The effect of uncompensated mid-band resonance. Though it is possible to accelerate through the resonant region, it is not possible to operate the motor continuously in the speed band without mid-band resonance compensation. This is because the oscillation that causes the motor to stall takes from half a second to 10 seconds to build to amplitude sufficient to stall the motor.
A real step motor has losses that modify the ideal speed-torque curve. The most important effect is the contribution of detent torque. Detent torque is usually specified in the motor datasheet. It is always a loss when the motor is turning and the power consumed to overcome it is proportional to speed. In other words, the faster the motor turns the greater the detent torque contributes power loss at the motor’s output shaft. This power loss is proportional to speed and must be subtracted from the ideal, flat output power curve past the corner speed. This now constitutes a practical speed-torque curve.
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