Datasheet

QSH5718-10000-AT Hardware Manual • Hardware Version V1.00 | Document Revision V1.00 • 22.02.2019
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Driver Scheme Resolution Velocity Range Torque Comment
Fullstepping 200 steps per rota-
tion
Low to very high.
Skip resonance
areas in low to
medium velocity
range
Full torque if
dampener used,
otherwise re-
duced torque in
resonance area
Audible noise
and vibrations
especially at low
velocities
Halfstepping 200 steps per rota-
tion * 2
Low to very high.
Skip resonance
areas in low to
medium velocity
range
Full torque if
dampener used,
otherwise re-
duced torque in
resonance area
Audible noise
and vibrations
especially at low
velocities
Microstepping 200 * (number of
microsteps) per ro-
tation
Low to high Reduced torque at
very high velocity
Low noise,
smooth motor
behavior
Mixed: Microstep-
ping and fullstep-
ping for high veloc-
ities
200 * (number of
microsteps) per ro-
tation
Low to very high Full torque At high velocities,
there is no audible
difference for full-
stepping
Table 17: Comparing microstepping and fullstepping
Microstepping gives the best performance for most applications and can be considered as state-of-the art.
However, fullstepping allows some ten percent higher motor velocities, when compared to microstepping.
A combination of microstepping at low and medium velocities and fullstepping at high velocities gives best
performance at all velocities and is most universal. Most Trinamic driver modules support all three modes.
6.5.1 Fullstepping
When operating the motor in fullstep, resonances may occur. The resonance frequencies depend on the
motor load. When the motor gets into a resonance area, it even might not turn anymore! Thus you should
avoid resonance frequencies.
Note
Do not operate the motor at resonance velocities for extended periods of time.
Use a reasonably high acceleration in order to accelerate to a resonance-free
velocity. This avoids the build-up of resonances. When resonances occur at very
high velocities, try reducing the current setting.
A resonance dampener might be required, if the resonance frequencies cannot
be skipped.
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