Cyclic synchronous torque control (CST)
Cyclic synchronous velocity control (CSV)
Cyclic synchronous position control (CSP)
Profile modes
Profile position mode
Profile velocity mode
Profile torque mode
Homing modes
Quick stop
Diagnostics opmode
Switching the modes
Extended control functionalities
Cogging compensation
Field weakening
Anti-windup control
Gain scheduling
Motor overload protection (i2t)
Velocity feed forward
Torque offset
Velocity offset
Filtering
Command smoothing and Interpolation
Control supervision
Distributed clocks (DC clocks)
OS Command
Object dictionary
All objects
Communication area
Manufacturer specific area
Profile specific area
Process Data Objects
Standard RxPDO mapped objects
Standard TxPDO mapped objects
Advanced PDO mapping
Device info
Saving and restoring configurations
Changelog v5.0
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