All,
I'm using the DRV8711 in an indexing mode within a 250Hz servo loop. All is working as expected when I preset the TORQUE setting (reg 0x01h <b7:b0>, but leave it at that setting. I am trying to reduce the current draw when the servo is making minimal adjustments; i.e. set the TORQUE setting high before sending out pulses, and then setting the TORQUE lower until then next 250Hz adjustment cycle. This approach however doesn't seem to work. It seems the frequent (250Hz) TORQUE changes has the DRV8711 in some confused state or preoccupied state. The servo responds extremely slow and there is constant chatter, as if the DRV8711 requires some finite amount of time between TORQUE value changes.
So...My question pertains to the speed at which the TORQUE register can be updated and is actually at full TORQUE.. And, whether the updating the of TORQUE register requires some other sequence of controls; e.g. disabling & re-enabling the DRV8711 itself, or some finite amount of time to be fully implemented.
Many thanks,
Guy