4.1.9.4.6 Run offset detection
The commutation angle offset detection procedure has always to be executed.
4.1.9.4.7 Re-tune the drive
If the configuration of the drive has a sharply tuned velocity controller, a smoothly tuned velocity controller is
required for the encoder calibration. If there is no smooth velocity while calibration or if the calibration fails,
the velocity controller has to be temporarily re-tuned.
To re-tune the drive:
Run system identification.
Perform autotuning.
Set the velocity controller bandwidth to a value lower than 30 Hz and test the velocity controller.
Saving to the drive is not required, but the retuning will be lost after power-cycling.
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