I re-visited the 6DOF platform case here in San Diego. I had to figure out why we keep observing
stepping in the motors motion. I turned out that the motors where connected as STAR instead of DELTA. That has impact on the amount of current the motor coils can deliver in position between the phases, where the waveform tops are not in max values, resulting in less force.
stepping in the motors motion. I turned out that the motors where connected as STAR instead of DELTA. That has impact on the amount of current the motor coils can deliver in position between the phases, where the waveform tops are not in max values, resulting in less force.
Cable colors and numbering may differ from motor to motor, so always consult the motor's datasheet for the proper DELTA type connections!
