Motor low speed high torque stepper motor equipment, to make transmission more short which means higher reliability, higher efficiency, smaller clearance and lower cost. It is this characteristic that make the stepping ideal robot, because most of the robot movement is to achieve low cycle short distance high acceleration. Power -The weight is lower than above dc motor. Think most of the robot movement is a long mountain club motor high speed (So high power), but usually include short stop and start. In the low speed high torque they are the ideal robot. All ST robot has encoder feedback motor count this is relative to the software. Was not correct any errors in which cases, the system will be stopped. Therefore, the integrity of the system is much higher. So choose stepper motor used in robot design has the advantages of the following: 1 cheaper for the same performance of stepper motor. 2 stepper motor is a brushless motor and so on have a longer life expectancy. 3 as a digital motor can accurately locate don't hunt or overshoot. 4 driver module is not a linear amplifier which means less heat sink, higher efficiency, higher reliability. 5 driver module is cheaper than linear amplifier. 6 no expensive servo control of electronic components, because the signal directly from the origin of MPU. 7 software fail safe. The main control board problem step pulse. If the software will not work or collapse motor to stop. 8 electronic drive failure safety. In case of fault of motor driving amplifier locking, will not be able to run. When the motor servo drive is broken can still run, may run at full speed. Speed control and repeatable (9Crystal control)。 10 if need be, step motor running very slow. Stepper motor positioning device, so you can't have wrong work, such as excessive loads will not slow, but it will stop. They cannot be used to separate the position of the force. But the robot is the location of the equipment, to enter the position there are no errors. In a report errors or collision watchdog encoder and stop further action of the robot. In some of the step motor at low speed can resonate with synchronous loss and delay. Each stepper motor drives are independent of the microprocessor control, drive motor pseudo sinusoidal called micro step. Microcode watches resonance and automatically switch to compensate phase and current. Silent drive running on a micro stepping mode, the motor can be seen in the video within the whole speed range.
