Difference between revisions of "Stepper"
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| + | Used Stepper: 17HM19-2004S | ||
| + | |||
| + | Driver Voltage: 37V | ||
| + | |||
| + | Driver: TMC2130 | ||
| + | |||
| + | Max RPM reached with the motor, unloaded: 3600RPM | ||
| + | This is the limit of the driver. It runs from the internal oscillator at 12.1MHz. Measure by giving a 9.765MHz pulse and read out register TSTEP as 0x277 (DEDGE=true). | ||
| + | |||
| + | Driver Configuration: | ||
| + | spi(0xec, 0x200100c3, &status); | ||
| + | spi(0x90, 0x00061c02, &status); | ||
| + | spi(0x91, 0x0000000a, &status); | ||
| + | spi(0x80, 0x00003144, &status); | ||
| + | spi(0x93, 0x000001f4, &status); | ||
| + | spi(0xf0, 0x000401c8, &status); | ||
| + | |||
| + | For very slow step rates stealthChop was disabled | ||
| + | |||
| + | Load Testing at 1/256 microstepping. Testing done lifting a weight by winding a rope on a cylinder with effective radius of 16.5mm. | ||
| + | |||
| + | 9.5kHz 2250g | ||
| + | 19.5kHz 2150g | ||
| + | 39kHz 2240g | ||
| + | 58.5kHz 2220g | ||
| + | 78kHz 2240g | ||
| + | 97.5kHz 2230g | ||
| + | 117kHz 2230g | ||
| + | 137kHz 2130g | ||
| + | 156kHz 2150g | ||
| + | 195kHz 2030g | ||
| + | 234kHz 2050g | ||
| + | 312kHz 2030g | ||
| + | 468kHz 1700g | ||
| + | 624kHz 1300g | ||
| + | 936kHz 740g | ||
| + | 1092kHz 556g | ||
| + | 1400kHz 250g | ||
| + | 1700kHz 150g | ||
| + | |||
| + | Official torque curve of the motor: https://www.omc-stepperonline.com/download/17HM19-2004S_Torque_Curve.pdf | ||
| + | |||
| + | |||
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{{Graph:Chart|width=400|height=100|xAxisTitle=X|yAxisTitle=Y | {{Graph:Chart|width=400|height=100|xAxisTitle=X|yAxisTitle=Y | ||
|legend=Legend|type=stackedarea|x=1,2,3,4,5,6|y1=10,12,6,14,2,10 | |legend=Legend|type=stackedarea|x=1,2,3,4,5,6|y1=10,12,6,14,2,10 | ||
|y2=2,4,6,8,13,11|interpolate=monotone|colors=seagreen,orchid}} | |y2=2,4,6,8,13,11|interpolate=monotone|colors=seagreen,orchid}} | ||
Revision as of 12:43, 17 March 2018
Used Stepper: 17HM19-2004S
Driver Voltage: 37V
Driver: TMC2130
Max RPM reached with the motor, unloaded: 3600RPM This is the limit of the driver. It runs from the internal oscillator at 12.1MHz. Measure by giving a 9.765MHz pulse and read out register TSTEP as 0x277 (DEDGE=true).
Driver Configuration:
spi(0xec, 0x200100c3, &status); spi(0x90, 0x00061c02, &status); spi(0x91, 0x0000000a, &status); spi(0x80, 0x00003144, &status); spi(0x93, 0x000001f4, &status); spi(0xf0, 0x000401c8, &status);
For very slow step rates stealthChop was disabled
Load Testing at 1/256 microstepping. Testing done lifting a weight by winding a rope on a cylinder with effective radius of 16.5mm.
9.5kHz 2250g 19.5kHz 2150g 39kHz 2240g 58.5kHz 2220g 78kHz 2240g 97.5kHz 2230g 117kHz 2230g 137kHz 2130g 156kHz 2150g 195kHz 2030g 234kHz 2050g 312kHz 2030g 468kHz 1700g 624kHz 1300g 936kHz 740g 1092kHz 556g 1400kHz 250g 1700kHz 150g
Official torque curve of the motor: https://www.omc-stepperonline.com/download/17HM19-2004S_Torque_Curve.pdf
Syntax error
