HOWTO control stepper motors

[TrDA-hab]

0. About using stepper motors.

• Using "Shutters mode" you can also simply control the:
  • DC motors using this instruction.
  • Servo motors using this instruction.
  • You can see a practical example of using a stepper motor here here.
  • Stepper motors using this instruction (see instructions below).
• You can only use bipolar stepper motor using this instruction, unipolar stepper motor not supported.
• Types of Steppers (1).
• To work with stepper motors you need to use Shutters mode:
  • More information about Shutters mode.
  • More information on commands for Shutters mode.
• Now it is highly recommended to use stepper motor driver TMC2208/TMC2225/TMC2209 instead of А4988/DRV8825.
• And it is highly recommend using the power supply of 24 volts for your projects, minimum recommended voltage 12 volts.
• Modifying a 28BYJ-48 stepper motor from unipolar to bipolar tutorial.
• More information about 28BYJ-48.
• The diagrams show the supply voltage of the NEMA-17 stepper motor, capacitor should be 35 ... 50 volts. More information about the effect of voltage on stepper motor operation can be found in the tutorial: (see 5. POWER SUPPLY):
  • for 28BYJ-48-5v recommended voltage is 12v (only if modifying to bipolar).
  • for 28BYJ-48-12v recommended voltage is 24v (only if modifying to bipolar).
• Stepper drivers configuration tutorials:
  • A4988
  • DRV8825
  • TMC2208
  • TMC2225
  • TMC2209
• Don't forget to customize the microstep (MS1/MS2/MS3) for your needs (see tutorials above). If you forget or incorrectly adjust the microstepping mode you will get the same effect as in this video. Each stepper motor driver must use its own microstepping mode.
• Remember to set the current limiting for your stepper motor driver (see tutorials above).
• Home Assistant Integrations By Tasmota.
• To reverse the rotation of the stepper motor, you must swap the two coils in the mirror image. Software reverse rotation of the motor is not supported.
  

Original motor Wiring	Reverse motor Wiring

1. Home Assistant Integrations (for perfectionists only):

003.mp4

• Video x2 Stepper motors.

HA Integrations:

• /config/configuration.yaml

# Livingroom Blinds  
cover:
  - platform: mqtt
    name: "Blinds 1"
    availability_topic: "tele/Roll_3/LWT"
    payload_available: "Online"
    payload_not_available: "Offline"
    position_topic: "stat/Roll_3/RESULT"
    value_template: >
      {% if ('Shutter1' in value_json) and ('Position' in value_json.Shutter1) %}
        {{ value_json.Shutter1.Position }}
      {% else %}
        {% if is_state('cover.livingroom_blinds1', 'unknown') %}
          50
        {% else %}
          {{ state_attr('cover.livingroom_blinds1','current_position') }}
        {% endif %}
      {% endif %}    
    position_open: 100
    position_closed: 0
    set_position_topic: "cmnd/Roll_3/ShutterPosition1"
    command_topic: "cmnd/Roll_3/Backlog"
    payload_open: "ShutterOpen1"
    payload_close: "ShutterClose1"
    payload_stop: "ShutterStop1"
    retain: false
    optimistic: false
    qos: 1
  - platform: mqtt
    name: "Blinds 2"
    availability_topic: "tele/Roll_3/LWT"
    payload_available: "Online"
    payload_not_available: "Offline"
    position_topic: "stat/Roll_3/RESULT"
    value_template: >
      {% if ('Shutter2' in value_json) and ('Position' in value_json.Shutter2) %}
        {{ value_json.Shutter2.Position }}
      {% else %}
        {% if is_state('cover.livingroom_blinds2', 'unknown') %}
          50
        {% else %}
          {{ state_attr('cover.livingroom_blinds2','current_position') }}
        {% endif %}
      {% endif %}    
    position_open: 100
    position_closed: 0
    set_position_topic: "cmnd/Roll_3/ShutterPosition2"
    command_topic: "cmnd/Roll_3/Backlog"
    payload_open: "ShutterOpen2"
    payload_close: "ShutterClose2"
    payload_stop: "ShutterStop2"
    retain: false
    optimistic: false
    qos: 1

