Velocity Offset An additional velocity offset can be used to improve the positioning performance.
Filtering Digital filters can be used to remove unwanted frequencies such as noise or nonlinear
effects.
Position and Velocity Feedback Low-pass filters
Torque loop input shaping filter
Command smoothing and Interpolation: Successive setpoints can be smoothed, so that low
command resolution and jitter have a reduced effect on the control.
Control supervision Allows to supervise the work of the control loops
Distributed clocks: Allows to synchronize the system time for enhanced performance.
OS Command Offers commands that can’t be executed by single SDO operations.
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