I should note that error in ferror is -velocity*sampleperiod (not
-velocity/sampleperiod)
Also this error is not specific to torque mode drives, its just more easily
hidden with velocity mode drives (with FF1).
It will always show up if sufficient integral term is used that the PID error
gets nulled during a slew (so if the PID loop is doing its job and minmizing
its error you will get a indicated ferror thats proportional to velocity)
Peter Wallace
Mesa Electronics
(\__/)
(='.'=) This is Bunny. Copy and paste bunny into your
(")_(") signature to help him gain world domination.
------------------------------------------------------------------------------
Master Java SE, Java EE, Eclipse, Spring, Hibernate, JavaScript, jQuery
and much more. Keep your Java skills current with LearnJavaNow -
200+ hours of step-by-step video tutorials by Java experts.
SALE $49.99 this month only -- learn more at:
http://p.sf.net/sfu/learnmore_122612
_______________________________________________
Emc-developers mailing list
[email protected]
https://lists.sourceforge.net/lists/listinfo/emc-developers
