Merge branch 'main' of https://github.com/0x23/MicroManipulatorStepper
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32
LICENSE
32
LICENSE
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MIT License
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Copyright (c) 2023 0x23
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Copyright (c) 2025 Github User '0x23' (https://github.com/0x23/)
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions:
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Permission is hereby granted, free of charge, to any person obtaining a copy of this
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software, hardware design, documentation, or concept (the "Work"), to deal in the Work
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without restriction, including without limitation the rights to use, copy, modify, merge,
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publish, distribute, sublicense, and/or sell copies of the Work, and to permit persons
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to whom the Work is furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in all
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copies or substantial portions of the Software.
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The above copyright notice and this permission notice shall be included in all copies
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or substantial portions of the Work, including but not limited to products or
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derivative works based on the presented concepts, designs, or arrangements, even if
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the original design files are not directly used.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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SOFTWARE.
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THE WORK IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
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INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
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PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE WORK
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OR THE USE OR OTHER DEALINGS IN THE WORK.
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85
README.md
85
README.md
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# Micro Manipulator Stepper
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# Open Micro Manipulator
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This project contains an open source low-cost, easy-to-build motorized **XYZ Micro-Manipulator** motion control platform achieving submicron precision.
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It's designed for applications such as optical alignment, probing electronic components, and microscopy.
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@ -19,31 +19,11 @@ A 'magnetic gearing' approach increases the resolution of the low-cost magnetic
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The device can be controlled via simple G-Code commands over a USB serial interface and is thus easily integrated into other projects.
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The firmware implements a complete motion planning stack with look-ahead for smooth and accurate path following capabilities.
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## ✨ NEW: Firmware v1.0.1
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This update improves calibration, homing, logging, and adds a Python API plus new G-Code commands.
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### Improvements
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- **Homing**: parallel homing support, higher repeatability, more accurate geometric reference
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- **Joint calibration**: refined procedure, persistent flash storage (no recalibration after reboot)
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- **Logging**: clearer and more detailed output
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- **Python API**: easy device control from Python
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### G-Code Commands
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- `G28` — Home joints (supports homing multiple axis simultanously for faster startup)
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- `G24` — Set pose command (directly sets servo targets, bypassing motion controller)
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- `M17/M18` — Enable/Disable motors (with pose recovery from encoders on enable)
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- `M51` — Read encoder values
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- `M55` — Set servo loop parameters
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- `M56` — Joint calibration (with save-to-flash option)
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- `M57` — Read various information about the device state
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- `M58` — Read firmware version
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## 🐍 NEW: Python-API
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The new Python API handles all serial communication and provides convenient command execution and debug message printing.
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The lightweight Python API handles all serial communication and provides convenient command execution and debug message printing.
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The interface includes functions to home, move, and calibrate the device, as well as to query device information.
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Simply copy the [open_micro_stage_api.py](software/PythonAPI/open_micro_stage_api.py) file into your project, and you’re ready to get started.
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Simply copy the [open_micro_stage_api.py](software/PythonAPI/open_micro_stage_api.py) file into your project (also install the dependencies in requirements.txt), and you’re ready to get started.
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## Usage Example
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```python
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get_workspace_transform()
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home(axis_list=None)
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calibrate_joint(joint_index, save_result)
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move_to(x, y, z, f, move_immediately=False, blocking=True, timeout=1)
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dwell(time_s, blocking, timeout=1)
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set_max_acceleration(linear_accel, angular_accel)
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wait_for_stop(polling_interval_ms=10, disable_callbacks=True)
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set_servo_parameter(pos_kp=150, pos_ki=50000, vel_kp=0.2, vel_ki=100, vel_filter_tc=0.0025)
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enable_motors(enable)
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move_to(x, y, z, f, move_immediately, blocking, timeout)
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set_pose(x, y, z)
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dwell(time_s, blocking, timeout)
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enable_motors(enable)
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wait_for_stop(polling_interval_ms, disable_callbacks)
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set_max_acceleration(linear_accel, angular_accel)
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set_servo_parameter(pos_kp, pos_ki, vel_kp, vel_ki, vel_filter_tc)
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```
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## ✨ NEW: Firmware v1.0.1
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This update improves calibration, homing, logging, and adds several new G-Code commands.
