YASKAWA SGMAH Sigma II 0.91A 100W AC SERVO MOTOR 3000RMP SGMAH-01AAA41-Y1

 

 

Stepper motors can often exhibit a phenomena refered to as resonance at certain step rates. This can be seen as a sudden loss or drop in torque at certain speeds which can result in missed steps or loss of synchronism. It occurs when the input step pulse rate coincides with the natural oscillation frequency of the rotor. Often there is a resonance area around the 100 – 200 pps region and also one in the high step pulse rate region. The resonance phenomena of a stepper motor comes from its basic construction and therefore
it is not possible to eliminate it completely. It is also dependent upon the load conditions. It can be reduced
by driving the motor in half or microstepping modes.

 

 

When one step pulse is applied to a stepper motor the rotor behaves in a manner as defined by the above curve.
The step time t is the time it takes the motor shaft to rotate one step angle once the first step pulse is applied.
This step time is highly dependent on the ratio of torque to inertia (load) as well as the type of driver used.
Since the torque is a function of the displacement it follows that the acceleration will also be. Therefore, when moving in large step increments a high torque is developed and consequently a high acceleration. This can cause overshots and ringing as shown. The settling time T is the time it takes these oscillations or ringing to cease. In certain applications this phenomena can be undesirable. It is possible to reduce or eliminate this behaviour by microstepping the stepper motor. For more information on microstepping please consult the microstepping note.