Speed volatility is affected by the following factors

Speed volatility is affected by the following factors

(1) The encoder's limited resolution and velocity loop period (the lower the resolution, the longer the cycle time, the greater the speed fluctuation).

(2) Poor encoder installation can cause low frequency periodic fluctuations in the encoder feedback.

(3) The cogging torque fluctuation of the servo motor also causes low-frequency periodic fluctuations under the speed loop.