The Art and Practice of Step Motor Control

acceleration and deceleration airgap application bipolar braking calculate canstack Chapter Coulomb friction current vector DELTAT detent torque diagram diodes driver circuit eddy current electrical cycle energized equations four quadrant full step gear ratio GOSUB half step hybrid step motor hysteresis illustrated in Figure IMCSS Conference proceedings increase incremental leadscrew leakage inductance load inertia lookup table LPRINT magnetic maximum measure mechanical microstepping motion motor and driver move open loop operating performance phase currents Position Figure POTORQUE power driver power supply pullout torque rad./sec resistance limited rest position rotor inertia rotor position S₁ D₁ setup shaft shown in Figure simulation slew speed specified static torque stator stator poles step accuracy step angle step commands step mode step motor system step rates STEPS/SEC stiffness switches tachometer tion torque angle torque curve Torque Utilization TORQUE2 typical unipolar velocity modulation velocity profile viscous friction voltage winding resistance