Todd Zuercher wrote:
>
> Is there enough of an advantage to sinusoidal commutation to justify the
> added expense of a sinusoidal drive, or is an inexpensive trapezoidal
> drive good enough?
>   
The older the motor, the more likely they are wound SPECIFICALLY for
trapezoidal drive.  Some newer motors vibrate a bit when the wrong 
waveform is
used, but for a motion control situation with a fair bit of mass and 
friction, generally
it is not bad.

Jon

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