Configuring the steppermotors on the Scylla 1.0 board

• Drivers: onboard TMC5160
• Motors: OpenBuilds 2315HS300AW-OB, 1.8 degree/step, 3A
  • OpenBuilds 2315HS300AW-OB
  • Bipolar
  • Shaft Size: 1/4" - 6.35mm
  • Torque: 345 Oz*in
  • Inductance: 4.0 mH / Phase
  • Step Angle: 1.8°
  • Coil Voltage: 3.0A / phase
  • Wiring: 4-wire bipolar
  • Voltage Range: 24-48V DC (Recommended)
• Drive pitch: 2mm
• Microsteps: 16
• Steps/mm: 200 * 16 / 2 = 1600
• Travel: X 1200mm, Y 750mm, Z 170mm
• Gantry: dual Y motors with auto-square support

Confirm the TMC5160 drivers are detected:

M122

Expected drivers:

X       Y       Z       Y2
TMC5160 TMC5160 TMC5160 TMC5160

Motor Wiring

Power off before connecting or disconnecting motor plugs.

Scylla motor terminal order:

B1 B2 A1 A2

Each motor must have one coil on B1/B2 and the other coil on A1/A2. Verify with a multimeter before power-up:

• B1-B2 low resistance
• A1-A2 low resistance
• Any B-to-A combination open/no continuity

Motor assignment:

• X motor to X
• Left/right Y motors to Y and A/Y2
• Z motor to Z

If the two Y motors fight each other, power off and reverse one complete coil polarity on only one Y motor, for example swap A1 and A2 on that motor.

Working grblHAL Settings

Send these from gSender console. grblHAL saves each $setting=value immediately after ok.

$1=255
$3=7
$4=7
$37=7
$338=7
$140=2000
$141=2000
$142=2000
$150=16
$151=16
$152=16
$100=1600
$101=1600
$102=1600
$110=500
$111=500
$112=300
$120=30
$121=30
$122=20
$130=1200
$131=750
$132=170

Meaning of the important motor settings:

• $1=255: keep steppers enabled instead of disabling after idle delay
• $3=7: invert X, Y, and Z direction
• $4=7: invert X, Y, and Z stepper enable polarity; required for the Scylla setup tested here
• $37=7: keep X, Y, and Z steppers enabled when idle
• $338=7: enable Trinamic control for X, Y, and Z; Y2 follows the ganged Y configuration
• $140/$141/$142=2000: X/Y/Z motor current, mA RMS setting
• $150/$151/$152=16: X/Y/Z microsteps
• $100/$101/$102=1600: X/Y/Z steps per mm

Note: $338 is an axis mask, not a physical motor mask. Use $338=7, not $338=15, even though the machine has a Y2 motor.

Basic Motion Test

Make sure hard limits are off during first motion tests:

$21=0

Unlock if needed:

$X

Test slow relative moves:

G21
G91
G1 X10 F100
G1 X-10 F100
G1 Y10 F100
G1 Y-10 F100
G1 Z10 F50
G1 Z-10 F50
G90

Expected behavior:

• X moves in the correct direction and holds when stopped.
• Both Y motors move together in the same direction and hold when stopped.
• Z moves in the correct direction and holds when stopped.