Jan de Kruyf wrote: > Jon, > I see exactly this in yr pictures: (from the faq on their website) > > > 9. How does angular acceleration affect pulses and error? > > Angular acceleration does not cause missing pulses. But it does cause > some lag in position, proportional to acceleration and T^2. (with T= > 100, 50, 25, 13 µs at resolution settings D2, D1 = 11, 10, 01, 00, > respectively). The internal position follower will have no problem > with acceleration as long as the resulting position error stays within > 256 increments (4 increments per quadrature period) for resolution > 2048 PPR, with the limit being proportional in other resolutions. The > position follower will catch up at the end of acceleration. > Decreasing the basic resolution will reduce acceleration error, if > that is of concern for fast loops or removing the SF jumper as > described in section 3 above. > ------------------------------- Yes, I read this and it didn't sound too bad. But, I think the lag is a LOT more than 100us, up to several milliseconds, or maybe 30 times worse than what they state. > > so I would give that rubbish a miss. It is good for a position > readout, but definitely not for a high speed feedback loop. > I may experiment some more at different resolutions, and see about that jumper setting.
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