On Tue, 2010-08-10 at 22:19 -0500, Chris Radek wrote:
> On Tue, Aug 10, 2010 at 07:53:48PM -0700, Neil Baylis wrote:
>
> > would you care to hazard a guess at how much phase shift you see from the
> > 7i48 input to the velocity input at the servo amp?
>
> There's at least a millisecond delay between the motion and the amp
> seeing the corresponding tach signal, because that's my servo cycle.
>
> The maximum possible difference between the velocities during
> consecutive servo cycles is the acceleration, so it seems like the
> badness ("staleness"?) of the tach signal is proportional to the
> acceleration. (But decreasing the servo cycle period would oppose
> that effect...)
>
> I'm not sure I answered your question.
>
> Chris
>
Hi Chris,
Indeed that is exciting. Far better results than I would have expected.
I wonder if decreasing the servo cycle would decrease the following
error? Not that 0.0005 on acceleration is bad. That is about 13 counts
at the motor shaft if my math is correct. Maybe better is possible.
Dave
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