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### Improvements
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- **Homing**: parallel homing support, higher repeatability, more accurate geometric reference
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- **Joint calibration**: refined procedure, persistent flash storage (no recalibration after reboot)
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- **Logging**: clearer and more detailed output
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### New G-Code Commands
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- `G28` — Home joints (supports homing multiple axis simultanously for faster startup)
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- `G24` — Set pose command (directly sets servo targets, bypassing motion controller)
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- `M17/M18` — Enable/Disable motors (with pose recovery from encoders on enable)
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- `M51` — Read encoder values
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- `M55` — Set servo loop parameters
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- `M56` — Joint calibration (with save-to-flash option)
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- `M57` — Read various information about the device state
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- `M58` — Read firmware version
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## ⚙ CAD-Files
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All CAD models are made in **FreeCAD** to allow everyone to view and modify the design without subscribing or paying for a proprietary CAD solution.
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@ -143,16 +142,26 @@ Each command is acknowledged with either an **`ok`** or **`error`** response.
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If a command provides additional information (e.g., the *get position* command), that information is returned **before** the `ok` message.
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The client must wait for an acknowledgment from the previous command before sending the next one—otherwise, behavior is undefined.
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| Command | Description |
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|----------------|-----------------------------------------------------------------------------|
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| `G0 X Y Z F` | Move the end-effector in a straight line to the specified position. <br> • `X`: target position on X-axis <br> • `Y`: target position on Y-axis <br> • `Z`: target position on Z-axis <br> • `F`: feed rate (movement speed) |
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| `G1 X Y Z F` | Same as `G0`. |
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| `M204 L A` | Set current acceleration. <br> • `L`: linear acceleration (m/s²) <br> • `A`: angular acceleration (rad/s²) |
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| `M50` | Get current actuator pose (position). |
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| `M51` | Get motion controller and servo loop update frequency. |
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| Command | Description |
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|-------------------|-----------------------------------------------------------------------------|
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| `G0 X Y Z F` | Move the end-effector in a straight line to the specified position. <br>• `X`, `Y`, `Z`: target positions <br>• `F`: feed rate |
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| `G1 X Y Z F` | Same as `G0`. |
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| `G4 S/P` | Dwell/pause for a specified time. <br>• `S`: seconds <br>• `P`: milliseconds |
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| `G24 X Y Z A B C` | Directly set current pose for servo loops with optional rotation vector* `A`, `B`, `C`. |
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| `G28 A-F` | Home one or more joints. <br>• Optional joint selection `A`–`F`. |
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| `M17` | Enable motors and read current pose as the start pose. |
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| `M18` | Disable motors. |
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| `M50` | Get current internal pose. (Encoders are not read here) |
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| `M51` | Get current encoder angles (in degrees) and raw encoder values. |
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| `M52` | Get the number of items in the planner queue. |
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| `M53` | Check if all moves are finished. Returns `1` if finished, `0` otherwise. |
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| `M53` | Check if all planned moves are finished (`1` = finished, `0` = not finished). |
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| `M55 A B C D F` | Set servo loop parameters. <br>• `A`, `B`: position PI controller gains (P and I) <br>• `C`, `D`: velocity PI controller gains (P and I) <br>• `F`: velocity filter time constant |
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| `M56 J S` | Calibrate a joint. <br>• `J`: joint index <br>• `S`: save calibration result |
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| `M57` | Get device and servo loop info: homing/calibration state, angles, loop frequencies, and file list. |
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| `M58` | Get firmware version. |
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| `M204 L A` | Set linear and angular acceleration. <br>• `L`: linear acceleration <br>• `A`: angular acceleration |
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*Note: The communication protocol uses 3D vectors for rotations. The direction represents the rotation axis and the length of the vector represents the angle of rotation around the axis.
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## Youtube Video
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[](https://youtu.be/MgQbPdiuUTw)
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2
bom.txt
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bom.txt
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* 6 M3 Grub Screw M3x4
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--- Electronics -------------------------------------------------------------------
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Qty. Name Comments
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* 1 DC-DC Step Down Module 4.75-23V Step-Down Buck Converter Module
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* 3 NEMA 17 Stepper Motor (Body length <= 38mm)
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--- 3D Printing ------------------------------------------------------------------
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Qty. Name Comments
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* 3 WireFlexureMount 0.4mm+ nozzle will probably require post-processing.
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