Difference between revisions of "Stepper"

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Used Stepper: 17HM19-2004S
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Driver Voltage: 37V
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Driver: TMC2130
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Max RPM reached with the motor, unloaded: 3600RPM
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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).
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Driver Configuration:
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spi(0xec, 0x200100c3, &status);
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spi(0x90, 0x00061c02, &status);
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spi(0x91, 0x0000000a, &status);
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spi(0x80, 0x00003144, &status);
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spi(0x93, 0x000001f4, &status);
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spi(0xf0, 0x000401c8, &status);
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For very slow step rates stealthChop was disabled
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Load Testing at 1/256 microstepping. Testing done lifting a weight by winding a rope on a cylinder with effective radius of 16.5mm.
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9.5kHz 2250g
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19.5kHz 2150g
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39kHz 2240g
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58.5kHz 2220g
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78kHz 2240g
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97.5kHz 2230g
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117kHz 2230g
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137kHz 2130g
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156kHz 2150g
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195kHz 2030g
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234kHz 2050g
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312kHz 2030g
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468kHz 1700g
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624kHz 1300g
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936kHz 740g
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1092kHz 556g
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1400kHz 250g
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1700kHz 150g
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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 14:43, 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