User manual

PDx-113-57/60-SE / TMCM-113-57/60-SE Manual (V1.30 / 2009-OCT-28) 19

7 Torque curves

The following torque curves have been measured using the PANdrive PDx-113-60-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 or larger 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 PD1-113-60-SE

The PD1-113-60-SE is the most compact version of this PANdrive version with the shortest NEMA 24 / 60mm

stepper motor.

Figure 7.1: PD1-113-60-SE torque curve