Editing Using stepping motor with IONI

Using stepping motor with [[IONI]] drive is possible in three ways:

;Open loop (no encoder)
:This is the traditional stepping motor drive method. Will achieve highest speed and is easily configurable but there is no feedback, so if motor stalls/loses synchronism, the absolute position will be unknown before referencing/homing.
;Closed loop (with encoder feedback)
:This is open loop mode combined with encoder feedback. The advantages are that drive can detect loss of synchronism and restore to commanded position with ''clear faults'' command. This mode is not recommended for most cases.
;Servo (with encoder feedback)
:In this mode, a stepping motor is used as high pole count brushless servo motor. In this mode, motor efficiency is high (no current if no load) and motor do not lose synchronism. However, motor speed is limited by back EMF of motor and typically can achieve lower top speed than the other modes.

==Setting up open loop mode==
In this mode, drive emulates encoder internally and some tuning parameters need to be set to allow operation:
;[[MT]] Motor type
:Stepping motor
;[[FBD]] Feedback device
:None
;[[FBR]] Feedback device resolution
:6400 (this is the emulated encoder resolution, 6400 PPR = 25600 steps/rev)
;[[MCC]] Motor continuous current
:This is the resting current when motor stands still. Drive will switch to this after 0.5 seconds of standing still.
;[[MMC]] Motor peak current limit
:This is the motor rated current that is used when motor is rotating.
;[[MR]] Motor coil resistance
:See motor datasheet or if not known, start with low values such as 1 ohm
;[[ML]] Motor coil inductance
:See motor datasheet or if not known, start with low values such as 1 mH
;[[CM]] Control mode
:Set to Position control (typical) or Velocity control mode
;[[KVP]] Velocity P gain
:0
;[[KVI]] Velocity I gain
:180
;[[AFF]] and [[VFF]]
:0
;[[KPP]] Position P gain
:30
;[[PFF]] Position feed-forward gain
:100%
;[[FEV]] Over speed fault
:1000
;[[FPT]] and [[FVT]] fault limits
:1000

Other settings are not critical and can be configured as desired (such as acceleration and velocity limits).
==Setting up servo mode==
To set-up stepper as servo motor, just follow the [[IONI & IONICUBE user guide]] and consider the stepper motor as servo motor. For a typical 1.8 degree/step two-phase stepping motor the correct motor type parameters are:
;[[MT]] Motor type
:2 Phase AC or BLDC
;[[MPC]] Pole count
:100