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  <div class="section" id="stepper-brick">
<span id="id1"></span><h1>Stepper Brick<a class="headerlink" href="#stepper-brick" title="Permalink to this headline">¶</a></h1>
{% from "macros.html" import tfdocstart, tfdocimg, tfdocend %}
{{
    tfdocstart("Bricks/brick_stepper_tilted_front_350.jpg",
               "Bricks/brick_stepper_tilted_front_600.jpg",
               "Stepper Brick")
}}
{{
    tfdocimg("Bricks/brick_stepper_tilted_back_100.jpg",
             "Bricks/brick_stepper_tilted_back_600.jpg",
             "Stepper Brick")
}}
{{
    tfdocimg("Bricks/brick_stepper_motor_setup_100.jpg",
             "Bricks/brick_stepper_motor_setup_600.jpg",
             "Stepper Brick with motor")
}}
{{
    tfdocimg("Bricks/brick_stepper_caption_100.jpg",
             "Bricks/brick_stepper_caption_600.jpg",
             "Stepper Brick with caption")
}}
{{
    tfdocimg("Bricks/brick_stepper_top_100.jpg",
             "Bricks/brick_stepper_top_600.jpg",
             "Stepper Brick top")
}}
{{
    tfdocimg("Bricks/brick_stepper_bottom_100.jpg",
             "Bricks/brick_stepper_bottom_600.jpg",
             "Stepper Brick bottom")
}}
{{
    tfdocimg("Dimensions/stepper_brick_dimensions_100.png",
             "Dimensions/stepper_brick_dimensions_600.png",
             "Outline and drilling plan")
}}
{{ tfdocend() }}<div class="section" id="features">
<h2>Features<a class="headerlink" href="#features" title="Permalink to this headline">¶</a></h2>
<ul class="simple">
<li>Drives one bipolar stepper motor over USB (max. <strong>38V</strong>, <strong>2.5A</strong> per phase)</li>
<li>API for many programming languages available</li>
<li>Position, velocity and acceleration controllable</li>
<li>Full, half, quarter and eighth step modes</li>
<li>Configurable decay mode</li>
<li>Extendable via two Bricklets ports</li>
</ul>
</div>
<div class="section" id="description">
<span id="stepper-brick-description"></span><h2>Description<a class="headerlink" href="#description" title="Permalink to this headline">¶</a></h2>
<p>With the Stepper <a class="reference internal" href="../../Primer.html#primer-bricks">Brick</a> one bipolar
<a class="reference external" href="http://en.wikipedia.org/wiki/Stepper_motor">stepper motor</a>
with a maximum current of <strong>2.5A</strong> and a maximum voltage of <strong>38V</strong> per phase
can be controlled over <strong>USB</strong>.  With the provided API for many
<a class="reference internal" href="#stepper-brick-programming-interface">programming languages</a> you can
control the direction, velocity and acceleration of the connected motor.</p>
<p>The maximum driving current and the
<a class="reference internal" href="#stepper-brick-decay-mode">decay mode</a> can also be controlled.
The current consumption and power supply voltage can be measured by the API.</p>
<p>Two <a class="reference internal" href="../../Primer.html#primer-bricklets">Bricklet</a> ports can be used to extend the
features of this Brick. It can also be used together with other Bricks in a
<a class="reference internal" href="../../Primer.html#primer-stack">stack</a>. For example an additional
<a class="reference internal" href="Master_Brick.html#master-brick">Master Brick</a> with
<a class="reference internal" href="../../Primer.html#primer-master-extensions">Master Extension</a> allows
to replace the USB connection by other cable based
(<a class="reference internal" href="../Master_Extensions/RS485_Extension.html#rs485-extension">RS485</a>, <a class="reference internal" href="../Master_Extensions/Ethernet_Extension.html#ethernet-extension">Ethernet</a>)
or wireless (<a class="reference internal" href="../Master_Extensions/WIFI_Extension.html#wifi-extension">WIFI</a>) connections.</p>
<p>The stepper motor can be powered by an external power supply connected
directly to the Brick (black connector) or by the stack internal power supply.
