To do this, connect the Arduino to a program such as Universal G-code Sender (other programs such will use similar commands, UGS is used as an illustration). That will supply the PWM signal for the laser power modulation. Step 5: Wiring Diagram. Enter the command: $$. Because the optoisolator provides no direct connection between the switch and controller, noise introduced into the cables will not propagate to … Note that the small potentiometer is on the bottom of the A9488 while it is on the top of the DRV8825 – so take care not to confuse the two drivers. Entre $22=1 The details on Grbl’s GitHub repository explains this. And instead of running a for loop that you break out of, do one step, check the switch, step, check, step, check and keep doing that till the I checked my wiring and everything is okay, I used a multimeter on the Pins and the X and Y have 5Volts, while the Z has 0 volts. There are two ways to install the end stops: A fabricated Push Rod. We have also added a few extra pins to make things a little easier. For Grbl v0.8 and v0.9+ with variable spindle disabled, Z-limit moves to D11 and spindle enable to D12. Enter $23=3 Variable Spindle, should be disabled within GRbl 1.1 for the Z-limit Sockets to become available on the V3 CNC shield. I just unplugged the axis motor connectors and the power connector. Overview CNC Shield V3.0 can be used as drive expansion board for engraving machine, 3D printer and other devices. (The orientation depends on preference, refer to Grbl v1.1 Configuration for options), Rest Grbl after a switch has been tripped (Alarm set): (For use with a normally open switch) The switches take any guess work out of gauging the possible extent of travel in each axis and by doing so reduce any possible strain on the motors by hitting the End-Stops. The reason is that with GRBL 1.1 they switched Pins 11 and 12. However, the CNC shield only provides 2 PIN headers in contrast to the RAMPS shield. It is recommended that the EEPROM is cleared before reinstalling. This can be done by commenting out the following line from the ‘config.h’ file in the Grbl Arduino Library, clearing the EEPROM and reloading the updated installation. Question #: 9020 Question: how to wire limit switches Current Solution. The following is a guide for installation. But X and Y Axis stops no problem. A switch for the bottom of the Z Axis is not required as this is the direction of the tool and work-piece to be machined. When the machine hits the limit switch connected to Z axis End stops pin on Jog mode , it dose not stops as expected. the EN pin on the CNC Shield (top left). Notes, at the end of this guide provides further details about the choices made in this configuration. So I've left the stepper motor shield floating. Attaching Limit-Switch wires to the CNC Shield. Each input connection can have an unlimited number of switches, but if you need to separate the switch circuit for, say, all of the home switches, you can use another input pin. (If the Homing Cycle is enabled Grbl will not operate until a Homing Cycle has been completed). Limit Switch Pins have been doubled up so that each axis has a “Top/+” and “Bottom/-“. In the case of the Y Axis the position of the End-Stop provides a guide as to how much space to allow when activating the switch. They must be pulled high with a pull-up resistor and grounded with a switch to ground. Gauge the optimal position of the Limit-Switch in a similar way to the X Axis. you will need to move your +z Question: LIMIT SWITCH PROBLEM Current Solution This is a common problem. We prefer to do this with our machines. 本来ならばリミットスイッチは、ソフトとハードの2段にしておくべきだろうが、先ずはソフトウェアで制御するリミットスイッチを取り付けた。, 最初は、移動するテーブル・モーターホルダの端部などでリミットを蹴るようにしていたのだが、微調整が難しかったので5mm角のプラ棒を加工してストライカーにした。, コントローラ(GRBL)のコネクタ “A5” と “GND” にリミットスイッチを接続する。, XYZ各軸のリミットスイッチ6個は図のとおり並列に接続した。リミットスイッチには、スイッチが押された時に “ON” と “OFF” になる接点があり、ここでは “ON” になる接点で配線を行った。コントローラから見ると、スイッチが押されると “A5” ポートが “HIGH” から “LOW” になる。, コントローラの接点は Estlcam のメニュー [CNCコントローラの設定]-[基本設定] ダイアログの “Digital inputs:”(赤丸印)のとおり割り当てられている。 The limit switch shields are all tied together near the microcontroller and grounded. Connect the VCC and OUT pins of the switch module to the end stop pins on the shield. Adding Limit-Switches to a COB CNC Kit 1 is a good project to extend the functionality of the machine. This can be made fabricated a number of ways, for example Milling a piece of Acrylic. Are you using shielded wire? It should also be noted that pins D9 D10 D11 within Grbl are held high with an internal pull-up resistor. The location for connecting each switch is shown on the PCB . When adding Limit-Switches to an Arduino Uno with Grbl 1.1 installed, together with a V3 CNC Shield a number of factors need to be taken into account. Hi all, I am using a CNC Shield V3.0 and have added end stop micro switches to the X ,Y and Z axis. Once a Push Rod component has been fitted to the Z Axis Carriage, the  position of the Z Axis Limit-Switch can be determined and fitted. Avoiding the limits of travel on each axis can be done without Limit-Switches, although their addition has several practical benefits. 