• /Entities Card Configuration:

type: entities
title: Livingroom blinds
entities:
  - cover.blinds_1
  - type: 'custom:slider-entity-row'
    entity: cover.blinds_1
    name: Open1%
  - type: 'custom:cover-position-preset-row'
    name: Position1
    entity: cover.blinds_1
    reverseButtons: false
    customSetpoints: true
    closePosition: 0
    midClosePosition: 25
    midOpenPosition: 65
    openPosition: 100
  - type: divider
  - cover.blinds_2
  - type: 'custom:slider-entity-row'
    entity: cover.blinds_2
    name: Open2%
  - type: 'custom:cover-position-preset-row'
    name: Position2
    entity: cover.blinds_2
    reverseButtons: false
    customSetpoints: true
    closePosition: 0
    midClosePosition: 25
    midOpenPosition: 65
    openPosition: 100

2. One stepper motor (minimum configuration):

Device List:

• 28BYJ-48-12V (stepper motor with 64:1 gear reducer).
• A4988 (stepper motor driver).
• ESP-01S (ESP8266 series wireless module).
• K7803-500R3 (DC/DC step-down module).

How to use it:

• You must add support for Shutter in my_user_config.h file (оr flash your ESP8266 module with tasmota.bin file).
• Run commands in the console to run the "Shutter" mode (you must first configure the GPIO!):
  SetOption80 1 // Enable shutters support.
  ShutterMode 4 // Enable "Shutter mode 4".
  Restart 1 // Restart Tasmota.
• Run commands in the console to configure the motor operation:
  ShutterFrequency 2500 // This is a global variable for all steppers (default = 1000ppm).
  ShutterMotorDelay1 2.5 // Acceleration/deceleration speed for stepper motor(default = 0 seconds).
  ShutterOpenDuration1 20 // Shutter opening time = 20 seconds (default = 10 seconds).
  ShutterCloseDuration1 20 // Shutter closing time = 20 seconds (default = 10 seconds).
  Restart 1 // Restart Tasmota.
• Run commands in the consolee to test the motor operation (you must first configure the GPIO!):
  ShutterOpen1 // Opening check.
  ShutterStop1 // Stop check.
  ShutterClose1 // Closing check.
• Perform the shutter calibration (Optional).

Wemos Pin	GPIO	Component	Stepper Signal
D1	5	Relay1i	EN
D2	4	Relay2	DIR
D3	0	PWM1	STP
D4	2	Counter1	STP

3. One stepper motor (maximum configuration):

Device List:

• Nema-17 (planetary gear motor 1:27).
• DRV8825 (stepper motor driver).
• Wemos D1 mini (ESP8266 series wireless board).
• INA219 (power-monitoring board).
• MP1584 (DC/DC step-down moduler).

How to use it:

• You must add support for Shutter in my_user_config.h file (оr flash your ESP8266 module with tasmota.bin file).
• Run commands in the console to run the "Shutter" mode (you must first configure the GPIO!):
  SetOption80 1 // Enable shutters support.
  ShutterMode 4 // Enable "Shutter mode 4".
  Restart 1 // Restart Tasmota.
• Run commands in the console to configure the motor operation:
  ShutterFrequency 2500 // This is a global variable for all steppers (default = 1000ppm).
  ShutterMotorDelay1 2.5 // Aacceleration/deceleration speed for stepper motor(default = 0 seconds).
  ShutterOpenDuration1 20 // Opening time = 20 seconds (default = 10 seconds).
  ShutterCloseDuration1 20 // Closing time = 20 seconds (default = 10 seconds).
  Restart 1 // Restart Tasmota.
• Run commands in the consolee to test the motor operation (you must first configure the GPIO!):
  ShutterOpen1 // Opening check.
  ShutterStop1 // Stop check.
  ShutterClose1 // Closing check.
• Perform the shutter calibration (Optional).
• Run commands in the consolee for configuring the drive (optional):
  SetOption73 1 // Enable detach buttons from relays.
  Rule1 ON system#boot DO Backlog SetOption1 1; SetOption11 0; SetOption13 1 ENDON
Rule2 1 // Enable Rule1.
  Rule2 ON button1#state DO ShutterOpen1 ENDON ON button2#state DO ShutterClose1 ENDON
Rule2 1 // Enable Rule2.
  Rule3 ON INA219#Current>0.500 DO ShutterStop1 ENDON
Rule3 1 // Enable Rule3.

