Step motor stopping problem at low speeds (Amis-30543)

davidCemErkek · May 16, 2017, 6:14am

Dear all,
I am trying to drive a 2 phase motor by using Amis-30543 driver. I am using the step motor given in below link:

https://www.orientalmotor.eu/Products/Stepper_motors/Stepper_motors/high_torque_2phase_motors_pkp/?&filter1=Standard&filter2=42+mm&arid=23593&dwn=artnr

Also, my main controller is Texas Instruments Tiva C Series TM4C123GXL.

There is a quadrature encoder on my stepper motor which is working fine. I checked with my oscilloscope.

The problem is:
When I try to turn the motor at high speed, there is no problem. It turn exactly what I want. I mean, I want 150 revolutions, it turn totally 150. I want 350, it turns 350.

But, if I decrease the speed, motor stop turning after some turn. I mean, I want 150 revolutions, it turn 45 and stops. I want 350, it turns 45 and stops.

For Amis-30543 configuration I use:
Stepmode SM : 0
Stepmode ESM: 3 (Uncompensated Full Step)

If I 1/32 microstep, the same problem happens.

Please a little help.

Thanks in advance.

nathanb · May 17, 2017, 12:45am

Hello.

It seems like you might not have the step mode set correctly. You might have a look at the setStepMode function in our AMIS-30543 library for Arduino for a reference of how to set the step mode.

github.com

pololu/amis-30543-arduino/blob/677b465891066f145ae6eef039c001e6b4f1ee72/AMIS30543.h#L340


 *
 * This affects many things about the performance of the motor, including
 * how much the output moves for each step taken and how much current flows
 * through the coils in each stepping position.
 *
 * The argument to this function should be one of the members of the
 * #stepMode enum.
 *
 * If an invalid stepping mode is passed to this function, then it selects
 * 1/32 micro-step, which is the driver's default. */
void setStepMode(uint8_t mode)
{
    // Pick 1/32 micro-step by default.
    uint8_t esm = 0b000;
    uint8_t sm = 0b000;


    // The order of these cases matches the order in Table 12 of the
    // AMIS-30543 datasheet.
    switch(mode)
    {
    case MicroStep32: sm = 0b000; break;

What kind of power supply are you using to power the driver? What do you have the current limit set to? If you post a video that shows the behavior and your code, I can look for other problems.

-Nathan