![]() Micro-stepping is not only a good way to reduce resonance, it can also be used to increase stepper motor positon accuracy.ģ. This results in less vibration and less noise, and resonance will be eliminated. Micro-stepping can move the stator flux more smoothly by reducing excitation energy to the coils. The coil in stepper motor will be energized in discretely, so rotor of the motor will tend to overshoot its position due to a rapid flux change. Micro stepping at finer step sizes reduces oscillation The easiest way to avoid resonance could be simply changing operation speed, so the motor will not hit its resonance point.Ģ. When the operation speed matches resonance speed vibration will occur, as a result motor performance will be affected. Resonance usually happens at certain motor operation speed. Avoid commutating close to or at resonant frequencies More detailed explanations of each method can be found as follows:ġ. Current change (If the customer can sacrifice motor torque output).Generally speaking, changing motor operation parameter would be the first choice to avoid resonance, because those methods are easy to implement. The following list is an overview of different methods of resonance reduction. There are many ways to avoid resonance: simply by changing operation speed or micro-stepping. The following is a brief introduction of vibration reduction methods and how they cut resonance. By adjusting the parameter, we can reduce motor vibration. Where K is torque stiffness, and J is inertia. Motor resonance frequency can be models by the following equation: ![]() When resonance overpowers the magnetic field between stators and rotors, motor will likely to lose synchronization. Once the frequency matches motor natural frequency, oscillation will become resonance and causes noise. When motor moves continuously, the oscillation of the rotor will come with a frequency. Due to rotor inertia, when a stepper motor makes a step, it will overshoot its target slightly and oscillate before it gets the target point. Stepper motors have discreet positions that the rotor can move to. It is important to know the possible solutions to eliminate motor vibration. Every stepper motor has a resonance point, and sometimes motor vibration can affect motor performance and motor life. Thx support! You can follow the forum-thread to this topic here. This is one of the factors make motor move more smoothly." PES-2405 allows to set accel eration and decel eration via "set accel (accel) " command ( see manual ). You just need: spc_request_dev($sid, "move $steps") Since you already set speed in "set speed command", you do not need to set speed when you use "move" command. ![]() => now can set speed via command: spc_request_dev($sid, "set speed $micro_step_per_second") Micro_step_per_second = step_per_second * $mode A number of divided micro-steps can be specified via Why? Because one step on full-step control can be divided to a number of micro-steps. Since PES-2405 use the micro-stepping method to control motor, this method have two advantages: Make motor move more smoothly and control motor more precisely.Step_per_second = rotations_per_minute * steps_per_revolution / 60 Now we can convert speed from rotations per minute to step per second by using the following formula:.Steps_per_revolution = 360 / angle_per_step Note that some motor specification provide "Step_Angle", which means "angle_per_step". We need to find the "steps_per_revolution" parameter on specification of motor.Now let's convert speed from rotations per minute to step per second: In PES-2405, speed unit is micro_step_per_second. "In Arduino, speed unit is rotations_per_minute. This question is answered by the PHPoC support using the example of mapping the Arduino example code into the PHPoC Blue command world as follows: Extract the ZIP archive and flash it to the board using PHPoC Debugger.īut Why Does the Sled Run Smoothly Over the Wave? In general, make sure you have the latest release versions of PHPoC Debugger (v1.5.0), Expansion Board Firmware (v1.1) in case of PES-2405, and PHPoC Library (v2.2.1).
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