If an external power supply is connected the Brick automatically switches to
this power supply.</p>
</div>
<div class="section" id="technical-specifications">
<h2>Technical Specifications<a class="headerlink" href="#technical-specifications" title="Permalink to this headline">¶</a></h2>
<table border="1" class="docutils">
<colgroup>
<col width="35%" />
<col width="65%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head">Property</th>
<th class="head">Value</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td>Maximum Motor Current per Phase</td>
<td>2.5A</td>
</tr>
<tr class="row-odd"><td>Minimum/Maximum Input Voltage</td>
<td>8V/38V</td>
</tr>
<tr class="row-even"><td>&nbsp;</td>
<td>&nbsp;</td>
</tr>
<tr class="row-odd"><td>Step Modes</td>
<td>full, half, quarter, eighth steps</td>
</tr>
<tr class="row-even"><td>Decay Modes</td>
<td>slow decay, fast decay or configurable mixed decay</td>
</tr>
<tr class="row-odd"><td>Maximum Velocity</td>
<td>0 to 65535, configurable as limit, in steps/s</td>
</tr>
<tr class="row-even"><td>Maximum Acceleration</td>
<td>0 to 65535, configurable as limit, in steps/s²</td>
</tr>
<tr class="row-odd"><td>&nbsp;</td>
<td>&nbsp;</td>
</tr>
<tr class="row-even"><td>Bricklet Ports</td>
<td>2</td>
</tr>
<tr class="row-odd"><td>Dimensions (W x D x H)</td>
<td>40 x 40 x 17mm (1.57 x 1.57 x 0.67&quot;)</td>
</tr>
<tr class="row-even"><td>Weight</td>
<td>20g</td>
</tr>
<tr class="row-odd"><td>Current Consumption</td>
<td>60mA</td>
</tr>
</tbody>
</table>
</div>
<div class="section" id="resources">
<h2>Resources<a class="headerlink" href="#resources" title="Permalink to this headline">¶</a></h2>
<ul class="simple">
<li>DRV8811 datasheet (<a class="reference external" href="https://github.com/Tinkerforge/stepper-brick/raw/master/datasheets/drv8811.pdf">Download</a>)</li>
<li>Schematic (<a class="reference external" href="https://github.com/Tinkerforge/stepper-brick/raw/master/hardware/stepper-schematic.pdf">Download</a>)</li>
<li>Outline and drilling plan (<a class="reference external" href="../../_images/Dimensions/stepper_brick_dimensions.png">Download</a>)</li>
<li>Source code and design files (<a class="reference external" href="https://github.com/Tinkerforge/stepper-brick/zipball/master">Download</a>)</li>
</ul>
</div>
<div class="section" id="connectivity">
<span id="stepper-brick-connectivity"></span><h2>Connectivity<a class="headerlink" href="#connectivity" title="Permalink to this headline">¶</a></h2>
<p>The following picture depicts the different connection possibilities of the
Stepper Brick.</p>
<a class="reference external image-reference" href="../../_images/Bricks/brick_stepper_caption_800.jpg"><img alt="Stepper Brick with caption" class="align-center" src="../../_images/brick_stepper_caption_600.jpg" style="width: 600.0px; height: 394.0px;" /></a>
</div>
<div class="section" id="test-your-stepper-brick">
<span id="stepper-brick-test"></span><h2>Test your Stepper Brick<a class="headerlink" href="#test-your-stepper-brick" title="Permalink to this headline">¶</a></h2>
<p>To test a Stepper Brick you need to have <a class="reference internal" href="../../Software/Brickd.html#brickd">Brick Daemon</a> and
<a class="reference internal" href="../../Software/Brickv.html#brickv">Brick Viewer</a> installed. Brick Daemon acts as a proxy between
the USB interface of the Bricks and the API bindings. Brick Viewer connects
to Brick Daemon. It helps to figure out basic information about the connected
Bricks and Bricklets and allows to test them.</p>
<p>Connect a stepper motor to the Brick and a suitable power supply
(see <a class="reference internal" href="#stepper-brick-connectivity">here</a>). Your setup should look
like below.</p>
