MSG on PAROL6: which current should I use in the Python API?

[PCrnjak]

Which product?

MSG gripper

Your question

Asked often on Discord; posted here with the answer so it can be found.

I drive an MSG from the PAROL6 Python API. Is current=1.0 fine, or what should I use?

What have you tried?

PAROL6 Python API (parol6) 0.9.1, MSG on STEPFOC firmware 108.

[PCrnjak]

Do not use current=1.0. The MSG's current is a fraction of 100 to 2800 mA, so 1.0 commands 2800 mA, more than any of the MSG's three steppers takes, and the firmware does not clamp it (known issue KI-9 of the MSG manual).

Keep current at or below:

• 0.51 with the 21.5 mm stepper
• 0.70 with the 40 mm stepper
• 0.74 with the 60 mm stepper

Details: On PAROL6 and PAR6, Driving it and the known issues of the MSG manual.