I have a few doubts before setting odrv0.axis0.controller.config.vel_limit to a higher value.
Per my understanding there are a few limiting factors to the max motor speed like KV and voltage, max speed the encoder can handle, load on the motor of course, controller processing.
My fear is, if I overdo it, I can break the board, hence asking for advice for the current 0.4.7 firmware and 12V with AMT102 encoder and the 5065 270kV Motor.
Or in other words, why is above limit set to 20000 by default? With 8192 CPRs, that is 20*60=1200rpm only, isn’t it?
Also what happens internally if something goes wrong?
For example, the way I would love the speed loop to be implemented is to use the encoder for low rpms, at higher speeds the observer is switched to backEMF (sensorless mode). Thus the encoder and its counter is less likely to lose a step causing all to fail. And when getting close to the limit, the encoder position is resynced.
Is it implemented that way? Are my fears unsubstantiated?
Thanks in advance