Table of Contents

Getting Started

The Harp StepperDriver is a stepper motor controller device for four motors with support for quadrature encoder feedback.

Installation

  • Install Bonsai.
  • Install the Harp.StepperDriver package by searching for it in the Bonsai package manager. If the package does not appear in the search results, enable the "Show advanced" option.

Connections

Stepper Motor - The StepperDriver supports 4-lead bipolar stepper motors that draw up to 2 A per phase. Ensure that the 4 leads (A+, A-, B+, and B-) are correctly connected to the labeled terminals on the device.

Power Supply - The StepperDriver requires an external power supply that matches your motor configuration:

  • Voltage - Select a supply matching the recommended driving voltage listed in the motor datasheet (15-35 V). For high-speed and high-torque applications, supply at least 10 V above the minimum driving voltage, and mount the StepperDriver on a metal surface to dissipate heat.
  • Current - Provide at least double the motor's rated phase current, multiplied by the number of motors (e.g. 8 A for two 2 A motors).

These tutorials were written and tested with:
Hardware v1.0
Firmware v0.7
Harp.StepperDriver v0.4

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