Below is an explanation of the typical wiring setup when using the Stepper servo skill. It’s important to note that in this configuration, the EZB v4 and the Arduino board do not connect directly to each other. Instead, they work independently within your robot system:

How the Communication Works

The EZB v4 is your main controller for other robot functions and is connected to your PC running ARC.

The Arduino board (loaded with the Stepper servo firmware) is connected to your PC via a USB cable. ARC sends virtual servo commands (to virtual port Vx) which the Arduino receives over its serial connection.

In other words, ARC communicates directly with both the EZB v4 (via its own connection) and independently with the Arduino via USB. There is no direct electrical connection required between the EZB and the Arduino.

Wiring for the Stepper Control (Arduino to DM556)

Since the Arduino is responsible for generating the step and direction signals to drive the DM556 stepper controller, here is what you need to wire on the Arduino side:

1. STEP and DIR Signals

   • In your Arduino firmware, two digital output pins are defined (check the firmware settings).
   • Wire one of these Arduino digital output pins to the STEP (step pulse) input on the DM556.
   • Wire a second Arduino digital output pin to the DIR (direction) input on the DM556.

2. Common Ground

   • Ensure that the Arduino, DM556, and any power supply used for the stepper motor all share a common ground.
   • This common ground is crucial for reliable signal communication.

3. Arduino Power/USB

   • The Arduino remains powered from the USB cable that connects it to your PC.
   • This USB connection is solely for data (and power for the Arduino itself); it does not serve as a direct link to the EZB v4.

Optional: Serial Network Connections

If you happen to have multiple Arduino boards on a serial network (for example, if you’re controlling several stepper motors), the firmware can forward commands over a single USB connection.
In that case, you would connect the Arduinos using diodes on their TX lines (per the firmware instructions). This network is separate from any connections to the EZB.

Summary

There is no direct wiring between the EZB v4 and the Arduino in this setup.
Your PC running ARC communicates to the Arduino via its USB/serial connection.
The Arduino then sends STEP and DIR pulses to the DM556 controller based on the virtual servo commands from ARC.
Always ensure all components (Arduino, DM556, power supply) share a common ground.

If you need any clarification or further details on any of the wiring steps, feel free to ask. Happy building, and I’m here to help if you have more questions!