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stepper motor constant speed under load?
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!