Motor Specifications
Holding Torque Th
0.50 N·m
Detent Torque Ratio
10 %
Rotor Inertia Jr
0.150 kg·cm²
Rated Current I
2.00 A
Microstepping
Max Speed
600 rpm
Load Conditions
Load Inertia JL
0.300 kg·cm²
Load Torque TL
0.10 N·m
1.800°
Full Step Angle
0.1125°
Microstep Angle
0.050 N·m
Detent Torque
—
Resonance Freq [Hz]
—
Max Pulse Rate [pps]
—
Torque Safety Factor
Torque-Speed Curve
Torque-Speed Relationship
Pull-out torque drops at high speed due to the winding's electrical time constant:
$$T(f) = \frac{T_0}{\sqrt{1 + (2\pi f L / R)^2}}$$Step angle: $\theta_{step} = \dfrac{360°}{N_{teeth} \times N_{phases} \times 2}$
Resonance: $f_{res} = \dfrac{1}{2\pi}\sqrt{\dfrac{T_h \cdot N_s}{2\pi (J_r + J_L)}}$
CAE Note: For robot joint drives, keep the load-to-rotor inertia ratio JL/Jr below 10:1. High inertia mismatch amplifies torque ripple, which feeds into FEM vibration models as a forcing function.
Microstepping Resolution Comparison
Microstepping Current Profile
Phase currents follow a sinusoidal profile to subdivide each full step:
$$I_A(k) = I_0 \cos\!\left(\frac{2\pi k}{4M}\right), \quad I_B(k) = I_0 \sin\!\left(\frac{2\pi k}{4M}\right)$$Torque correction factor: $\eta \approx \sin(\pi/(2M)) / (\pi/(2M))$ — approaches 1 as $M \to 1$
Microstepping Resolution Table
| Division | Step Angle [°] | Steps/Rev | Torque Correction | Resolution [μm/step]* |
|---|
* Ball screw pitch 5 mm, reduction ratio 1:1