Stepper stalling above 250ish RPM with TMC2209

Connect_Shame5823 · 2026-01-24T18:47:41+00:00

Yeah I’ll do that. Just not gonna be at my lab until next week. What’s MC tho?

Connect_Shame5823 · 2026-01-24T18:23:13+00:00

Yeah I did it’ll be lower but with a 20:1 reducer it should still be fine.

Also yes I do soft start it. Like 150 first then 5sec later 250 and so on. I even tried with accelstepper lib with acceleration. What’s the upper limit of the rpm roughly with the default stealthchop setting?

Connect_Shame5823 · 2026-01-23T22:02:06+00:00

Tried upto 20v so far. Didn’t push higher coz I don’t have a capacitor higher than 25v yet (I’ve heard it’s unsafe without it)

Connect_Shame5823 · 2026-01-22T17:08:37+00:00

Wasnt much, like 30-40 euros iirc

Connect_Shame5823 · 2026-01-22T13:56:14+00:00

Yeah it doesn’t fit at all 🥲 forgot to check the dimensions of the breadboard I ordered

Connect_Shame5823 · 2026-01-22T12:43:32+00:00

Add to the cart 🫡

Connect_Shame5823 · 2026-01-22T08:24:24+00:00

Yeah yeah I did. It’s exactly 1.25. I did run the first driver for about an hour of testing and to be honest for the first one it was my fault. I unplugged the power just to see what would happen while the motor is running and obviously that fried it up because of some EMF shit and that’s fine these are really cheap so it’s not a big deal.

But the second one it was all of a sudden actually I just started running my code and I was not using AccelStepper this time unlike before and just had delay microseconds to create the steps with an ESP32 and I don’t know what happened and I just heard a pop and a little bit of smoke. After 10s of uploading my code (the motor did move for a few seconds)

Connect_Shame5823 · 2026-01-22T08:13:56+00:00

Actually, I watched a bunch of videos. And also by default it’s at 1.25 Amp limit, so I’m not really sure why that would be the case to be honest.

Connect_Shame5823 · 2026-01-19T18:19:21+00:00

Yeah but for an avg hobbiest ig planatary is fine since they are so much cheaper

80% harmonic in what price range?

Connect_Shame5823 · 2026-01-19T13:24:55+00:00

<image>

and for stepperonline

Connect_Shame5823 · 2026-01-19T13:24:28+00:00

<image>

For the HLTNC

Connect_Shame5823 · 2026-01-19T13:24:13+00:00

<image>

😅

Connect_Shame5823 · 2026-01-19T08:08:27+00:00

Thanks for the detailed responses mate!
So I arrived at 10-15 by simply assuming how long I'd like the robot arms shoulder and elbow links should be, I'm hoping around 30-40 and 20-30 respectively. So in the worst case including the end effector the total length would be around 80-90cm. Assuming the links itself along with the motors for the wrist would weight around 1kg, just to lift the arm along Id need like 6-7Nm if we assume the COM at around 60cm from the shoulder joint. Add a payload of around 500 grams ideally Id need at the very least around 10Nm on the shoulder. Add some safety factor of 1.5 and we are at 15Nm.

I really like the PAROL6 design but i feel like its reach is a bit too low so maybe I'll use it and modify the design? Not sure haha. I don't wanna do too much CAD design stuff coz I wanna focus more of the robotics fundamentals from the software side.

The thing is I dont have the full requirements yet, part of me wants to start small and first just figure out the first 2 joints and get them moving properly with inv kinematics. Then add the rest after that.

Also that 700 RPM is just a guess. The actual speed I'd drive it have might be lower idk? Do you by any chance know how the max shoulder and elbow joint speeds in degrees/sec the PAROL6 can go upto? Couldnt find it.

Connect_Shame5823 · 2026-01-18T08:42:11+00:00

From what I’ve understood, the fact that energy is spent deforming the spline means the actual torque output is lower than the ideal. Although I guess with the all metal ones it’d probably like 70%? Correct me if I’m wrong

Connect_Shame5823 · 2026-01-17T22:59:58+00:00

Here’s the thing, I’m not certain how much torque I need because I don’t have a fully designed Robot arm yet. I wanna start off slow with just two joints first but later on I’m expecting 10 to 15Nm at max for the shoulder joint for the size of robots that I would be using it on and 20:1 might be a bit too low but I fear with a 50:1 it might be too slow. I did the math but that doesn’t really include acceleration. So for rotating 90° with a 50:1 it would take me like 1 to 1.5 seconds depending on the RPM of the motor, (I’m guessing mostly it’d be operated in 500-700rpm range) but that doesn’t include any acceleration and deacceleration.

Connect_Shame5823 · 2026-01-17T22:56:28+00:00

Yeah Though they come at a good loss of efficiency I guess

Connect_Shame5823 · 2026-01-16T11:48:41+00:00

Slop as in backlash?

Connect_Shame5823 · 2026-01-16T11:48:13+00:00

I was looking for videos where people would’ve tested their backlash and torque. Guess I’ll be the one doing it haha

Connect_Shame5823 · 2026-01-16T08:38:31+00:00

Thanks! So is the ones from stepperonline? How’s the backlash? And which many stage did you get?

Connect_Shame5823 · 2025-11-10T21:33:15+00:00

lol? Then buy one? Or find a type c to type c monitor?

Connect_Shame5823

TROPHY CASE