Software Reference Manual v4.1

Note

This is the manual for firmware 4.1 which does not include all features. If you are not dependant on v4.1, please refer to our firmware manual v4.4 for full functionality.

Note

Some functionalities may not exist in older firmwares. If you are using firmware v4.0, please refer to our firmware manual v4.0

• Overview
• CANopen over EtherCAT (CoE)
• Actuator Configuration
• Sensor Configuration
• 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 Loops
    • Dual Loop Cascaded Position Control
  • 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
    • Gain Scheduling
    • Motor Overload Protection (i2t)
    • Torque Offset
    • Velocity Offset
• Object Dictionary
• Device Information