I have looked around in the forum and google it in internet, but maybe I miss the fundamentals to understand the problem or my search criteria are wrong.

What I would like to understand is the position accuracy of brushless motor in general.

When we talk of stepper motor it’s pretty easy, stepper with 200 steps/rev have an accuracy of 360/200 that is 1.8°, so each time I move the stepper of the motor it will move of 1.8 degrees (let’s forget about uStepping, backslash and so on), so If I want to have a sub degree resolution I need to use some gears to change the ratio, with 1:10 gear it will reac a 0.18° resolution.

This sounds simple to me.

Now with the odrive “setup” the motor spins to 270kv, so we are talking about many many RPM even with 1Volt, the encoder has a resolution of 8192 counts per revolution.

Assume I have no problem with torque and so on, if I attach such system to a robot arm directly with no gearing, is it correct to assume that we can move to 0.08° (ca. 360/8192) accurcy ?

If the answer is yes, increasing the encoder resoultion will always lead to a better accuracy or there is some mechanical limit in the system ?

Maybe I got it all wrong, but this dilemma is killing me.

Thanks to anyone that is willing to answer to my question, I need to clear my mind before buying this nice tool !

ciao