Posted on May 13, 2014 at 12:06Hi everyone,
I'm driving 3 stepper motors in a daisy chain configuration. In order to start and stop all 3 motors the same time, I'm calculating the speed and acceleration values for each motor and write down the configuration. So far everything works fine!
When I'm now trying to drive a long way with the first motor and a very short way with another motor the stopp time is not the same any more. The short path ends first. So there is a problem with the minimum speed I can reach...
In the datasheet there's a note, that the minimum speed is 15,25 [steps/s] with the GoTo-command.
I'm using 32 microsteps and the motors have a step angel of 1.8�. So the amount of microsteps per turn is 1.8[�]/32[microsteps] = 0,05625 [�/microstep] and 360[�]/0,05625[�/microstep] = 6400 [microsteps per turn].
Having a rising spindel with 2[mm], I get an amount of way per microstep of 2/6400 = 0,0003125[mm/microstep]. So with a minimum speed of 15,25 [steps/s], the minimum driving speed I can reach is 15,25*0,0003125 = 0,004765625[mm/s].
Am I calculating this the right way?
The minimum turning speed I reach is much higher than 0,0047[mm/s]. I have read out the registers and there's a 0 in the max speed and acceleration registers. So I think there must be a calculating error.
Using the Run-Command I can drive with very low speed. So I guess it must be possible with the GoTo-Command, too.
Thanks in advance for every hint and post.
Kind regards,
Stefan
#minimum-speed #l6480