<a class="reference external image-reference" href="../../_images/Bricks/brick_stepper_motor_setup_1200.jpg"><img alt="Stepper Brick with motor" class="align-center" src="../../_images/brick_stepper_motor_setup_600.jpg" style="width: 600.0px; height: 330.0px;" /></a>
<p>Now connect the Brick to the PC over USB, you should see a new tab named
&quot;Stepper Brick&quot; in the Brick Viewer after a moment. Select this tab.</p>
<a class="reference external image-reference" href="../../_images/Bricks/stepper_brickv.jpg"><img alt="Stepper Brick in Brick Viewer" class="align-center" src="../../_images/stepper_brickv.jpg" style="width: 608.0px; height: 483.0px;" /></a>
<p>In the left part of the GUI you can enable the driver and control
the velocity, acceleration and deceleration of the stepper. Below
there are three buttons that control the direction of
the stepper and stop it. For example if you press &quot;Forward&quot;,
the stepper will increase its speed to &quot;Max Velocity&quot; with the given
acceleration. If you press &quot;Stop&quot; it will decrease its speed to &quot;0&quot; with
the given deceleration.</p>
<p>Below you can set the stepping mode (full, half, quarter, eighth) stepping mode
and trigger a &quot;Full Brake&quot;, which stops the motor immediately.</p>
<p>You can drive to a specific position (measured in steps)
by entering it at &quot;Drive To&quot; an press &quot;Go&quot;. Also you can drive a
specific number of steps. By using these controls the motor will accelerate
until reaching the maximum velocity and decelerate before reaching the
specified position.</p>
<p>On the right side the current position and remaining steps are shown
as well as the stack and external voltages.
Below is a graphical representation of the velocity of the stepper.
Beneath you can configure the minimum input voltage, which allows for
undervoltage signals if the voltage is too low. In the bottom right the
motor current can be configured according to the connected motor.</p>
<p>After this test you can go on with writing your own application.
See the <a class="reference internal" href="#stepper-brick-programming-interface">Programming Interface</a>
section for the API of the Stepper Brick and examples in different programming
languages.</p>
</div>
<div class="section" id="power-supply">
<h2>Power Supply<a class="headerlink" href="#power-supply" title="Permalink to this headline">¶</a></h2>
<p>The connected stepper can be powered through the black on-board power-connector
or through a <a class="reference internal" href="../../Primer.html#primer-power-supplies">Power Supply</a> in a
stack. The Brick switches automatically to the on-board power-connector when
a voltage is measured there.</p>
</div>
<div class="section" id="decay-modes">
<span id="stepper-brick-decay-mode"></span><h2>Decay Modes<a class="headerlink" href="#decay-modes" title="Permalink to this headline">¶</a></h2>
<p>For a good explanation of the different decay modes see
<a class="reference external" href="http://ebldc.com/?p=86/">this</a> blog post by Avayan.</p>
<p>A good decay mode is unfortunately different for every motor. The best
way to work out a good decay mode for your stepper motor, if you can't
measure the current with an oscilloscope, is to listen at the sound of
the motor. If the value is too low, you often hear a high pitched
sound and if it is too high you can often hear a humming sound.</p>
<p>Generally, fast decay mode (small value) will be noisier but also
allow higher motor speeds.</p>
</div>
<div class="section" id="error-led">
<h2>Error LED<a class="headerlink" href="#error-led" title="Permalink to this headline">¶</a></h2>
<p>The red LED is enabled if the input voltage is below the user
configurable minimum voltage.</p>
</div>
<div class="section" id="programming-interface">
<span id="stepper-brick-programming-interface"></span><h2>Programming Interface<a class="headerlink" href="#programming-interface" title="Permalink to this headline">¶</a></h2>
