Class Device

Namespace: Harp.StepperDriver

Assembly: Harp.StepperDriver.dll

Represents an observable source of messages from the Harp device connected at the specified serial port.

StepperDriver
whoAmI	1130
firmwareVersion	0.3
hardwareTargets	1.0

Registers

name	address	type	length	access	description	range	interfaceType
EnableDriver	32	U8		Write	Enables the driver for a specific motor. If the driver is already enabled, the driver remains enabled.		StepperMotors
DisableDriver	33	U8		Write	Disables the driver for a specific stepper motor, which prevents current from being sent to the motor or load. If the driver is already disabled, the driver remains disabled.		StepperMotors
EnableEncoders	34	U8		Write	Specifies a set of port quadrature counters to enable in the device.		QuadratureEncoders
DisableEncoders	35	U8		Write	Specifies a set of port quadrature counters to disable in the device.		QuadratureEncoders
EnableDigitalInputs	36	U8		Write	Specifies a set of digital inputs to enable in the device.		DigitalInputs
DisableDigitalInputs	37	U8		Write	Specifies a set of digital inputs to disable in the device.		DigitalInputs
Motor0OperationMode	38	U8		Write	Configures the operation mode for motor 0.		MotorOperationMode
Motor1OperationMode	39	U8		Write	Configures the operation mode for motor 1.		MotorOperationMode
Motor2OperationMode	40	U8		Write	Configures the operation mode for motor 2.		MotorOperationMode
Motor3OperationMode	41	U8		Write	Configures the operation mode for motor 3.		MotorOperationMode
Motor0MicrostepResolution	42	U8		Write	Configures the microstep resolution for motor 0.		MicrostepResolution
Motor1MicrostepResolution	43	U8		Write	Configures the microstep resolution for motor 1.		MicrostepResolution
Motor2MicrostepResolution	44	U8		Write	Configures the microstep resolution for motor 2.		MicrostepResolution
Motor3MicrostepResolution	45	U8		Write	Configures the microstep resolution for motor 3.		MicrostepResolution
Motor0MaximumRunCurrent	46	Float		Write	Configures the maximum run RMS current per phase for motor 0.	0.2 [0.139:2.1]
Motor1MaximumRunCurrent	47	Float		Write	Configures the maximum run RMS current per phase for motor 1.	0.2 [0.139:2.1]
Motor2MaximumRunCurrent	48	Float		Write	Configures the maximum run RMS current per phase for motor 2.	0.2 [0.139:2.1]
Motor3MaximumRunCurrent	49	Float		Write	Configures the maximum run RMS current per phase for motor 3.	0.2 [0.139:2.1]
Motor0HoldCurrentReduction	50	U8		Write	Configures the hold current reduction for motor 0.		HoldCurrentReduction
Motor1HoldCurrentReduction	51	U8		Write	Configures the hold current reduction for motor 1.		HoldCurrentReduction
Motor2HoldCurrentReduction	52	U8		Write	Configures the hold current reduction for motor 2.		HoldCurrentReduction
Motor3HoldCurrentReduction	53	U8		Write	Configures the hold current reduction for motor 3.		HoldCurrentReduction
Motor0StepInterval	54	U16		Write	Configures the time between step motor pulses (us) when running at nominal speed for motor 0.	250 [100:20000]
Motor1StepInterval	55	U16		Write	Configures the time between step motor pulses (us) when running at nominal speed for motor 1.	250 [100:20000]
Motor2StepInterval	56	U16		Write	Configures the time between step motor pulses (us) when running at nominal speed for motor 2.	250 [100:20000]
Motor3StepInterval	57	U16		Write	Configures the time between step motor pulses (us) when running at nominal speed for motor 3.	250 [100:20000]
Motor0MaximumStepInterval	58	U16		Write	Configures the time between step motor pulses (us) used when starting or stopping a movement for motor 0.	2000 [100:20000]
Motor1MaximumStepInterval	59	U16		Write	Configures the time between step motor pulses (us) used when starting or stopping a movement for motor 1.	2000 [100:20000]
Motor2MaximumStepInterval	60	U16		Write	Configures the time between step motor pulses (us) used when starting or stopping a movement for motor 2.	2000 [100:20000]
Motor3MaximumStepInterval	61	U16		Write	Configures the time between step motor pulses (us) used when starting or stopping a movement for motor 3.	2000 [100:20000]
Motor0StepAccelerationInterval	62	U16		Write	Configures the acceleration for motor 0. The time between step pulses is decreased by this value when accelerating and increased when decelerating.	10 [2:2000]
Motor1StepAccelerationInterval	63	U16		Write	Configures the acceleration for motor 1. The time between step pulses is decreased by this value when accelerating and increased when decelerating.	10 [2:2000]
Motor2StepAccelerationInterval	64	U16		Write	Configures the acceleration for motor 2. The time between step pulses is decreased by this value when accelerating and increased when decelerating.	10 [2:2000]
Motor3StepAccelerationInterval	65	U16		Write	Configures the acceleration for motor 3. The time between step pulses is decreased by this value when accelerating and increased when decelerating.	10 [2:2000]
EncoderMode	66	U8		Write	Configures the operation mode of the quadrature encoder.		EncoderModeConfig
EncoderSamplingRate	67	U8		Write	Configures the sampling rate of the quadrature encoder event.		EncoderSamplingRateConfig
Input0OpMode	68	U8		Write	Configures the operation mode for digital input 0.		InputOpModeConfig
Input1OpMode	69	U8		Write	Configures the operation mode for digital input 1.		InputOpModeConfig
Input2OpMode	70	U8		Write	Configures the operation mode for digital input 2.		InputOpModeConfig
Input3OpMode	71	U8		Write	Configures the operation mode for digital input 3.		InputOpModeConfig
InterlockEnabled	72	U8		Write	Configures the external interlock connector state required for the device to be enabled.		InterlockEnabledConfig
AccumulatedStepsSamplingRate	73	U8		Write	Configures the dispatch rate of the accumulated steps event.		AccumulatedStepsSamplingRateConfig
MotorStopped	74	U8		Event	Emitted when any of the motors stops.		MotorStoppedPayload
MotorOverVoltageDetection	75	U8		Event	Contains a bit mask specifying the motor where the over voltage detection and protection mechanism occurred, which can happen when the there's a quick deceleration from a high velocity or when the motor stalls (not implemented).		StepperMotors
