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1063_0_Product_Manual - October 27, 2010 2:54 PM
bool Engaged(int MotorIndex) [get,set]
Enables a particular stepper to be positioned. If this property is false, no power is applied to the motor. Note that
when the motor is enabled, the coils may not be exactly aligned and the motor will snap to position.
Engaged defaults to false.
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Engaged is useful to reduce the power consumed by a motor once it’s reached a given position. If you are
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concerned about keeping accurate track of position, Engaged should not be disabled until Stopped = True.
bool Stopped(int MotorIndex) [get]
Stopped guarantees that the motor is not moving (without an external force), and that there are no commands
in the pipeline to the motor. Note that virtually any API calls will cause Stopped to be temporarily false, including
changing Acceleration or VelocityLimit on a stopped motor.
double Current(int MotorIndex) [get]
Gets the actual current being consumed by a particular motor in amps. This property can also be used to determine
if a motor is physically connected, by checking for a minimum current. A stalled motor can also be detected by
checking for larger than normal currents.
double CurrentLimit(int MotorIndex) [get, set]
Sets the maximum current allowed through each coil of the stepper in amps. Current corresponds roughly to power
consumption, and the torque produced by the motor. Reducing the current limit is often useful when the motor just
has to hold a position. Please review the section of the manual on determining an appropriate current limit.
CurrentLimit should be set explicitly before beginning to use the motor.
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double CurrentMax(int MotorIndex) [get] : Constant
CurrentMax is the largest CurrentLimit value the PhidgetStepper can accept. In the case of the 1063, this will always
return 2.492.
double CurrentMin(int MotorIndex) [get]
CurrentMin is the smallest CurrentLimit the PhidgetStepper can accept. In the case of the 1063, this will always
return 0.0542.
int InputCount() [get]
Returns the number of Digital Inputs available on this PhidgetStepper. In the case of the 1063, there are 4 Digital
Inputs.
bool InputState(int InputIndex) [get]
Returns the state of a particular Digital Input. True is signalled when the digital input is pulled to ground. If the
digital input is left floating, it is reported as false.
Events
InputChange(int InputIndex, bool State) [event]
Designates an event handler to run whenever a digital input changes state.
CurrentChange(int MotorIndex, bool State) [event]
Designates an event handler to run whenever the current through a stepper changes.
VelocityChange(int MotorIndex, double Velocity) [event]
Designates an event handler to run whenever the velocity changes on a motor.
PositionChange(int MotorIndex, int64 Velocity) [event]
Designates an event handler to run whenever the position changes on the motor. You are not guaranteed to receive
events for every motor position as updates are throttled at approximately 30ms.