On Mon, Oct 08, 2007 at 07:51:59PM -0600, Sebastian Kuzminsky wrote:
>     reference voltage: 19.1 V DC
>     no-load current: 0.16 A
>     Peak/Stall Current: 2.51 A

I think these are the same motors I'm using on my sherline lathe.

> Duty cycles from 0 to about 55% give me increasing whining from the
> motor but no movement at all.  55 to 100% gives increasing motor speed
> and torque.

I think my linearity is much better than you describe.  Maybe try
pure pwm mode (not pdm)?  Or it may just be a matter of your low
power supply.  I'm using 24V on mine.

pwm/pdm also have scale and offset parameters that might help you.

Chris

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