 10.3v will overload the HAT.

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Re: Compatibility of "Stepper Motor HAT" and 4.2A high torque NEMA 23

Post by thethongquach »

I see, I see. Say I get a voltage adjustable power supply and set it at between 8.6V and 10.3, then would it work? Or just a regular one at 10V.

Adjustable Power Supply with 2.1mm / 5.5mm DC - 3V to 12V at 5A (Product ID: 4880) https://www.adafruit.com/product/4880

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Re: Compatibility of "Stepper Motor HAT" and 4.2A high torque NEMA 23

Post by adafruit_support_bill »

Anything over 8.6v will overload the motor, so you would need to keep it under that. At 8.6v, you would need 1A per phase or 2A total. So that power supply could handle 2 motors max.

What do you plan to do with these motors? It is usually best to start with the mechanical requirements and work back from there to determine the appropriate motors, drivers and power sources.

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Re: Compatibility of "Stepper Motor HAT" and 4.2A high torque NEMA 23

Post by thethongquach »

Right, right thanks! Well, I wanna make a six-axis mechanical arm capable of supporting loads up to 10 kilograms (probably around 5-6 kg though, and the load of the motors of course). Do you think those stepper motors from Polulu are not powerful enough/too powerful?

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Re: Compatibility of "Stepper Motor HAT" and 4.2A high torque NEMA 23

Post by adafruit_support_bill »

For a project like that, you need to start with the 6th axis and work your way back to the base. The 6th axis needs to handle the target load. The 5th axis needs to handle the target load plus the weight of the 6th axis. The 4th needs to handle the load plus the 5th and the 6th, etc. Considering that those motors themselves weigh 1Kg each, your 1st and 2nd axis would struggle to move the rest of the arm.

In general, the closer you get to the base of the arm, the higher the torque requirements of the motor. You can use gearing or other mechanisms to increase the mechanical advantage. But you probably don't want to use the same motors for all 6 axis.

I'm working on a 3-axis arm here. It is designed light loads, but rapid movement. It uses a NEMA-11 motor for the 3rd axis, a NEMA-17 for the 2nd axis and a NEMA23 for the 1st.

The other thing you need to consider is the geometry of the arm. If you have a 10Kg load that is 50cm from the base, you will need twice as much torque as you would for the same load 25cm from the base.

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Re: Compatibility of "Stepper Motor HAT" and 4.2A high torque NEMA 23

Post by thethongquach »

Ahh right. I'll consider that, I might change a few of the motors around but still make sure they're compatible with the power supply and HAT. Thanks so much for the advice!!!

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