<p>See <a class="reference internal" href="../../Programming_Interface.html#programming-interface">Programming Interface</a> for a detailed description.</p>
<table border="1" class="docutils">
<colgroup>
<col width="45%" />
<col width="18%" />
<col width="18%" />
<col width="18%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head">Language</th>
<th class="head">API</th>
<th class="head">Examples</th>
<th class="head">Installation</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td>Modbus</td>
<td><a class="reference internal" href="../../Software/Bricks/Stepper_Brick_Modbus.html#stepper-brick-modbus-api">API</a></td>
<td>&nbsp;</td>
<td>&nbsp;</td>
</tr>
<tr class="row-odd"><td>TCP/IP</td>
<td><a class="reference internal" href="../../Software/Bricks/Stepper_Brick_TCPIP.html#stepper-brick-tcpip-api">API</a></td>
<td>&nbsp;</td>
<td>&nbsp;</td>
</tr>
<tr class="row-even"><td>C/C++</td>
<td><a class="reference internal" href="../../Software/Bricks/Stepper_Brick_C.html#stepper-brick-c-api">API</a></td>
<td><a class="reference internal" href="../../Software/Bricks/Stepper_Brick_C.html#stepper-brick-c-examples">Examples</a></td>
<td><a class="reference internal" href="../../Software/API_Bindings_C.html#api-bindings-c">Installation</a></td>
</tr>
<tr class="row-odd"><td>C#</td>
<td><a class="reference internal" href="../../Software/Bricks/Stepper_Brick_CSharp.html#stepper-brick-csharp-api">API</a></td>
<td><a class="reference internal" href="../../Software/Bricks/Stepper_Brick_CSharp.html#stepper-brick-csharp-examples">Examples</a></td>
<td><a class="reference internal" href="../../Software/API_Bindings_CSharp.html#api-bindings-csharp">Installation</a></td>
</tr>
<tr class="row-even"><td>Delphi/Lazarus</td>
<td><a class="reference internal" href="../../Software/Bricks/Stepper_Brick_Delphi.html#stepper-brick-delphi-api">API</a></td>
<td><a class="reference internal" href="../../Software/Bricks/Stepper_Brick_Delphi.html#stepper-brick-delphi-examples">Examples</a></td>
<td><a class="reference internal" href="../../Software/API_Bindings_Delphi.html#api-bindings-delphi">Installation</a></td>
</tr>
<tr class="row-odd"><td>Java</td>
<td><a class="reference internal" href="../../Software/Bricks/Stepper_Brick_Java.html#stepper-brick-java-api">API</a></td>
<td><a class="reference internal" href="../../Software/Bricks/Stepper_Brick_Java.html#stepper-brick-java-examples">Examples</a></td>
<td><a class="reference internal" href="../../Software/API_Bindings_Java.html#api-bindings-java">Installation</a></td>
</tr>
<tr class="row-even"><td>JavaScript</td>
<td><a class="reference internal" href="../../Software/Bricks/Stepper_Brick_JavaScript.html#stepper-brick-javascript-api">API</a></td>
<td><a class="reference internal" href="../../Software/Bricks/Stepper_Brick_JavaScript.html#stepper-brick-javascript-examples">Examples</a></td>
<td><a class="reference internal" href="../../Software/API_Bindings_JavaScript.html#api-bindings-javascript">Installation</a></td>
</tr>
<tr class="row-odd"><td>LabVIEW</td>
<td><a class="reference internal" href="../../Software/Bricks/Stepper_Brick_LabVIEW.html#stepper-brick-labview-api">API</a></td>
<td><a class="reference internal" href="../../Software/Bricks/Stepper_Brick_LabVIEW.html#stepper-brick-labview-examples">Examples</a></td>
<td><a class="reference internal" href="../../Software/API_Bindings_LabVIEW.html#api-bindings-labview">Installation</a></td>
</tr>
<tr class="row-even"><td>Mathematica</td>
<td><a class="reference internal" href="../../Software/Bricks/Stepper_Brick_Mathematica.html#stepper-brick-mathematica-api">API</a></td>
<td><a class="reference internal" href="../../Software/Bricks/Stepper_Brick_Mathematica.html#stepper-brick-mathematica-examples">Examples</a></td>
