--- In DynoMotion@yahoogroups.com, Tom Kerekes <tk@...> wrote:
>
> Hi Mike,
>
> For SnapAmp with Steppers the Current is set with the Microstepper Amplitude parameter.   SnapAmp's full current range (Peak) is +/- 35Amps which corresponds to +/- 1024 counts.  This is about 35ma per count.  So for example a 5 Amp Stepper motor would be set at 146 counts of Microstepper Amplitude.
>
> SnapAmp works differently than with microstepping Step & Direction drives like KSTEP or Geckos.  It handles the position and current waveforms internally with virtually infinite resolution.  But then when it finally goes to command a current there is a 35ma resolution on the commanded current.  Therefore the resolution is a dependent on the Amplitude.  But basically the "microstepping" resolution is quite high.  For a 5 Amp motor it would be:
>
> (2 PI) /(35ma/5A) / 4 = 224 usteps per full step
>
> KFLOP works in units of floating point cycles (or motor poles) where a movement of 1.000 makes a complete sine wave cycle which is the equivalent of 4 full steps (1/50th of a rev).
>
> HTH
> Regards
> TK
>
>
>
>
>
> ________________________________
> From: michaelthomasn <michaelniksch@...>
> To: DynoMotion@yahoogroups.com
> Sent: Monday, March 18, 2013 4:38 PM
> Subject: [DynoMotion] Snap Amp Stepper and DC Brush
>
>
>  
> Hi Tom,
>
> We are finally getting started on the robot arm. I ordered 2 snap amps and a kflop today for the project.
>
> It looks like we will be running 3 servos, and 2 steppers for now.....possibly upgrading to servos on all axis' later.
>
> I'm wondering how to set the stepper current on the snapamp, and what microstepping it will have.
>
> Mike
>