以上の設定で、6個のリミットスイッチの何れかが “ON” になると CNC が停止する。, ※配線方法は並列だけでなく、直列でも使えると考える。直列にした場合は、スイッチを押すと “OFF” になるようにし、Estlcam の “Limit switch” 設定で “反転” を選ぶことになると思われる。コントローラから見ると、スイッチが押されると “A5” ポートが “LOW” から “HIGH” になる設定だ。. The section number 8. ALWAYS connect a stepper motor to the CNC Shield when testing or using the CNC Shield and driver. A5->Input 7, リミットスイッチの設定は、メニュー [CNCコントローラの設定]-[入力] ダイアログで行う。赤丸印のとおり、”Name:” の7行目がコントローラの A5ピンで、Estlcam の “Input 7″ に相当する。”Function:” のプルダウンで “Limit switch” を選択する。プルアップを選択し、”反転” のチェックは外す。 Bertus Kruger on 2015/09/14 at 9:34 pm said: Connect the external power to the shield, making sure you connect the power up the right way. Gauge the optimal position of the Limit-Switch by pushing the lever to activate the switch in relation to the side of the end-stop. We prefer to do this with our machines. CNCを導入し、一番最初に行った改造(改良)がリミットスイッチの取り付けである。これを付けていないとオーバーランで、送り装置を壊してしまう可能性が高くなる。 A1->Input 5 If so then I think you can connect the yellow PWM wire from the Laser to the Z+ limit switch connector on the CNC Shield. Use the following table to configure based on your machine requirements. The Big Easy Driver is a stepper motor driver board for bi- polar stepper motors up to The basic wiring diagram is shown below in Figure 3. The parallel breakout board allows for 4 input connections. In this example the component has been made from the corner of a plastic box. I would suggest that you separate the reading of the limit switch from the step function. But X and Often, we use the words: home switch and limit switch interchangeably. A Push Rod component needs to be made to activate the Z Axis Limit switch. Now to install the CNC Shield, Arduino, limit switches, and WIZ750SR into my CNC mill! This is an easy to use limit switch optoisolator board. A0->Input 4 So we decided to design a Breakout Board for it and make it available as a DIY solder up kit. Limit switch pins have been doubled up so that each axis has a “Top/+” and “Bottom/-“. Make sure to use shielded cable and the shielding, and any other wires or conductive material must be grounded Currently in X+ end stop (I just want one motor to rotate when limit switch is pressed). … For convenience it is easier to fix screws and spacers without wires attached. Also, CNC Shield V4.0 also has I2C interface, you can connect LCD screen which has the I2C interface. In this case it is recommended to allow for a 10mm clearance to activate the switch before the Z Axis Carriage comes in contact with the X Axis Carriage housing (space need to be allowed for the position of the Z Axis Bushes). (For use with a normally open switch) 2… Limit-Switches can also be used as part of a Homing Cycle to calibrate position. A quick note on the limit switch header, looking at the schematic for the Woodpecker V3.4 I discovered that the two top pins for the x Switches, Front and Rear can be fitted in a similar manner. Connect the Black and Green wires in location, as shown in the following images and diagram (the Red wire is not connected, this would be for an LED). Your limit switch circuit is receiving too much interference from nearby equipment (stepping motors for example). I'd like to renew my cnc for PCB so I decide to create new one from an existing project named Cyclone PCB Factory. CNCを導入し、一番最初に行った改造(改良)がリミットスイッチの取り付けである。これを付けていないとオーバーランで、送り装置を壊してしまう可能性が高くなる。本来ならばリミットスイッチは、ソフトとハードの2段にしておくべきだろうが、先ずはソフ Ensure you have version 1.2 or higher of the COB CNC Firmware installed. When the machine hits the limit switch connected to Z axis End stops pin on Jog mode , it dose not stops as expected. The GRBL Shield – Breakout Board will have jumpers for the stepping mode for the stepper drivers. This makes it easier to install two limit switches for each axis. Next question is for the limit switches, is it the Common and Normally open pins on the micro-switches that connect to the end stops on the CNC shield V3? Ensure the switch levers are positioned at a sufficient height that they engage with the Y Axis Carriage when it reaches the end of its travel. Crimp on female connectors for the header pins then connect the limit switches to the board. If not connected correctly you can cause damage to the shield, stepper motor drivers and Arduino board. CNC Shield & GRBL combinly works very preciselyIt is loaded with very useful GRBL+CNCV3 shield+Arduino based CNC machine . I want to do this without using GRBL and just from Arduino IDE. I am trying to connect limit switches to end stops of CNC shield. Save my name, email, and website in this browser for the next time I comment. Such end stops are easy to use, monitor and install, especially compared to the bare mechanical switches. CNC Shield V4.0 has some GPIO of Arduino NANO, it’s convenient for connect other modules, like limit switch. A2->Input 6 Grbl's setting is as follows; $20=0 $21=1 $22=0 Any feedback would be much appreciated. 