Wemos Pin	GPIO	Component	Stepper Signal
D1	5	Relay1i	EN
D2	4	Relay2	DIR
D3	0	PWM1	STP
D4	2	Counter1	STP
D6	12	SCL	INA219
D7	13	SLA	INA219
RX	3	Button1	Up button
TX	1	Button2	Down button

4. Two stepper motors (medium configuration):

Device List:

• Nema-17 (stepper motor).
• TMC2208 (stepper motor driver).
• Wemos D1 mini (ESP8266 series wireless board).
• MP1584 (DC/DC step-down module).

How to use it:

• You must add support for Shutter in my_user_config.h file (оr flash your ESP8266 module with tasmota.bin file).
• Run commands in the console to run the "Shutter" mode (you must first configure the GPIO!):
  SetOption80 1 // Enable shutters support.
  ShutterMode 4 // Enable "Shutter mode 4".
  ShutterRelay1 1 // for relay Relay1 and Relay2.
  ShutterRelay2 3 // for relay Relay3 and Relay4.
  Restart 1 // Restart Tasmota.
• Run commands in the console to configure the motor operation (you must first configure the GPIO!):
  ShutterFrequency 2000 // This is a global variable for all steppers (default = 1000ppm).
  ShutterMotorDelay1 1.5 // Shutter#1 acceleration/deceleration speed for stepper motor(default = 0 seconds).
  ShutterOpenDuration1 15 // Shutter#1 opening time = 15 seconds (default = 10 seconds).
  ShutterCloseDuration1 15 // Shutter#1 closing time = 15 seconds (default = 10 seconds).
  ShutterMotorDelay2 1.5 // Shutter#2 acceleration/deceleration speed for stepper motor(default = 0 seconds).
  ShutterOpenDuration2 15 // Shutter#2 opening time = 15 seconds (default = 10 seconds).
  ShutterCloseDuration2 15 // Shutter#2 closing time = 15 seconds (default = 10 seconds).
  Restart 1 // Restart Tasmota.
• Run commands in the consolee to test the motor operation (you must first configure the GPIO!):
  ShutterOpen1 // Opening check (Shutter#1).
  ShutterStop1 // Stop check (Shutter#1).
  ShutterClose1 // Closing check (Shutter#1).
  ShutterOpen2 // Opening check (Shutter#2).
  ShutterStop2 // Stop check (Shutter#2).
  ShutterClose2 // Closing check (Shutter#2).
• Perform the shutter calibration (Optional).
• Run commands in the consolee for configuring the drive:
  SetOption73 1 // Enable detach buttons from relays.
  ShutterButton1 1 updown 0 // Assigns button1 to act as an "up and down" button (1x press up, 2x press down) for Shutter#1.
  ShutterButton2 2 updown 0 // Assigns button2 to act as an "up and down" button (1x press up, 2x press down) for Shutter#2.

Wemos Pin	GPIO	Component	Stepper Signal
D1	5	Relay1i	EN
D2	4	Relay2	DIR
D3	0	PWM1	STP
D4	2	Counter1	STP
D5	14	Relay3i	EN
D6	12	Relay4	DIR
D7	13	PWM2	STP
D8	15	Counter2	STP

4.1 Two stepper motors (medium parallel configuration):

Device List:

• Nema-17 (stepper motor).
• TMC2208 (stepper motor driver).
• Wemos D1 mini (ESP8266 series wireless board).
• Stepper motor parallel board.
• Mini560 (DC/DC step-down module).

4.2 Four stepper motors (maximum parallel configuration):

Device List:

• Nema-17 (stepper motor).
• TMC2208 (stepper motor driver).
• Wemos D1 mini (ESP8266 series wireless board).
• Stepper motor parallel board.
• Mini560 (DC/DC step-down module).

4. Changing the interface (Optional):

• By default, SetOption15 is ON and you see three unused components. To hide unused components, run the SetOption15 OFF command in the console.

• You can change the labels on the control buttons. Run commands in the console.

Backlog WebButton1 ⇈ WebButton2 &#8650

Backlog WebButton1 ↺ WebButton2 &#8635

• To return to the default interface. Run command in the console.
  Backlog WebButton1 ▲; WebButton2 ▼

6. Components for creating devices (Optional):

To customize your devices you can use:

1. Stepper motor board.

https://aliexpress.com/item/4000393299508.html

https://aliexpress.com/item/32870732179.html
https://aliexpress.com/item/33055392128.html

https://aliexpress.com/item/32905538087.html

https://aliexpress.com/item/1000007369401.html

2. Stepper motor parallel board.

https://aliexpress.com/item/33019883744.html

3. Stepper motor cable.

https://aliexpress.com/item/32769553792.html
https://aliexpress.com/item/32811275446.html

08/28/2021 Added new information, minor bugs fixed.
09/09/2021 Added new information, Home Assistant Integrations.

