The motor is NOT seeing a 4,000 Hz square wave current. The motor is an inductive load and it is filtering the 4KHz to nearly DC. Look and see, Use a real scope (no hal scope) on the line and look at current v. time.
Look at the PID controller. it will always oscillate if you are trying to control position with a velocity measurement and are controlling torque. On Sat, Jan 9, 2021 at 11:38 PM Gene Heskett <ghesk...@shentel.net> wrote: > What would happen if I dropped > the pwmgen frequency to 400 hz. that same percentage of a pulse coming > into the controller would have 10x the length of time to actually move > the motor, which may drive it closer to a null than -- Chris Albertson Redondo Beach, California _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
