TB6600 Stepper Motor Driver with ESP32

4 min readJul 1, 2024

The TB6600 stepper motor driver is a widely used component for controlling stepper motors.

This guide will provide detailed information on configuring micro-stepping, pulse/revolution settings, current settings, and peak current settings. Additionally, it will cover how to adapt your firmware accordingly.

Components Needed

Circuit Diagram

Understanding the TB6600 Stepper Driver

The TB6600 is a stepper motor driver that can handle motors from NEMA 17 to NEMA 23, providing up to 4A of current. It allows for different micro-stepping settings, which can significantly improve the smoothness and precision of motor movements.

TB6660 Datasheet

Configuring Microstepping

Microstepping is a method of driving stepper motors to achieve higher resolution and smoother movements. The TB6600 allows you to set different micro stepping levels, usually ranging from full step to 1/32 micro step.

Configuring Pulse/Revolution

Pulse/revolution settings depend on the micro stepping setting and the number of steps per revolution of your stepper motor. For instance, if you have a motor with 200 steps per revolution

Full Step: 200 pulses per revolution
Half Step: 400 pulses per revolution
Quarter Step: 800 pulses per revolution
Eighth Step: 1600 pulses per revolution
Sixteenth Step: 3200 pulses per revolution
Thirty-Second Step: 6400 pulses per revolution

Calculate the required pulses per revolution based on your microstepping settings.

The highest smoothness can be achieved with 6400 pulses per revolution.

Then the setting of S1, S2, and S3 should be OFF, OFF, OFF.

Advantages of Micro-stepping

Smooth Motion: Achieves very smooth and fluid motor movements.
High Precision: Provides high positional accuracy for precise applications.
Reduced Vibration: Minimizes vibration and noise during operation.
Better Low-Speed Performance: Improves performance at low speeds.
Fine Control: Allows for finer control over motor position and movements.

Disadvantages of higher Micro-stepping

Reduced Torque: Lower torque output, impacting the ability to move heavier loads.
Increased Complexity: More complex control signals required, increasing system complexity.
Higher Processing Demand: Puts a greater burden on the control system and microcontroller.
Resonance Issues: Can introduce resonance problems, leading to instability and noise.
Diminishing Precision Gains: The practical improvement in accuracy is limited by mechanical and electrical constraints.

Configuring Normal (Rated) Current

The TB6600 allows you to set the current limit, which should match the current rating of your stepper motor. The current settings are configured using DIP switches SW4, SW5, and SW6.

The rated current per phase is the continuous current that each winding of the motor can handle without overheating during normal operation. This is often listed as “Current per phase” or “Rated current.”

Datasheet Entry:

Rated Current: 1.5A/Phase

Then switch S4, S5, and S6 should be ON, ON, and OFF. Refer the following.

Adapting Your Firmware

When you configure the TB6600 settings, you need to adapt your firmware accordingly. For instance, if you are using an Arduino with a stepper motor library, you will need to set the appropriate steps per revolution and current settings.

#define stepPin 16
#define dirPin 17
#define enablePin 18

const int stepsPerRevolution = 3200; // Change this according to your microstep setting

void setup() {
  pinMode(stepPin, OUTPUT);
  pinMode(dirPin, OUTPUT);
  pinMode(enablePin, OUTPUT);
  digitalWrite(enablePin, LOW); 
  Serial.begin(9600);
}

void loop() {
  digitalWrite(dirPin, HIGH); 
  for (int i = 0; i < stepsPerRevolution; i++) {
    digitalWrite(stepPin, HIGH);
    delayMicroseconds(500); // Adjust delay to control speed
    digitalWrite(stepPin, LOW);
    delayMicroseconds(500);
  }
  delay(1000); 
}

Conclusion

Configuring the TB6600 stepper motor driver involves setting the micro-stepping, pulse/revolution, and current, and ensuring the peak current matches your motor’s requirements. Adjust your firmware to match these settings for optimal performance.

This guide provides an overview, allowing you to tailor the TB6600 settings precisely to your stepper motor’s specifications.

References

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