External scaled measurement
Digital I/O
Encoder configuration
Commutation with Hall and ABI combined
Input counter
Protection
Errors and warnings
Errors thrown by the firmware
Error report object
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
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
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
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