Removal of the old drum brakes and couplings is thought to be the major cause of this noise reduction, though better motor synchronization will also have reduced vibration. The antenna and carousel were then slaved and tested. Slews were again much smoother than the 'old' system, but some slight structural vibration was noted at speed compared to driving the carousel alone. We surmise that the relative demand input when in slave mode is not ideal, and introduces surges into the carousel demand velocity. The relative encoder resolution limit will also digitize the demand.
Resolution is approx.
The enclosure probably has system resonances in the 0.5-16Hz range. Fairly smooth running. As soon as the carousel creeps inside the relative limit, the antenna then surges ahead - straight int limit again. For a joystick controlled stop, the joystick is returned to centre, and the motors perform a controlled deceleration. Under an ESPB stop, all motor power is removed and the system coasts to a halt.