Software Reference Manual v4.0

Note

This is the manual for firmware 4.0 which does not include all features. If you are not dependant on v4.0, please refer to our firmware manual v4.4 for full functionality.

• Overview
• CANopen over EtherCAT (CoE)
• Actuator Configuration
• Sensor Configuration
• Motion Control
  • Control Loops
    • Current and Torque Control Loop
    • Velocity Control Loop
    • Position Control Loops
  • Modes of Operation
    • Cyclic Synchronous Torque Control (CST)
    • Cyclic Synchronous Velocity Control (CSV)
    • Cyclic Synchronous Position Control (CSP)
    • Switching modes
  • Extended Control Functionalities
    • Cogging Torque Compensation
    • Field Weakening
    • Anti-Windup Control
    • Torque Offset
• Errors and Warnings
• Object Dictionary
• Device Information