Motor speed setpoint vs. angular velocity
-
Hello! As far as I know, angular speed value is usually cannot be set on the motor controllers. However, I want to ask if there is any relationship between the speed values we can set (for example 1000 mm/min) and the angular speed of the stepper.
-
@irynic the relationship is governed in firmware by the "steps/mm" setting. The controller will be moving the motor by a certain number of micro steps for every mm of movement commanded in the G0/G1 etc command. So for example if you have microstepping set to 16 (the default) and a 1.8 degree stepper motor (1.8 degrees per full step), then there are 3200 microsteps/revolution of the stepper. so If you wanted to have 1 step = 1 degree you would set the "steps/mm" to 8.8888 (3200/360) or (16/1.8) . Feed rates are in mm/min in gcode so with the above steps per "mm" (really degree) of 8.888 to go 1 revolution at 6RPM (i.e. 0.1 RPS) you would send:
G1 A3200 F19200
Does that help?
