PRODUCTION / BOARD COMMISSIONING

CANStepper Test Station

Download station zipDocs home
i
Test station ready

Connect a board to begin commissioning.

0/5 stages
HARDWARE LINK

Connect the board

WAITING
BrowserUse Chrome or Edge on a computer
LinkESP32-C3 · USB CDC · 115200
Grafito CANStepper board assembly
DEVICE UNDER TEST

No board selected

ESP32-C3 TMC2209 MT6701

FIRMWARE—
PROTOCOL—
STATEoffline
POSITIONIDLE
—°
VELOCITYNOMINAL
—°/s
POSITION ERRORIN TOLERANCE
—°
−0.5°+0.5°
MCU TEMPERATUREHEALTHY
—°C
FLAGS—PID unknown · fault unknown
HOME / GPIO8—disabled · active-low
TMC2209No dataSG — · thermal ok
CAN / SUPPLYno data · — V24 V reference, not sensed · TX — / RX —
ENCODER— countsno encoder lock
PARAMS—Inspect to read NVS tune
FIRMWARE

Compile and flash

LOCAL FILE NEEDED

Compile, the board test, and PID calibration run on this computer through the buttons below. The zip already contains the firmware and the test tools. Opening the zip does not install Python or Arduino.

Download grafito-canstepper-station.zip↓
  1. Download the zip and unzip it. You do not need to clone the repository or create a can_stepper folder.
  2. Open a terminal in the unzipped grafito-canstepper-station folder.
  3. Install the tools once. Run bash install.sh, or run these commands yourself:
    sudo apt install python3 python3-pip
    python3 -m pip install --user "pyserial>=3.4"
    curl -fsSL https://raw.githubusercontent.com/arduino/arduino-cli/master/install.sh | BINDIR="$HOME/.local/bin" sh
    export PATH="$HOME/.local/bin:$PATH"
    arduino-cli core update-index
    arduino-cli core install esp32:esp32
    arduino-cli lib install "FastAccelStepper"
    arduino-cli lib install "TMC2209"
  4. Run python3 grafito-canstepper-station.py and leave that window open.
  5. Come back here. Plug in USB-C for data and apply 5–24 V Vin. USB does not power the board.
  6. Select that USB port below, and set the node ID. A new board is node 1.
  7. Tick that Vin is on and the motor is safe to move.
  8. Press Compile and flash, Run board test, or Run PID calibration.
Runs onNot started

arduino-cli missing · canstepper missing

VALIDATION

Board test

Runs on the downloaded local station, using the USB port and node ID selected in this dashboard. The shaft will move.

01

Identity & protocolPING, fw 1.9, GCSP v1

02

MT6701 encoderFrame validity + count stability

03

TMC2209 driverUART, current scale, thermal flags

04

Direction polarityPositive command follows encoder

05

Closed-loop motionPID settle matrix + position error

06

Speed envelopeCruise ladder up to 4,800°/s

07

Soak movesRepeated closed-loop targets after persist

08

Safety functionsStop, e-stop latch, enable recovery

09

Config persistenceWrite and verify production tune

~3–6 min
PID

PID calibration

Finds polarity and writes the production closed-loop gains through the local station. The shaft will move.

01

Identity & protocolPING, fw 1.9, GCSP v1

02

MT6701 encoderFrame validity + count stability

03

TMC2209 driverUART, current scale, thermal flags

04

Direction polarityPositive command follows encoder

05

Production PID gainsKp 12 · Ki 0.3 · Kd 0.10 · 720°/s

06

Settle matrixClosed-loop moves at production cruise

07

Persist tuneWrite polarity + PID to NVS

~1–3 min
NODE ID

Set node ID

INSPECT FIRST

A new board is node 1. Pick any ID from 1–31, then save it on the board. Occupied IDs on this bus are disabled so two boards cannot share an address.

CURRENT—
→
MANUAL CONTROL

Board controls

INSPECT FIRST

MT6701No data

TMC2209No data

CAN BUSno data

FAULTSUnknown

CAN REFERENCE

GCSP v1 at a glance

Full spec ↗
11-BIT CAN ID(node_id << 6) | msg_idLITTLE-ENDIAN
00–15

CommandsPING · ESTOP · motion · home · params · follow

20–2B

TelemetryStatus · encoder · driver · environment · CAN health

0

Broadcast nodeOne-frame bus-wide stop or command

1–31

Node IDsStandard 11-bit CAN · 1 Mbps

!

Termination ruleKeep 120 Ω only at the two physical ends. Remove the 0 Ω jumper on every mid-chain board.

TEST STATION OUTPUT
Test-station output will appear here.