After having a look at different firmwares for 3D printers and CNC machines I see that all of them assume there is a maximum acceleration which is a constant. Trouble is that stepper's torque depends on the speed of rotation (rate of steps). The faster the speed the lower the torque.
Choosing a maximum acceleration right requires to be quite conservative (or to face the consequences of missed steps). With that a trapezoidal velocity pattern is achieved and we are mostly happy with it.
But ... is there a better way?
Choosing a maximum acceleration right requires to be quite conservative (or to face the consequences of missed steps). With that a trapezoidal velocity pattern is achieved and we are mostly happy with it.
But ... is there a better way?