tune stepper function

I used default - 1ms I guess

I did some more tests and it looks like speed reported by halmeter is correct.
That means, that someone acts as limiter.

I changed max speed from 12000 to 6000 and there was no difference in sound or scope curve.
When I reduced speed below 6000 sound and scope change output.

Then I started a halshow in parallel to pncconf. In halshow I selected to watch hm2_5i24.0.stepgen.07.velocity-cmd which showed the "real" speed, the motor should run. But due to the unknown limiter, that value does not reach hardware.

Real speed means, when I selected 12000 in testpanels combobox, velocity-cmd rised upon 211, which is bit higher than my expectations. Then I entered 15000 in combobox, but motor worked stil without problems.
If the driver would be fired with matching steprate to velocity of 15000, the driver would produce some errors, as that speed is out of specs.

To me, the plot looks like what you would see if the step rate is bounded by the step timing.

What is the step scale?

1000

1000 steps per degree?

If so 16.666 RPM would be the physical limits of the stepgen at 5000+5000 steplength+stepspace
so maximum practical RPM would be about 14 RPM (to leave operational headroom for the stepgen)

Hi Peter,

To me, the plot looks like what you would see if the step rate is bounded by the step timing.

Thank you for the hint!
You're right - of cause.
Having 200kHz bandwidth - 5u is the time of the whole amplitude, so I have to enter 2500ns in pncconf.
Having that done, I got the expected error
.

1000 steps per degree?

If my calculations are right - yes.
I set the stepper driver to 4000 steps per revolution and I have a rotary table with a gear-rate of 1:90

With a step scale of 1000 the system behaves as expected.