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{"sheet":"Tabelle1","index":1,"n_rows":18,"n_cols":11,"rows_kept":18,"cut":false,"hidden":false,"merged":[[1,6,3,6],[1,7,3,7],[1,8,3,8],[1,9,3,9]]}
[]
[null,"Stepper pulse frequency","f_step",100,"kHz",null,"T 3.6 @240MHz\n1 Motor","T 3.6 @240MHz\n3 Motors","T 3.2 @96MHz\n1 Motor","T 3.2 @96MHz\n3 Motors"]
[null,"Acceleration refresh period","t_refr",1,"ms"]
[]
[null,"Time for step ISR",null,null,null,"t_stp =",0.54,0.75,1.21,1.67,"µs *)"]
[null,"Time for reset ISR",null,null,null,"t_res =",0.45,0.54,1.5,1.67,"µs *)"]
[null,"Time for acceleration update",null,null,null,"t_acc =",1.45,1.45,10.83,10.1,"µs *)"]
[]
[null,"Steps per refresh period",null,null,null,"spr = f_step * t_ref =",{"$f":"$D$2*$D$3","v":100},{"$f":"$D$2*$D$3","v":100},{"$f":"$D$2*$D$3","v":100},100,"steps"]
[null,"Acceleration update fraction",null,null,null,"t_af = t_acc / spr=",{"$f":"G7/G9","v":1.4499999999999999E-2},{"$f":"H7/H9","v":1.4499999999999999E-2},{"$f":"I7/I9","v":0.10830000000000001},0.10099999999999999,"µs"]
[]
[null,"Total time per step",null,null,null,"t_tot= t_stp + t_res + t_af =",{"$f":"G6+G10+G5","v":1.0045000000000002},{"$f":"H6+H10+H5","v":1.3045},{"$f":"I6+I10+I5","v":2.8182999999999998},3.4409999999999998,"µs"]
[]
[null,"Load",null,null,null,"L = t_tot *f_step = ",{"$f":"G12*$D$2/10","v":10.045000000000002},{"$f":"H12*$D$2/10","v":13.044999999999998},{"$f":"I12*$D$2/10","v":28.183},34.409999999999997,"%"]
[]
[{"$nulls":10},"*) measured"]
[null,"Figure shows timing for 3 moved motors . Measured with a T3.6@240MHz -O2."]
[null,"First three traces show step pulses, ISR trace shows time spent in interrupt service routines"]