Table of Contents

Getting Started

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

Installation

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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