On 2/20/26 22:28, Todd Zuercher wrote:
I'm still using RTAI for a fast low latency control of a difficult to tune
torque mode servo.
What sort of speed does that servo motor need to have? Would 3k revs do it?
I've found that Hanpose makes motors and drivers for closed loop
stepper/servo's that
are dead stable, needing NO PID's at all because the motor has its own
encoder that feeds
its signals to the driver, so the motor is forced to do exactly as the
stepper driver tells it to.
1: the diff between the step input and the motors instant position
controls motor current.
motor runs cold if its not working hard, A 3NM motor can do an 8NM job
if the power
supply can deliver the current.
2: the drivers can take up to 90 volts, so the motor has very little
choice but to do exactly
as the stepper generator tells it to do. Correction for undershoots or
overshoots is done
in microseconds.
3: If a move hits a wrench left in the wrong place, the driver has an
output, wire it into
hal's e-stop= instant stop, no damage.
4 if the step/dir is 5 volt logic, the Hanpose LC42 or LC57 driver needs
a 170 ohm
current limiter in series with the input signal else they'll eventually
blow the 6n137 high
speed opto-isolator in those 2 inputs. Very hard to replace,
The motor tech has moved moved on, make use of it.
On Thu, Feb 19, 2026, 8:49 AM N. Christopher Perry via Emc-users <
[email protected]> wrote:
I still use RTAI.
N. Christopher Perry
On Feb 17, 2026, at 5:24 PM, John Dammeyer <[email protected]>
wrote:
From: Eric Keller [mailto:[email protected]]
On Tue, Feb 17, 2026 at 4:12�PM John Dammeyer
<[email protected]> wrote:
How do I know if I'm using RTAI?
uname -a
Thanks.
On the actual Mill with a PC, PREMPT 2.8.1
On the lab bench Pi4, PREMPT 2.8.4
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Cheers, Gene Heskett, CET.
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