On 09/12/2016 21:48, Peter C. Wallace wrote: > > There are only some 10s of usec between reading the encoder and writing the > PWM value, assuming the read and write functions are in the proper order in > the hal file. Also Fred said that changing the servo thread from 1 to 10 KHZ > made little difference, so I dont think its a loop bandwith issue > > Good idea, we have to check the functions order. About original Fanuc F/V converter delay comparing to mesa, unfortunately we cannot measure because it is faulty. Another clue: we have very similar oscillations at low or high speed. So the problem is not coming from period/frequency mode switching in the velocity estimation algorithms.
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