Advanced mode FOC Positioning
FOC Positioning mode receives a setpoint specification for controlling the position and speed to be reached, and the control current to be used. The motor uses the set speed to aim for the parameterized position that is specified. If a countertorque is applied, the motor or the OSS21C module will increase the current until the parameterized current limit is reached. The motor continues to rotate at the specified speed until the current limit is reached, and thus the torque specified by the current limit.
If the shaft is released again, the motor can rush beyond the set speed. This behavior is mainly determined by the PID control parameter settings and the additional value uiPositionControllerShiftFactor that influences the speed with regard to the control behavior.
Example: If the shaft is blocked only briefly and is released completely again immediately, no lead will be visible. If the shaft is blocked for longer and then released erratically, the lead can be seen.
