3 Software Reference
v5.0
Migration guide from v4.x to 5.0
Overview
CANopen over EtherCAT
Actuator configuration
Motor and gear settings
Manually controlling phase D voltage
Brake release feature
User defined velocity units
Commutation Offset Detection
Power limit
Encoders and I/O
Analog In
Analog Input Scaling
Digital I/O
Digital GPIO
Encoder configuration
Commutation with Hall and ABI combined
Input counter
Protection
Errors and warnings
Errors thrown by the firmware
Error report object
Remedies for protection errors
Logging
Motion control
Control Loops
Current and Torque Control Loop
Velocity Control Loop
Position Control Loop
Dual Loop Cascaded Postion Control
Modes of operation
Cyclic modes
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