Hello, I am using two drv8825 drivers to control the two stepper motors of my self balance robot. The DRV8825 setup that I am using:
-Stepper motors: bipolar Pololu 1200
-1/4 step mode
-Power supply: 12V
-Current limit: 0,6A
The problem is that when the shaft of the stepper motor has a minimum torque trying to stop it, it begins to rotate in a jerky way and continue doing that despite there is no torque trying to stop it.
You will see in this video the problem:
With the oscilloscope I have measured the voltage in one of the coils:
This is the voltage when the stepper is running free and properly:
This is the voltage signal after I have tried to stop it:
I do not know how to solve this problem, is this normal?. I have tried to increase/descrease the current limit, increase/decrease the voltage, but the jerky motion does not disappear.
Anyone could help me with this problem?