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

This topic: Subaru/PFS > WebHome > POSitionerEM > EM108
Topic revision: r3 - 2014-08-26 - CharlieFisher
 
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