Best regards,
TrDA

[L0rz]

Hi,
thx for your work, please share the pcb you used here with us:
https://www.thingiverse.com/thing:4301158

[towerclimber87]

You did great job and thank you for that. this is what i have been looking for.
However, i cant seem to get shutter two, to report back. it doesnt seem to work at all.
I have tried a few wemos d1 minis with no luck on the 2nd shutter. any help would be great.

[stefanbode]

Hi on esp32 more than one stepper motor was just added today. On esp8266 this works already more than a year. The documentation show how to config. If you need more help I need some logfiles what is not working. You can find me on discord or write an email to stefan_bode at web.de

[bzk5555]

homeassistant yapılandırması hata veriyor. neden acaba.
/config/configuration.yaml

[kiwipaulrob]

Thanks for this. Has anyone got stallguard to work with the tmc2209?

[Lordcybertracker]

Thanks for this great guide.
I'm just looking for the command how to use it for promotion and not rolo.
So he makes a certain number of revolutions after pressing a button.
It would be great if someone could help me there.
Thanks

[stefanbode]

Hi with esp32 you can define a ultra long runtime about 600 seconds. Then you define a shutterbutton that increment for e.g. 2%=12sek. Now it operates 12 seconds and still uses the accelerator for a smooth start. Depending on the frequency every e.g. 30 min you do a Shuttersetclose. Normally for calibration. In your case it ensure you can use the button indefinitely. In the above example at least after 50 pushes you have to reset.

[stefanbode]

You can use rules or berry to do the reset

[Antonje85]

Guys, thanks for the immense work you've done, it wasn't easy but I managed to create the system to open the roller blind. To complete everything, I would like to integrate it into Home Assistant with the functions shown in the video on this page, could you tell me what I should install in HA to get that graphic? I currently have HA in the basic configuration and the card I have only allows me to raise, stop and lower the tent, I don't know where to start to get that "for perfectionists" screen. Thank you.

[Kenaschon]

Hello,
can you please share the pcb?

Thank you

[fredycz2005]

Hello i have a problem with one of my blinds it refuses to go in other direction. Could anyone help me with this ?

[fredycz2005]

Can I fix it with resistor or something ?

[fredycz2005]

Can I somehow fix it or I have to buy new driver ?

[stefanbode]

Hard to say from the outside. First I would disconnect the DIR from the tmc and check if voltage recovers to 3.3V. If so the tmc needs replacement. If not looks like the esp32 needs exchanged.

[fredycz2005]

i replaced the driver and now i get close to 2V on the dir pin but it is still going in one direction

[fredycz2005]

i still can not fix the problem that iam getting 2,2V instead of 3,3V?

[Phantom-ftp]

Everything is beautifully drawn and painted, but it doesn't work on the Wemos D1 mini, it doesn't accept many of the necessary commands. And on some diagrams, the colors of the wires on the motors don't match reality. I spent a lot of time but I couldn't get it to work.

[stefanbode]

Hi a Stepper Motor is like a shutter that has a speed control with the frequency send to the motor. Please take a look on the shutter and blinds documentation and do it step by step. If one step does not work please post is here and we will help you. I do have stepper motors for moving doors and they work flawless since years. Also with the wemos d1 mini based on esp8266. Anyhow today I would start with an esp32 if you start from scratch anyhow. These processors have many benefits and the price difference is tiny. You can have them also in the wemos d1 mini format. So they are pin compatible.

[Phantom-ftp]

I searched for a long time what could be done to make it work and finally found that without executing the ShutterRelay1 1 command, everything else would not work properly. Why didn't they write about this, and not only this, in the description of the settings so that beginners like me wouldn't waste their and your time on pointless questions.

[stefanbode]

If you like you can enhance the documentation e.g. with a beginners section. Normally on a fresh device the step by step should work. That the shutterelay1 1 was missing is likely the result of a missconfiguration. Just post your step by step and we have an even better documentation.