IHM03A1 with Nucleo stm32F401 Speed issue
So i've been having an issue with the Powerstep01 driver to run some stepper motors. In my application i'm running 4 stepper motors with a wide speed range (up to 850 RPM or 2980 steps/s). These motors are STP-MTRH-24079D which have parameters (Iph = 6.3A, Rph = 0.3, Lph = 2.1 mH). Now, i'm primarily using the "run" command to move these, and that works well until they cross a certain speed. once this threshold is crossed, the phase current waveform goes wild and the motors slip. I am using the full step mode at about 1100 Steps/s, i'm not sure the relevance. These drivers are being supplied a raw 48V DC from a LiFePo4 Battery pack, using internal clock set to 8 MHz. I've checked the VS levels while running and some voltage is lost at speed which makes sense. But, this behavior seems to be a driver setting of some sort. Any ideas?