Tested motors

STEPFOC works with bipolar (4-wire) stepper motors whose phase resistance is 1 to 5 Ω and whose rated current is 3 A or less. The motors below have been run on it; the resistance and inductance are the datasheet values of one coil, which is what you enter with #R and #L before calibration.

	Motor	Frame	Pole pairs	Phase resistance	Phase inductance	Rated current	Mass
	17HS08-1004S	NEMA 17, 20 mm	50	3.7 Ω	4.5 mH	1.0 A	140 g	Stepperonline
	17HS16-2004S1	NEMA 17, 40 mm	50	1.1 Ω	2.6 mH	2.0 A	310 g	Stepperonline
	17HS24-2104S	NEMA 17, 60 mm	50	1.6 Ω	3.0 mH	2.1 A	500 g	Stepperonline
	23HM22-2804S	NEMA 23, 56 mm, 0.9°	100	1.16 Ω	4.2 mH	2.8 A	700 g	Stepperonline

After calibration, and before the first test, set the current limit to the motor's rated current with #Ilim: calibration leaves it at 1600 mA (1700 mA after #Default), more than the 17HS08's rating. See Current limit and loop tuning.

Choosing a motor

A lower phase resistance and inductance give a higher speed at a given supply voltage; the velocity constant KV that calibration finds tells how fast the motor can turn: roughly 0.8 × V × KV revolutions per minute, where V is the voltage limit #Vlim (6 V by default) or the supply voltage, whichever is lower. Motors with visibly uneven windings or a resistance that differs between the two coils calibrate badly.

Comments

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