2.4.2.6.3 How to use
2.4.2.6.4 Next steps
2.4.2.6.5 F.A.Q.
2.4.3 Manual Tuning
2.4.3.1 Manual Tuning of the current controller
2.4.3.1.1 Manual tuning guide
2.4.3.2 Manual Tuning of the velocity control loop
2.4.3.3 Manual Tuning of the position control loop: Cascaded controller
2.5 Test a drive at the playground
2.5.1 Prerequisites
2.5.2 Applying torque to a motor
2.5.3 Rotate a motor at defined velocities
2.5.4 Rotate a motor to defined positions
2.6 Update/downgrade OBLAC Drives
2.7 Troubleshooting
2.7.1 Virtualization not activated
2.7.2 Memory Warning
2.7.3 Runtime Issues
2.7.4 Other Issues
3 Software Reference
3.1 Software Reference Manual v5.0
3.1.1 Firmware Overview 5.0
3.1.1.1 Functionality description
3.1.2 CANopen over EtherCAT (CoE)
3.1.2.1 Drive State Machine (CiA 402)
3.1.2.2 PDO
3.1.2.3 PDO Configuration
3.1.2.4 SDO
3.1.3 Actuator configuration
3.1.3.1 Motor and gear settings
3.1.3.1.1 Motor Configuration
3.1.3.1.1.1 Pole pairs
3.1.3.1.1.2 Torque constant
3.1.3.1.1.3 Phase resistance
3.1.3.1.1.4 Phase inductance
3.1.3.1.1.5 Errors in phase resistance and inductance
3.1.3.1.1.6 Motor phases inverted
3.1.3.1.2 PWM frequency
3.1.3.1.3 Gear Ratio
3.1.3.1.4 Advanced configurations
3.1.3.1.5 Parameters
3.1.3.2 Generic brake output voltage
3.1.3.2.1 Overview
3.1.3.2.2 Usage
3.1.3.2.3 Limitations
3.1.3.2.3.1 Parameters
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