25.8. Stepper Motor Closed Loop Control Example

25.8.1. Overview

This demo demonstrates closed-loop control of a stepper motor: - FOC (Field Oriented Control) algorithm - Speed and position closed-loop control - Current loop control - Support for switching between speed mode and position mode

25.8.2. Configurations

• 42 Stepper Motor, 24v, 50 Pair of Poles

• Stepper motor driver board 24V_STEP_NONE_2A

  • See 24V Stepper Motor Development Board for hardware connection details

25.8.3. Running the demo

The program supports two operating modes:

1. Position Mode (Enter 0) - Input target position value via serial port - Motor will rotate to and maintain the specified position

2. Speed Mode (Enter 1) - Input target speed value via serial port (Range: -10 ~ 10 r/s) - Motor will continuously run at the specified speed

The serial console message example:

step motor demo.
loop current tick: xxx
Mode selection:
0. Location mode.
1. Speed mode.
Enter mode code:

// Speed mode example:
Speed mode, motor run, speed is: 1.000000.
Input speed:
2
loop current tick: xxx
Speed mode, motor run, speed is: 2.000000.
Input speed:

// Position mode example:
Location mode, motor run, The location is: 0.
Input Location:
1000
loop current tick: xxx
Location mode, motor run, The location is: 1000.
Input Location:

Warning

• Pay attention to the motor current, cut off power immediately if abnormal

• Monitor the temperature of the stepper motor during long-term operation