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LICENSE
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MIT License MIT License
Copyright (c) 2023 0x23 Copyright (c) 2025 Github User '0x23' (https://github.com/0x23/)
Permission is hereby granted, free of charge, to any person obtaining a copy Permission is hereby granted, free of charge, to any person obtaining a copy of this
of this software and associated documentation files (the "Software"), to deal software, hardware design, documentation, or concept (the "Work"), to deal in the Work
in the Software without restriction, including without limitation the rights without restriction, including without limitation the rights to use, copy, modify, merge,
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell publish, distribute, sublicense, and/or sell copies of the Work, and to permit persons
copies of the Software, and to permit persons to whom the Software is to whom the Work is furnished to do so, subject to the following conditions:
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all The above copyright notice and this permission notice shall be included in all copies
copies or substantial portions of the Software. or substantial portions of the Work, including but not limited to products or
derivative works based on the presented concepts, designs, or arrangements, even if
the original design files are not directly used.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR THE WORK IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE WORK
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE OR THE USE OR OTHER DEALINGS IN THE WORK.
SOFTWARE.

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README.md
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# Micro Manipulator Stepper # Open Micro Manipulator
This project contains an open source low-cost, easy-to-build motorized **XYZ Micro-Manipulator** motion control platform achieving submicron precision. This project contains an open source low-cost, easy-to-build motorized **XYZ Micro-Manipulator** motion control platform achieving submicron precision.
It's designed for applications such as optical alignment, probing electronic components, and microscopy. It's designed for applications such as optical alignment, probing electronic components, and microscopy.
@ -19,31 +19,11 @@ A 'magnetic gearing' approach increases the resolution of the low-cost magnetic
The device can be controlled via simple G-Code commands over a USB serial interface and is thus easily integrated into other projects. The device can be controlled via simple G-Code commands over a USB serial interface and is thus easily integrated into other projects.
The firmware implements a complete motion planning stack with look-ahead for smooth and accurate path following capabilities. The firmware implements a complete motion planning stack with look-ahead for smooth and accurate path following capabilities.
## ✨ NEW: Firmware v1.0.1
This update improves calibration, homing, logging, and adds a Python API plus new G-Code commands.
### Improvements
- **Homing**: parallel homing support, higher repeatability, more accurate geometric reference
- **Joint calibration**: refined procedure, persistent flash storage (no recalibration after reboot)
- **Logging**: clearer and more detailed output
- **Python API**: easy device control from Python
### G-Code Commands
- `G28` — Home joints (supports homing multiple axis simultanously for faster startup)
- `G24` — Set pose command (directly sets servo targets, bypassing motion controller)
- `M17/M18` — Enable/Disable motors (with pose recovery from encoders on enable)
- `M51` — Read encoder values
- `M55` — Set servo loop parameters
- `M56` — Joint calibration (with save-to-flash option)
- `M57` — Read various information about the device state
- `M58` — Read firmware version
## 🐍 NEW: Python-API ## 🐍 NEW: Python-API
The new Python API handles all serial communication and provides convenient command execution and debug message printing. The lightweight Python API handles all serial communication and provides convenient command execution and debug message printing.
The interface includes functions to home, move, and calibrate the device, as well as to query device information. The interface includes functions to home, move, and calibrate the device, as well as to query device information.
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. 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.
## Usage Example ## Usage Example
```python ```python
@ -76,15 +56,34 @@ set_workspace_transform(transform)
get_workspace_transform() get_workspace_transform()
home(axis_list=None) home(axis_list=None)
calibrate_joint(joint_index, save_result) calibrate_joint(joint_index, save_result)
move_to(x, y, z, f, move_immediately=False, blocking=True, timeout=1) move_to(x, y, z, f, move_immediately, blocking, timeout)
dwell(time_s, blocking, timeout=1)
set_max_acceleration(linear_accel, angular_accel)
wait_for_stop(polling_interval_ms=10, disable_callbacks=True)
set_servo_parameter(pos_kp=150, pos_ki=50000, vel_kp=0.2, vel_ki=100, vel_filter_tc=0.0025)
enable_motors(enable)
set_pose(x, y, z) set_pose(x, y, z)
dwell(time_s, blocking, timeout)
enable_motors(enable)
wait_for_stop(polling_interval_ms, disable_callbacks)
set_max_acceleration(linear_accel, angular_accel)
set_servo_parameter(pos_kp, pos_ki, vel_kp, vel_ki, vel_filter_tc)
``` ```
## ✨ NEW: Firmware v1.0.1
This update improves calibration, homing, logging, and adds several new G-Code commands.
