(Driver)

Holding Torque = 9 Nm

Running Torque (low speed) = 7.2 Nm

Phase Current (A) = 9.5 (parallel), 4.7 (series)

By looking at the driver manual, for a 4 phase motor in parallel the max current is 1.41*(Nominal current per phase). So for my configuration we would have 1.41 * 9.5 = 13.4 A .

I set resolution at 10 meaning 2000 ministep/s = 1 rev/s. Since I use Teensy with 600MHz clock speed, I have no problem at 5rev/s or 300 RPM. This speed in motor datasheet graph is 7 Nm. I run the motor at 300 RPM with PWM 255 that gives the max torque. The Measured current at such speed is 1.48 A. Also the measured holding current is 0.4A. I searched the net for the torque constant and some said it's (Holding Torque)/current = 9/13.4 = 0.67 but this doesn't give the 7 Nm at 1.48A.