Control loops
The loops that drive an actuator or a set of axes, and the controllers that close them.
Control blocks
The control blocks available in a Motorcortex control application: what each one computes, every parameter it registers with its unit and default, and how to set it up.
less than a minute
Limiters and shaping
Blocks that bound a signal or shape how fast it may change.
Setpoints and motion
Blocks that produce a motion profile or play one back.
Signal generation
Waveform sources for testing, identification and excitation.
Filters
Frequency-selective filters and averaging.
Physical models and compensation
Models of the machine itself: contact behaviour, friction, drive train and the mapping between actuator and axis coordinates.
Estimation and maths
Observers, state-space models and the arithmetic blocks used to build a signal path.
Switching and routing
Blocks that select between signals, hold a state or move a signal in time.
Detection and safety
Blocks that watch a signal and raise a flag when it leaves the expected envelope.
Migration notes
What to change in an existing application when a release alters behaviour.