### Improvements
- **Homing**: parallel homing support, higher repeatability, more accurate geometric reference
- **Joint calibration**: refined procedure, persistent flash storage (no recalibration after reboot)
- **Logging**: clearer and more detailed output
### New G-Code Commands
- `G28` — Home joints (supports homing multiple axis simultanously for faster startup)
- `G24` — Set pose command (directly sets servo targets, bypassing motion controller)
- `M17/M18` — Enable/Disable motors (with pose recovery from encoders on enable)
- `M51` — Read encoder values
- `M55` — Set servo loop parameters
- `M56` — Joint calibration (with save-to-flash option)
- `M57` — Read various information about the device state
- `M58` — Read firmware version
## ⚙ CAD-Files ## ⚙ CAD-Files
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. 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.
@ -143,16 +142,26 @@ Each command is acknowledged with either an **`ok`** or **`error`** response.
If a command provides additional information (e.g., the *get position* command), that information is returned **before** the `ok` message. If a command provides additional information (e.g., the *get position* command), that information is returned **before** the `ok` message.
The client must wait for an acknowledgment from the previous command before sending the next one—otherwise, behavior is undefined. The client must wait for an acknowledgment from the previous command before sending the next one—otherwise, behavior is undefined.
| Command | Description |
| Command | Description | |-------------------|-----------------------------------------------------------------------------|
|----------------|-----------------------------------------------------------------------------| | `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 |
| `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) | | `G1 X Y Z F` | Same as `G0`. |
| `G1 X Y Z F` | Same as `G0`. | | `G4 S/P` | Dwell/pause for a specified time. <br>• `S`: seconds <br>• `P`: milliseconds |
| `M204 L A` | Set current acceleration. <br> • `L`: linear acceleration (m/s²) <br> • `A`: angular acceleration (rad/s²) | | `G24 X Y Z A B C` | Directly set current pose for servo loops with optional rotation vector* `A`, `B`, `C`. |
| `M50` | Get current actuator pose (position). | | `G28 A-F` | Home one or more joints. <br>• Optional joint selection `A`–`F`. |
| `M51` | Get motion controller and servo loop update frequency. | | `M17` | Enable motors and read current pose as the start pose. |
| `M18` | Disable motors. |
| `M50` | Get current internal pose. (Encoders are not read here) |
| `M51` | Get current encoder angles (in degrees) and raw encoder values. |
| `M52` | Get the number of items in the planner queue. | | `M52` | Get the number of items in the planner queue. |
| `M53` | Check if all moves are finished. Returns `1` if finished, `0` otherwise. | | `M53` | Check if all planned moves are finished (`1` = finished, `0` = not finished). |
| `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 |
| `M56 J S` | Calibrate a joint. <br>• `J`: joint index <br>• `S`: save calibration result |
| `M57` | Get device and servo loop info: homing/calibration state, angles, loop frequencies, and file list. |
| `M58` | Get firmware version. |
| `M204 L A` | Set linear and angular acceleration. <br>• `L`: linear acceleration <br>• `A`: angular acceleration |
*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.
## Youtube Video ## Youtube Video
[![Watch the video](images/thumbnail.jpg)](https://youtu.be/MgQbPdiuUTw) [![Watch the video](images/thumbnail.jpg)](https://youtu.be/MgQbPdiuUTw)

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bom.txt
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* 6 M3 Grub Screw M3x4 * 6 M3 Grub Screw M3x4
--- Electronics ------------------------------------------------------------------- --- Electronics -------------------------------------------------------------------
Qty. Name Comments Qty. Name Comments
* 1 DC-DC Step Down Module 4.75-23V Step-Down Buck Converter Module * 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) * 3 NEMA 17 Stepper Motor (Body length <= 38mm)
--- 3D Printing ------------------------------------------------------------------ --- 3D Printing ------------------------------------------------------------------
Qty. Name Comments Qty. Name Comments
* 3 WireFlexureMount 0.4mm+ nozzle will probably require post-processing. * 3 WireFlexureMount 0.4mm+ nozzle will probably require post-processing.