Re: [Emc-users] New stepper-servo --> Phase delay

They put a Cortex M0 on the module that sits on the board, along with the stepper driver and encoder. There's a greater latency inside the Cortex, it will likely have to respond to an interrupt thus have ISR latency. I presume they've got a PLL to prevent oscillation within the final step.

Re: [Emc-users] New stepper-servo --> Phase delay

Best option is probably to generate stepper signal from hardware timer. 2016-10-21 8:17 GMT+02:00 Danny Miller : > 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

Re: [Emc-users] New stepper-servo --> Phase delay

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:

Re: [Emc-users] New stepper-servo --> Phase delay

> > ... 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