4.4.2. Configurations ......................................................................................................................... 29
4.5. Digital commands............................................................................................................................ 31
4.5.1. Parameters .............................................................................................................................. 31
4.5.2. Configurations ......................................................................................................................... 32
4.6. Outputs feedback ............................................................................................................................ 33
4.6.1. Parameters .............................................................................................................................. 33
4.6.2. Configurations ......................................................................................................................... 33
4.7. Electromechanical brake ................................................................................................................. 34
4.7.1. Parameters .............................................................................................................................. 34
4.7.2. Configuration........................................................................................................................... 34
4.8. Start-up option ................................................................................................................................ 36
4.8.1. Parameters .............................................................................................................................. 36
4.8.2. Configuration........................................................................................................................... 36
4.9. Braking behaviour............................................................................................................................ 37
4.9.1. Parameters .............................................................................................................................. 37
4.9.2. Configurations ......................................................................................................................... 37
4.10. Emulated encoder ....................................................................................................................... 38
4.10.1. Parameters .............................................................................................................................. 38
4.10.2. Configurations ......................................................................................................................... 38
4.11. Motor thermistor......................................................................................................................... 39
4.11.1. Parameters .............................................................................................................................. 39
4.11.2. Configurations ......................................................................................................................... 39
4.12. Torque limit ................................................................................................................................. 39
4.12.1. Parameters .............................................................................................................................. 39
4.12.2. Configurations ......................................................................................................................... 39
5. OPERATING MODES...................................................................................................................... 40
5.1. Profile velocity mode....................................................................................................................... 40
5.1.1. Parameters .............................................................................................................................. 40
5.1.2. Configuration........................................................................................................................... 40
5.2. Profile position mode ...................................................................................................................... 42
5.2.1. Parameters .............................................................................................................................. 42
5.2.2. Configurations ......................................................................................................................... 42
5.3. Profile torque mode ........................................................................................................................ 44
