Motor Current

Measurement of motor current waveforms under various conditions was carried out to confirm current draw and current waveform shape. The graph in Figure 83 shows current in each of the motor phases under steady state rotation. The phases are 90° apart from each other and equal in magnitude. RMS current under this condition is approximately 1.2 A per phase. This waveform is pictured in greater resolution in Figure 84, where the current can be seen to be a chopped waveform as delivered by the driver.

Figure 85 shows the motor current (red) during unloaded oscillating operation, where the blue pulses are from the signal generator, signalling the start of a move operation. Figure 86 shows the transient peak current draw when the motor is under acceleration with a dummy load. Figure 87 is a higher resolution view of Figure 86, and shows the waveform of this peak current whose magnitude is as much as 10 A RMS, the maximum current supplied by the driver.

Motor Current

Figure 83: Motor current in each of the two phases during steady-state motion with no load

Motor Current

Figure 84: Motor current waveform under steady-state operation with no load, approx. RMS current 1.2 A

Motor Current

Figure 85: Motor current (red) and pulse signal (blue) vs. time

Motor Current

Figure 86: Motor current in each phase during acceleration. Initial Peak current is 15 Apk lasting for 280 ms

Motor Current

Figure 87: Peak motor current waveform during acceleration

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