The 100 µs delay shown on this slide would cause no problem if the rotor is locked. With zero speed there is not any dynamic angle error, but if the motor shaft rotate with higher speed the dynamic angle error increases. Therefore, the faster the rotor shaft is rotating the larger the error will be. With the built-in dynamic angle error compensation feature in use and the compensation switched on in “per default”, the dynamic angle error is immediately reduced to nearly zero.
 
                 
                 
                 
 
 
 
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