MotorRaisedError	76	U8		Event	Contains a bit mask specifying the motor that triggered the error which can be happen in case of short-circuit or driver temperature above 165 degrees celsius.		StepperMotors
Encoders	77	S16	3	Event, Write	Contains the quadrature encoder readings.		EncodersPayload
DigitalInputState	78	U8		Event	Reflects the state of the digital input lines.		DigitalInputStates
DeviceState	79	U8		Event	Contains the state of the device.		DeviceStateMode
MoveRelative	80	S32	4	Write	Moves all motors by the number of steps written in this array register and set the direction according to the value's signal. If a motor is disable, the user should set the value to 0.		MoveRelativePayload
Motor0MoveRelative	81	S32		Write	Moves motor 0 by the number of steps written in this register and set the direction according to the value's signal.
Motor1MoveRelative	82	S32		Write	Moves motor 1 by the number of steps written in this register and set the direction according to the value's signal.
Motor2MoveRelative	83	S32		Write	Moves motor 2 by the number of steps written in this register and set the direction according to the value's signal.
Motor3MoveRelative	84	S32		Write	Moves motor 3 by the number of steps written in this register and set the direction according to the value's signal.
MoveAbsolute	85	S32	4	Write	Moves all motors to the absolute position written in this array register. If a motor is disable, the user should set the value to 0.		MoveAbsolutePayload
Motor0MoveAbsolute	86	S32		Write	Moves motor 0 to the absolute position written in this register.
Motor1MoveAbsolute	87	S32		Write	Moves motor 1 to the absolute position written in this register.
Motor2MoveAbsolute	88	S32		Write	Moves motor 2 to the absolute position written in this register.
Motor3MoveAbsolute	89	S32		Write	Moves motor 3 to the absolute position written in this register.
AccumulatedSteps	90	S32	4	Event, Write	Contains the accumulated steps of all motors. Write a value to set the accumulated steps. An event will be emitted with a dispatch rate defined in AccumulatedStepsSamplingRate.		AccumulatedStepsPayload
Mortor0AccumulatedSteps	91	S32		Write	Contains the accumulated number of steps of motor 0. Write a value to set the current number of accumulated steps.
Mortor1AccumulatedSteps	92	S32		Write	Contains the accumulated number of steps of motor 1. Write a value to set the current number of accumulated steps.
Mortor2AccumulatedSteps	93	S32		Write	Contains the accumulated number of steps of motor 2. Write a value to set the current number of accumulated steps.
Mortor3AccumulatedSteps	94	S32		Write	Contains the accumulated number of steps of motor 3. Write a value to set the current number of accumulated steps.
MaxPosition	95	S32	4	Write	Defines the limit of the accumulated steps for the positive movement of all motors. The device will not let the motors move further than this value. A value equal to 0 will disable the limits.		MaxPositionPayload
Motor0MaxPosition	96	S32		Write	Specifies the limit of the accumulated steps for the positive movement of motor 0. The device will not let the motor move further than this value. A value equal to 0 disables the feature.
Motor1MaxPosition	97	S32		Write	Specifies the limit of the accumulated steps for the positive movement of motor 1. The device will not let the motor move further than this value. A value equal to 0 disables the feature.
Motor2MaxPosition	98	S32		Write	Specifies the limit of the accumulated steps for the positive movement of motor 2. The device will not let the motor move further than this value. A value equal to 0 disables the feature.
Motor3MaxPosition	99	S32		Write	Specifies the limit of the accumulated steps for the positive movement of motor 3. The device will not let the motor move further than this value. A value equal to 0 disables the feature.
MinPosition	100	S32	4	Write	Defines the limit of the accumulated steps for the negative movement of all motors. The device will not let the motors move further than this value. A value equal to 0 will disable the limits.		MinPositionPayload
Motor0MinPosition	101	S32		Write	Specifies the limit of the accumulated steps for the negative movement of motor 0. The device will not let the motor move further than this value. A value equal to 0 disables the feature.
Motor1MinPosition	102	S32		Write	Specifies the limit of the accumulated steps for the negative movement of motor 1. The device will not let the motor move further than this value. A value equal to 0 disables the feature.
Motor2MinPosition	103	S32		Write	Specifies the limit of the accumulated steps for the negative movement of motor 2. The device will not let the motor move further than this value. A value equal to 0 disables the feature.
Motor3MinPosition	104	S32		Write	Specifies the limit of the accumulated steps for the negative movement of motor 3. The device will not let the motor move further than this value. A value equal to 0 disables the feature.
StepRelative	105	S32	4	Write	Starts the movement of all motors with the step interval defined by this array. The value's signal defines the direction.		StepRelativePayload
Motor0StepRelative	106	S32		Write	Starts the movement of motor 0 with the step interval defined by this register, disregarding the acceleration protocol. The sign of the value specifies the direction.
Motor1StepRelative	107	S32		Write	Starts the movement of motor 1 with the step interval defined by this register, disregarding the acceleration protocol. The sign of the value specifies the direction.
Motor2StepRelative	108	S32		Write	Starts the movement of motor 2 with the step interval defined by this register, disregarding the acceleration protocol. The sign of the value specifies the direction.
Motor3StepRelative	109	S32		Write	Starts the movement of motor 3 with the step interval defined by this register, disregarding the acceleration protocol. The sign of the value specifies the direction.
StopMotors	110	U8		Write	Stops the motors selected in the bit-mask immediately.		StepperMotors
ResetEncoders	112	U8		Write	Resets the encoder.		QuadratureEncoders

