4.1.8.2 Pull-up resistor selection
4.1.8.3 Polynomial or Quintic function
4.1.8.3.1 Polynomial coefficients
4.1.9 Replacing a SOMANET Drive
4.1.9.1 Overview
4.1.9.2 Availability of the configuration file
4.1.9.3 SOMANET Node and SOMANET Circulo with external Encoders
4.1.9.3.1 Save configuration file
4.1.9.3.2 Replace the node
4.1.9.3.3 Update firmware
4.1.9.3.4 Load the configuration file
4.1.9.3.5 Run offset detection
4.1.9.3.6 Save the configuration to the drive
4.1.9.4 SOMANET Circulo with at least one internal encoder
4.1.9.4.1 Save the configuration file
4.1.9.4.2 Mark a Reference position on your axis
4.1.9.4.3 Replace Circulo
4.1.9.4.4 Load Calibration Firmware
4.1.9.4.5 Load the configuration file
4.1.9.4.6 Run offset detection
4.1.9.4.7 Re-tune the drive
4.1.9.4.8 Run calibration
4.1.9.4.9 Load production firmware
4.1.9.4.10 Run offset detection and save offset to device
4.1.9.4.11 Test stable operation
4.1.9.4.12 Check Zero Position
4.2 Tutorials
4.2.1 Tuning Guides
4.2.1.1 Velocity PID Tuning
4.2.1.1.1 PID Parameter Range
4.2.1.1.2 Recommended Tuning Steps
4.2.1.2 Parameter Tuning Guide for Position Controller with Gain Scheduling
4.2.1.2.1 Introduction
4.2.1.2.2 Control Basics
4.2.1.2.3 Tuning Concept in Brief
4.2.1.2.4 Tuning Steps
4.2.1.3 Parameter Tuning Guide for Position Controller with Cascaded Structure
4.2.1.3.1 Introduction
4.2.1.3.2 Control Basics
4.2.1.3.3 Tuning Concept in Brief
4.2.1.3.4 Tuning Steps
4.2.2 Drive operations through File Access over EtherCAT (FoE)
4.2.2.1 Overview
4.2.2.2 Updating the firmware
4.2.2.2.1 Prerequisite
4.2.2.2.2 Setup Information
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