3.1.4.3.1.2 Resolution
3.1.4.3.1.3 Zero velocity threshold
3.1.4.3.1.4 Polarity
3.1.4.3.1.5 Multiturn resolution
3.1.4.3.2 Encoder related parameters
3.1.4.4 Commutation with Hall and ABI combined
3.1.4.4.1 Overview
3.1.4.4.2 Requirements
3.1.4.4.3 Usage
3.1.4.4.4 Detailed description
3.1.4.4.4.1 Startup
3.1.4.4.4.2 Error Detection
3.1.4.4.4.3 Runtime
3.1.4.5 Input counter
3.1.4.5.1 Overview
3.1.4.5.2 Limitations
3.1.4.5.3 Parameters related to Input counter
3.1.5 Protection
3.1.5.1 Overview
3.1.5.2 Usage
3.1.5.3 Parameters related to protection
3.1.6 Errors and Warnings
3.1.6.1 Error codes thrown by the firmware
3.1.6.2 Error Report Object
3.1.7 Logging
3.1.7.1 Overview
3.1.7.2 Types
3.1.7.3 Format
3.1.8 Motion Control
3.1.8.1 Control Loops
3.1.8.1.1 Current and Torque Control Loop
3.1.8.1.1.1 Torque control loop
3.1.8.1.1.2 Parameters related to Current and Torque Control Loop
3.1.8.1.2 Velocity Control Loop
3.1.8.1.2.1 Parameters related to the Velocity Control Loop
3.1.8.1.3 Position Control Loops
3.1.8.1.3.1 Cascaded PID Controller
3.1.8.1.3.2 Simple PID Controller
3.1.8.1.4 Dual Loop Cascaded Position Control
3.1.8.1.4.1 Overview
3.1.8.1.4.2 Usage
3.1.8.1.4.3 Parameters related to Dual Loop Cascaded Position Control
3.1.8.2 Modes of Operation
3.1.8.2.1 Cyclic modes
3.1.8.2.1.1 Cyclic Synchronous Torque Mode
3.1.8.2.1.2 Cyclic Synchronous Velocity Mode
3.1.8.2.1.3 Cyclic Synchronous Position Mode
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