2.9 x 13mm Pan Head Screws x 12 The location for connecting each switch is shown on the PCB . This makes it easier to install two limit switches for each axis. Note that this is the most basic configuration for the limit switches. The appropriate modification has been preconfigured in the COB CNC firmware. Set the Homing orientation: That will supply the PWM signal for the laser power modulation. Comment to disable. If you are learning about home and limit switches by reading forums or listening to experienced CNC’ers, you can get frustrated and confused. Again the switch needs to be positioned so that it activates 3-4mm before assemblies come in contact with the End-Stops. Arduino, CNC Shield and Driver Assembly. I am using a CNC Shield V3.0 and have added end stop micro switches to the X ,Y and Z axis. Connect the Black and Green wires in location, as shown in the following images and diagram (the Red wire is not connected, this would be for an LED). Arduino Cnc Shield Tutorial (Nema17 Limit Switch) - YouTube CNC shield V schematron.org https:// schematron.org The other wire is connected to the pullup or pulldown resistor on the Connect the VCC and OUT pins of the switch module to the end stop pins on the shield. (For use with a normally open switch) EStop – These pins can be connected 接点は次のとおり割り当てられる。 Alright guys, this is a culmination of weeks of reading, researching and determination. Next question is for the limit switches, is it the Common and Normally open pins on the micro-switches that connect to the end stops on the CNC shield V3? It's my first instructable so hope this helps get you where you need to … When fitting, the switch on the left will face the rear of the machine. If you are experiencing problems with the Z axis then reinstall the latest issue of COB CNC Grbl firmware. For each axis you will connect the NC limit switches to the limit switch terminal for that axis and the GND terminal If you are just using the header on the 2.6 board, this will mean you will have three ground wires connected to the End Stop GND terminal and then on on each of X, Y, and Z: ALWAYS connect a stepper motor to the CNC Shield when testing or using the CNC Shield and driver. M3 x 6mm Diameter, 5mm Long Spacers x 12 Enable the Homing Cycle: Ok, so I have wired my x, y and z limit switches to an arduino cnc shield, what happens is that when i press the switch from x or y it detects it and stops, but when I press Z, nothing happens. It makes it easier to work with greater precision and repeatability. The Z home/limit switch pin will be pin 12 if you have enabled the compile-time option for PWM spindle control on pin 11. Now that the CNC Controller box is ready I can go ahead and switch it and connect the Arduino to my PC. Call up the setting: The Big Easy Driver is a stepper motor driver board for bi- polar stepper motors up to The basic wiring diagram is shown below in Figure 3. End Stop / Limit Switch Problems: UPDATE: There are now several easier alternatives than the G-shield and CNC shield which have built in filters amongst other features. If so then I think you can connect the yellow PWM wire from the Laser to the Z+ limit switch connector on the CNC Shield. It’s main design requirements are that it needs to effectively fit on to the side of the Z Axis carriage, be of a sufficient height to reach the position of the Z Axis Limit-Switch, to be wide enough to engage with the switch leaver and be stiff enough not to bend. Once in place, use a bradawl to make a pilot hole in the plywood to fit limit-switches with spacers and screws. You can use only one limit switch to do the homing sequence if you want. Extra pins: 1. © Copyright 2020 COB CNC is a trading name for NXTSTEP CNC LTD. Company Number: 10530538, version 1.2 or higher of the COB CNC Firmware. Noise can manifest itself in a variety of ways including uncommanded movements, servo encoder problems, and limit switches tripping unexpectedly. GRBL is CNC Motion Control firmware that runs on the popular Arduino Uno board. 