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Are there examples for calculating this, given the amplifier transconductance gain, motor Kt, and stage mass/inertia? Our systems are fluid film bearing with almost no friction or damping, and it is difficult to get away from gravitational biases. The routines in the auto tuning feature in the IDE rely on open loop moves, and aside from the difficutly in keeping the stages still long enough, suffer from insufficient resolution. I am hoping that DT has a closed loop solution based on desired acc, act acc and dac output. While I am on this subject the tuning limitations in the tuning routine often do not allow enough time to conduct a meaningful move. The present 1 second limitation for step, and two second for parabolic don't come any near long enough for high inertia direct drive positioning.


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