![]() Providing the KV rating in combination with the phase resistance (not very used for current based torque modes foc_current and dc_current) will enable the user to control the motor’s current without measuring it. You can also use the provided libray examples examples/utils/calibration/find_KV_rating.ino. ![]() You once when you get the velocity reached with 1 volt setpoint, you can multiply it with \(30/\pi\) The KV rating units are rpm per Volt, and as the Simple FOClibrary works with rad/s rather than rpm. You can easily find it as the velocity of your motor when controlled in the voltage torque control with a setpoint of 1 volt - velocity_at_one_volt. If you are not sure what your motor’s KV is. Depending on the motor mechanics the appropriate value will be in between the 100% to 200% of the motor’s KV rating. We suggest to set the KV value provided to the library to 50-70% higher than the one given in the datasheet, or the one determined experimentally. ![]() The library provides you an example code to estimate your pole_pairs number in the examples examples/utils/calibration/find_pole_pairs_number.ino. If you are not sure what your pole_pairs number is. ![]() In practice you can know the pole_pairs number by dividing the number of steps per rotation by 4. Pole pair numberMost of the stepper motors are 200 step per rotation motors making them 50 pole pair motors. StepperMotor( int pp, (optional R, KV)) // - pp - pole pair number // - R - phase resistance value - optional // - KV - motor KV rating - optional StepperMotor motor = StepperMotor ( 50, 1.5, 20.6 ) ![]()
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