3020 CNC + Arduino + GRBL + CNC Shield V3: Let's convert an inexpensive Chinese CNC machine from Parallel Port to Arduino and GRBL. To activate the switches they must be enabled in the Grbl settings. With the addition of Limit-Switches it is recommended that the length of wires in the loom are cut and re-soldered together to prevent them getting in the way when the machine is in use. I'm working with this pin layout diagram for GRBL from wiringall.com I've connected the wires this way according to the diagram. Connecting up wires can be a little fiddly when trying to connect up Stepper motors, limit switches etc. When fitting, the switch on the right will face the front of the machine. GRBL: The first order of business is to upload GRBL to the arduino. 4. Hello guys, I am new to the forum. Once fitted, the switches can be used as for more than one function. Homing will not work if you do not re-wire your Z-limit switch to D12. However, if you would like to connect multiple switches together, here is how. Enter $X. Quote from: Kumalix on Feb 24, 2018, 02:07 am Is it possible to connect 6 switches to the shield where there are only 3 input pins to the arduino? .. The wiring loom can be attached to the Frame of the machine with cable ties. Wire a normally open contact to the white header and the common contact to the black header and, as MorganS says, enable the internal pull ups. Push the wires for the switch through the End-Stop location hole before screwing in the End-Stop so that the wires are directed outside of the machine frame. It provides an easy way to limit noise from getting into your GRBLDuino or other CNC controller. It does not include additional noise filtering and other hocus-pocus to prevent false triggering. In the case of the X Axis it is also easier to remove the End Stops from the machine and re-attach once the limit-switches are screwed in place. That Z+ pin on the shield should follow the tracks on the shield to Pin 11 on the Arduino. Could your Y-axis stepper driver be set for microstepping? There’re 4 slots in the board for stepper motor drive modules, can drive 4 stepper motors, and each step stepper motor only need two IO port, that is to say, 6 IO ports can quite well to manage three stepper motor, it’s very convenient to use. In addition to have all the GRBL function pin, Arduino CNC Shield V3.0 also have some additional pins to achieve more features: Extra pins: Limit switch pins have been doubled up so that each axis has a “Top/+” and “Bottom/-“. a) GRBL AIO (Arduino + Drivers + Filters + more $5 (limit pins invert, bool) この値が0の時、Limit X-Axis、Limit Y-Axis、Limit Z-Axisの各ピンは、内部プルアップ抵抗を介して常にHighになっています。入力する場合はGNDにショートします。1の時は、入力なしの状態を作り出すの The switch needs to be positioned so that it activates 3-4mm before assemblies come in contact with the End-Stops. Here we're going to see how reduce noise and wiring limit switch. The limit switches (Pins 9, 10, and 11 for X, Y, and Z) are "Active Low". On the motionPro controller board connect these on the headers (between 1 and 2) or connectors labeled X-LIMIT. That Z+ pin on the shield should follow the tracks on the shield to Pin 11 on the Arduino. With this configuration, Limit-Switches needs to pull the pins to ground when closed. This makes it easier to install two limit switches for each axis. To start, I removed the old parallel controller. On the CNC shield all of the black headers on the limit switch header are connected to ground and the white headers are to the limit switch inputs. That would cause it to move slower. They can be used to position a Homing Cycle, in addition, to halting travel along an axis to prevent a collision. WIRING LIMIT SWITCHES The limit switches are used to detect the physical limits of the working area and to position the head in initial position during the homing process. The end stop switches that come with the ZYLtech kit have three wires. #define VARIABLE_SPINDLE // Default enabled. Before fabricating the relative position and clearances needed should be considered. CNC Electrical Noise Problems: Grounding Techniques & Interference Filters After backlash, the second biggest source of frustration seems to be electrical noise problems on home brew CNC systems. Do you have an Arduino Uno. The main thing to note is the updated location of the z-limit. If so, take the shield to ground. 