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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