PDx-140-42-SE / TMCM-140-42-SE Manual (V1.05 / 2010-SEP-29)
15
7 Torque curves
The following torque curves have been measured using the PANdrive PDx-140-42-SE with all four stepper
motors available as part of this unit. The four different stepper motors all offer the same max. coil current
but, differ with respect to holding torque, motor length, coil resistance and inductivity – to name a few. As
rule of thumb, more holding torque means more copper, longer motor, more coil resistance and higher
inductivity which limits the max. reachable velocity at the same supply voltage. All measurements were
taken at +24V driver supply voltage and max. motor current.
The figures below include torque curves for microstep operation and full step operation. With full step
mode it is possible to reach higher velocities whereas resonances normally prevent any smooth operation at
lower speeds (see torque curves below). Therefore, TMCL™ firmware offers programmable automatic switch
over between microstep operation at lower speeds and full-step operation at higher speed in order to take
advantage of both modes (please see TMCL™ firmware manual, axis parameter 211).
7.1 PD1-140-42-SE
The PD1-140-42-SE is the most compact version of this PANdrive series with the shortest stepper motor.
Figure 7.1: PD1-140-42-SE torque curve
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