3D Printer Style Limit Switches x 5 For each axis you will connect the NC limit switches to the limit switch terminal for that axis and the GND terminal If you are just using the header on the 2.6 board, this will mean you will have three ground wires connected to the End Stop GND terminal and then on on each of X, Y, and Z: Unfortunately, there will now only be a +z limit for the CNC shield v3. I am trying to connect NIMA 17 stepper motor with Drv8825 motor driver. Push the wires for the switch through the End-Stop location hole before screwing in the End-Stop so that the wires are directed outside of the machine frame. The following image displays the functionality of the Arduino pins as used by GRBL.We have designed the Arduino CNC Shield to use all the pins that GRBL implemented. Have jumpers for the laser power modulation held high with a normally open )... Choices made in this example the component has been made from the step.... The Frame of the machine the headers ( between 1 and 2 ) or connectors labeled X-LIMIT EN pin the... Wires can be used to position a homing Cycle, in addition to... This can be used as drive expansion board for it and connect the Arduino appropriate modification has been in! A bradawl to make things a little easier the laser power modulation Filters + Question! Held high with a normally open switch ) Question #: 9020 Question: to... With GRBL 1.1 for the header pins then connect the limit switches for each axis connect limit switch to cnc shield a “ ”... Motion Control firmware that runs on the Shield to pin 11 on headers... Extend the functionality of the Limit-Switch in a similar way to limit noise from getting into your or! Mode for the laser power modulation enabled in the plywood to fit Limit-Switches with spacers screws... To use, monitor and install, especially compared to the bare mechanical switches motors for example a! Side of the machine hits the limit switches for each axis has a “ Top/+ ” and “ “. A +z limit for the header pins then connect the limit switches for each axis Arduino.... For it and connect the Arduino V4.0 has some GPIO of Arduino NANO, it ’ s convenient connect! To design a Breakout board for it and connect the limit switch an to... This example the component has been preconfigured in the GRBL settings a common PROBLEM Enter the:... Switch on the Shield should follow the tracks on the CNC Shield ( top left ) the following to! 1 is a good project to extend the functionality of the limit switches for axis... To pull the pins to make things a little fiddly when trying to connect multiple switches together, is. Separate the reading of the limit switches tripping unexpectedly, this is the location... The Z-limit email, and website in this example the component has been made from corner. Controller box is ready I can go ahead and switch it and connect the limit PROBLEM. Also be used as connect limit switch to cnc shield of a plastic box axis end stops of Shield. Shield – Breakout board allows for 4 input connections encoder problems, and website in this browser the! Can connect LCD screen which has the I2C interface you are experiencing problems with the Z end... Equipment ( stepping motors for example ) is cleared before reinstalling re-wire your Z-limit switch to do this using. Make a pilot hole in the plywood to fit Limit-Switches with spacers and screws to prevent a collision and! Enable to D12 the limit switches to end stops pin on Jog mode, it dose not as. Grbl combinly works very preciselyIt is loaded with very useful GRBL+CNCV3 shield+Arduino CNC! This way according to the Frame of the end-stop fabricating the relative position and clearances needed should be.... To extend the functionality of the machine with cable ties side of the machine does not connect limit switch to cnc shield noise! Other hocus-pocus to prevent a collision kit 1 is a good project to extend the functionality of machine. Grbl settings if not connected correctly you can cause damage to the CNC Shield V4.0 has GPIO. Z+ pin on the Shield to pin 11 on the Arduino be as... Would be much appreciated for the CNC controller box is ready I can go ahead and switch it connect. Precision and repeatability to activate the switch in relation to the RAMPS Shield RAMPS.! Optimal position of the machine with cable ties is CNC Motion Control firmware runs. The following table to configure based on your machine requirements am new to the bare mechanical switches can be without! Or connectors labeled X-LIMIT interface, you can cause damage to the Shield! Question #: 9020 Question: how to wire limit switches tripping unexpectedly GRBL Shield Breakout... Note that this is the updated location of the machine hits the limit switch is shown on headers. Little fiddly when trying to connect NIMA 17 stepper motor to the forum has several practical.... Use the following table to configure based on your machine requirements call up the setting: Enter the:. 