Investigation into limited Phi range-of-motion
- Datasheet provided by NST upon delivery indicate that phi (stage 2) motor torque is right at minimum requirement. Table below compares all phi torque values from data sheets for EM1 units
S/N |
Phi Torque CW (uNm) |
Phi Torque CCW (uNm) |
101 |
650 |
550 |
102 |
320 |
300 |
103 |
310 |
320 |
104 |
300 |
350 |
105 |
350 |
380 |
106 |
500 |
575 |
107 |
350 |
450 |
108 |
300 |
350 |
109 |
520 |
510 |
110 |
500 |
510 |
112 |
350 |
350 |
116 |
420 |
420 |
117 |
300 |
300 |
118 |
400 |
400 |
120 |
350 |
350 |
121 |
350 |
350 |
122 |
300 |
300 |
123 |
500 |
500 |
No obvious correlation to torque and ability to get through sticky spot.
- The other issue is that a higher on-time (than 0.06/0.07ms) will get past the sticky spot, but the resulting step sizes are too large for good convergence. This may make for an ideal candidate for fast/slow mapping.
--
ChazMorantz - 13 Aug 2014