Hi Tero,
I've plotted commanded and achieved torque and the drive does output maximum current. I don't have any plots saved but I'll do that and send them to you next time I'm working on it.
Here's some data on the motor:
Code:
Continous Current: 19A
Max. peak current: 150A
Permissible peak voltage: 170V
Voltage constant: 0.47Vs/rad
Torque Constant: 0.47Nm/A
Rotor moment of inertia: 0.0075kgm²
Mechanical time constant: 8.1ms
Weight: 24kg
The motor is large, 140mm in diameter and ~400mm long. I was prepared for somewhat limited acceleration from the beginning but was kind of hoping it would be 'enough' with the 15A peak. Anyway, if you're able to calculate max theroetical acceleration I'll do the plots, send them your way and we'll go from there.
Thanks and sorry, I didn't mean to hijack this thread....
/Henrik.