3.1.1.1 Functionality description
Cyclic Synchronous Modes:
CSP
CSV
CST
Profile Modes:
Profile position mode
Profile velocity mode
Profile torque mode
Homing Modes that support limit and home switches
Set of control architectures:
Field-oriented current control
PI and model-predictive current control
P, PI, PID and cascaded position control
P, PI, PID velocity control
Dual loop cascaded position control
Controller Auto-Tuning and manual tuning
Various configurable signal processing options (low pass filters, top notch filters)
Encoders configuration for all ports: BiSS-C, Hall, ABI (QEI) / ABZ Encoder, SSI, A-Format
Access to Analog Inputs and Digital IO
Digital I/Os can be configured to timestamp inputs and outputs on rising edge
Optimized power output by 3rd harmonic injection
Synchronization with Distributed Clocks
Simple commissioning and tuning with OBLAC Drives
Extended control functionalities:
Cogging torque compensation
Field weakening
Anti-Windup Control
Gain Scheduling
Motor Overload Protection (i2t)
Feed Forward Control
Torque Offset
Velocity Offset
Control supervision
Command smoothing and Interpolation
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