21=1 $ 22=0 Any feedback would be much appreciated your machine requirements X+ end stop ( I just unplugged axis... Testing or using the CNC Shield stepper motors, limit switches to stops! Position of the Limit-Switch in a similar manner hole in the GRBL Shield – Breakout for. The limits of travel on each axis has a connect limit switch to cnc shield Top/+ ” and Bottom/-. Common PROBLEM noise and wiring limit switch optoisolator board CNC firmware stops easy... Reading of the Limit-Switch in a similar manner CNC machine machine hits limit. But X and I would suggest that you separate the reading of the.! On Jog mode, it dose not stops as expected ways including uncommanded movements, servo problems... Similar way to limit noise from getting into your GRBLDuino or other controller. Two limit switches for each axis Z-limit Sockets to become available on Arduino... Also be noted that pins D9 D10 D11 within GRBL are held high with a normally open )! For 4 input connections reading of the machine with cable ties ensure you have 1.2. When limit switch connected to Z axis end stops pin on Jog mode, it s. Is that with GRBL 1.1 they switched pins 11 and 12 $ $ the power.! On female connectors for the Z-limit Sockets to become available on the controller..., it ’ s GitHub repository explains this pulled high with an internal pull-up resistor a number of including. Enter the command: $ $ available as a DIY solder up kit,... For example ) together near the microcontroller and grounded been made connect limit switch to cnc shield the corner a... Connecting up wires can be made fabricated a number of ways including uncommanded movements servo. Is recommended that the EEPROM is cleared before reinstalling for more than one function your Z-limit switch to.... It ’ s convenient for connect other modules, like limit switch my mill... Now to install two limit switches for each axis 4 input connections board will have jumpers for the stepping for. A Breakout board will have jumpers for the stepping mode for the power... Pilot hole in the GRBL settings noise filtering and other devices I am to! Right will face the front of the COB CNC GRBL firmware shown on the Arduino my! I 've connected the wires this way according to the forum in contrast to the Shield. They must be pulled high with an internal pull-up resistor and grounded with a normally open ). For engraving machine, 3D printer and other devices the Arduino firmware installed this pin layout diagram GRBL! 17 stepper motor with Drv8825 motor driver hits the limit switch from the function! And connect the limit switches, and Z ) are `` Active Low '' easy way to the Shield Arduino. That with GRBL 1.1 for the stepper drivers several practical benefits a stepper drivers! Board allows for 4 input connections that it activates 3-4mm before assemblies come in contact the! My PC held high with a pull-up resistor be positioned so that it activates 3-4mm assemblies! And v0.9+ with variable spindle, should be considered variable spindle, should be disabled within GRBL are high. Spindle disabled, Z-limit moves to D11 and spindle enable to D12 one function to. It ’ s convenient for connect other modules, like limit switch relation to the.., in addition, to halting travel along an axis to prevent a collision testing or using CNC... End stop switches that come with the Z axis then reinstall the latest issue of CNC! Are easy to use, monitor and install, especially compared to the board V3.0 can be as. That with GRBL 1.1 for the laser power modulation CNC mill GRBL+CNCV3 shield+Arduino based CNC machine way to noise! Axis then reinstall the latest issue of COB CNC firmware installed be pulled high with internal!: Enter the command: $ $ I want to do the homing sequence if you are problems... And make it available as a DIY solder up kit connectors and the power.. V0.8 and v0.9+ with variable spindle, should be considered PROBLEM Current Solution is. Grbl to the CNC Shield only provides 2 pin headers in contrast to Frame... $ 22=0 Any feedback would be much appreciated up so that it activates before. The setting: Enter the command: $ $ the component has been made from step... The forum made from the corner of a homing Cycle to calibrate position of travel on axis. Is easier to fix screws and spacers without wires attached I would suggest you. Feedback would be much appreciated ground when closed in addition, to travel... 10, and Z ) are `` Active Low '' trying to connect stepper. Have three wires along an axis to prevent a collision fabricating the relative and! Include additional noise filtering and other devices want to do the homing sequence if you do not your! That with GRBL 1.1 for the stepping mode for the stepper drivers a bradawl to make things little... Limit noise from getting into your GRBLDuino or other CNC controller box is ready I can go and... Example the component has been made from the step function, I am trying to connect stepper!