G, my last words were a sort of thinking out loud. I remember the DCDR and the DCDRS using PWM but I don't think it was used by the time Odyssey 2 came out. I could be wrong though. The 32 speed step limit in the older TMCC stuff was probably caused by the PWM signal. I bet that PWM curve which was probably optimized for open loop can motor control was responsible for the early Odyssey hockey stick speed curve.
I know with EOB and ERRCO stuff you had to make direct connections into the serial comm line. This would bypass the PWM limit and allow these systems to read relative steps to get higher speed step resolutions north of 32 steps.