<td><a class="reference internal" href="../../Software/API_Bindings_Mathematica.html#api-bindings-mathematica">Installation</a></td>
</tr>
<tr class="row-odd"><td>MATLAB/Octave</td>
<td><a class="reference internal" href="../../Software/Bricks/Stepper_Brick_MATLAB.html#stepper-brick-matlab-api">API</a></td>
<td><a class="reference internal" href="../../Software/Bricks/Stepper_Brick_MATLAB.html#stepper-brick-matlab-examples">Examples</a></td>
<td><a class="reference internal" href="../../Software/API_Bindings_MATLAB.html#api-bindings-matlab">Installation</a></td>
</tr>
<tr class="row-even"><td>Perl</td>
<td><a class="reference internal" href="../../Software/Bricks/Stepper_Brick_Perl.html#stepper-brick-perl-api">API</a></td>
<td><a class="reference internal" href="../../Software/Bricks/Stepper_Brick_Perl.html#stepper-brick-perl-examples">Examples</a></td>
<td><a class="reference internal" href="../../Software/API_Bindings_Perl.html#api-bindings-perl">Installation</a></td>
</tr>
<tr class="row-odd"><td>PHP</td>
<td><a class="reference internal" href="../../Software/Bricks/Stepper_Brick_PHP.html#stepper-brick-php-api">API</a></td>
<td><a class="reference internal" href="../../Software/Bricks/Stepper_Brick_PHP.html#stepper-brick-php-examples">Examples</a></td>
<td><a class="reference internal" href="../../Software/API_Bindings_PHP.html#api-bindings-php">Installation</a></td>
</tr>
<tr class="row-even"><td>Python</td>
<td><a class="reference internal" href="../../Software/Bricks/Stepper_Brick_Python.html#stepper-brick-python-api">API</a></td>
<td><a class="reference internal" href="../../Software/Bricks/Stepper_Brick_Python.html#stepper-brick-python-examples">Examples</a></td>
<td><a class="reference internal" href="../../Software/API_Bindings_Python.html#api-bindings-python">Installation</a></td>
</tr>
<tr class="row-odd"><td>Ruby</td>
<td><a class="reference internal" href="../../Software/Bricks/Stepper_Brick_Ruby.html#stepper-brick-ruby-api">API</a></td>
<td><a class="reference internal" href="../../Software/Bricks/Stepper_Brick_Ruby.html#stepper-brick-ruby-examples">Examples</a></td>
<td><a class="reference internal" href="../../Software/API_Bindings_Ruby.html#api-bindings-ruby">Installation</a></td>
</tr>
<tr class="row-even"><td>Shell</td>
<td><a class="reference internal" href="../../Software/Bricks/Stepper_Brick_Shell.html#stepper-brick-shell-api">API</a></td>
<td><a class="reference internal" href="../../Software/Bricks/Stepper_Brick_Shell.html#stepper-brick-shell-examples">Examples</a></td>
<td><a class="reference internal" href="../../Software/API_Bindings_Shell.html#api-bindings-shell">Installation</a></td>
</tr>
<tr class="row-odd"><td>Visual Basic .NET</td>
<td><a class="reference internal" href="../../Software/Bricks/Stepper_Brick_VBNET.html#stepper-brick-vbnet-api">API</a></td>
<td><a class="reference internal" href="../../Software/Bricks/Stepper_Brick_VBNET.html#stepper-brick-vbnet-examples">Examples</a></td>
<td><a class="reference internal" href="../../Software/API_Bindings_VBNET.html#api-bindings-vbnet">Installation</a></td>
</tr>
</tbody>
</table>
</div>
<div class="section" id="faq">
<h2>FAQ<a class="headerlink" href="#faq" title="Permalink to this headline">¶</a></h2>
<div class="section" id="stepper-makes-funny-noises">
<h3>Stepper makes funny noises<a class="headerlink" href="#stepper-makes-funny-noises" title="Permalink to this headline">¶</a></h3>
<p>Stepper motors can produce high pitch or humming noises, even if
they are standing still, if the decay mode is not configured correctly
for the connected motor.</p>
<p>Try to play around with the decay mode as described
<a class="reference internal" href="#stepper-brick-decay-mode">here</a>.</p>
</div>
</div>
</div>


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