# how can i design stepping motor acceleration profile?

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I use bipolar PM stepping motor for small printer,and I need to accelerate motor from stand to 1000PPS speed, But how can I to design first step time and acceleration profile? stepping motor datasheet have PULL-IN and PULL-OUT Torque data.

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snipped-for-privacy@gmail.com schrieb:

Maybe this is a good place to start:

```--
Dipl.-Ing. Tilmann Reh
http://www.autometer.de - Elektronik nach Maß.```
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A trapezoidal profile for velocity, which amounts to a step profile for acceleration, should be sufficient. I say this because if you need more sophisticated control than this, a stepper motor will not do. Most people just drive steppers with pulse-on-off control.

Be aware that steppers have resonance points where the torque goes to almost 0, so when you sweep the frequency through those points, the motor may stall.

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thanks a lot.

I use MCU+MTD2003 to drive bipolar steeping motor,2-2 PHASE. My printer motor's working process is stand~acceleration(12 step)~continue speed~deceleration(12 step)~stop. now, I need to know how to calculate first step time of acceleration and ramp.

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A typical small motor like this can reach full speed in 4 steps, so if your motors base speed was 200pps and top speed was 1000pps then you could try something like step1=200, step 2= 500, step3=750pps, step4=1000pps reverse the sequence for deacceleration.

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step1=200, step 2= 500, step3=750pps, step4=1000pps these are not const acceleration.

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Stepper motor torque drops as the speed increases, to get the fastest acceleration you need to take it into account. Those figures are only a starting point since I have no idea what your actuall setup is. A little experimenting will get you a long way.

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