Editing Archive (section)

==Displacements==
===Understanding motor velocity===
From the KL2531 documentation.
DataOut is the register value (16 bit) that determines the velocity, along with number of microsteps MS and number of full steps per revolution R33 = 200.
 Formulas are:
 Microsteps/s R = DataOut*3.813
 Fullsteps/s  Rfs = R/MS
 Revolutions/s Rps = Rfs/200

We like to use MS=64 to get smooth rotation. To set a certain velocity in revolutions per second use:
 DataOut = Rps*64*200/3.813 = Rps*3357

The number of microsteps per revolution = 64*200 = 12800. This relates to the 'actual position' that can be read from the controller DataIn register value.

* There seems to be a maximum speed for these motors, setting higher values will let them stall.
* Z-translation might need lower micro stepping MS, to achieve fast enough displacement.

===Nominal displacements===
* XY-rotation (120:1 gear box): 1 motor rotation (360 deg) -> XY-rotation of 3 deg. 
* Z-translation: 1 motor rotation (360 deg) -> 10.6 um displacement (I used 16.6 um at first, which is wrong...).

The phantom attachment allows for off-centre mounting by x1=7mm and x2=18mm,  Results in a nominal XY-translation of the center of mass of:
* x1=7mm; d1 = 0.122 mm/deg
* x2=18mm; d2 = 0.3 mm/deg