[Combinator(MethodName = "Generate")]
[WorkflowElementCategory(ElementCategory.Source)]
public class Device : Device, INamedElement

Inheritance: object

Source<HarpMessage>

Device

Device

Implements: INamedElement

Inherited Members: Device.Generate()

Device.Generate(IObservable<HarpMessage>)

Device.OperationMode

Device.OperationLed

Device.DumpRegisters

Device.VisualIndicators

Device.Heartbeat

Device.IgnoreErrors

Device.PortName

object.ToString()

object.Equals(object)

object.Equals(object, object)

object.ReferenceEquals(object, object)

object.GetHashCode()

object.GetType()

object.MemberwiseClone()

Constructors

Device()

Initializes a new instance of the Device class.

public Device()

Fields

WhoAmI

Represents the unique identity class of the Harp.StepperDriver device. This field is constant.

public const int WhoAmI = 1130

Field Value

int

Properties

RegisterMap

Gets a read-only mapping from address to register type.

public static IReadOnlyDictionary<int, Type> RegisterMap { get; }

Property Value

IReadOnlyDictionary<int, Type>

Methods

CreateAsync(string)

Initializes a new instance of the asynchronous API to configure and interface with StepperDriver devices on the specified serial port.

public static Task<AsyncDevice> CreateAsync(string portName)

Parameters

portName string: The name of the serial port used to communicate with the Harp device.

Returns

Task<AsyncDevice>: A task that represents the asynchronous initialization operation. The value of the Result parameter contains a new instance of the AsyncDevice class.

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