The SPI comm of course has latency within a comm period. However, the pulse output must be super-fast. It supports up to 14500 rpm, so if it's 2000steps/rev the whole step cycle is 2ms, realistically like maybe 1/4 of that for latency?
Danny On 10/19/2016 11:34 PM, Nicklas Karlsson wrote: >>> ... The lag also seemed to vary with velocity. >>> >>> >> Most specifically, it was a lag in the encoder's loop to respond to >> acceleration. >> Velocity was fine, but when there is acceleration, the encoder's >> velocity didn't change for a few milliseconds, then it had to produce >> velocity greater than real for position to catch up. >> I thought it was a really severe problem, but it seems it may not be all >> that bad. But, it can make servo tuning more tricky. >> >> Jon > Delay is called phase in control theory and it is not good at all for fast > response. > > ------------------------------------------------------------------------------ > Check out the vibrant tech community on one of the world's most > engaging tech sites, SlashDot.org! http://sdm.link/slashdot > _______________________________________________ > Emc-users mailing list > Emc-users@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-users > ------------------------------------------------------------------------------ Check out the vibrant tech community on one of the world's most engaging tech sites, SlashDot.org! http://sdm.link/slashdot _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
