stepper motor constant speed under load?

2018-06-05 08:17:26

Before posting this question I've been looking up google but can't find an answer to this question other than "speed control and torque control". I've done a lot of research on steppers but still don't know the relation of torque and speed. Don't get me wrong, I don't mean the relation of "increasing the speed too much, decreasing torque.". I am wondering if the speed will be constant when loaded in a bipolar setting.

For example, the stepper turns 130 rotations per minute. The stepper has a max torque output of 1Nm. When I load the stepper with 0,5Nm, does it decrease the speed? Since a stepper motor has to do certain steps, I think the speed would stay constant. I want to know if the speed will be constant or a feedback & PID control is required.

Thank you in advance!