Advanced mode FOC Velocity
The FOC Velocity operating mode receives a setpoint for the speed and the control current to be used for the control. The motor strives for the speed 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 resulting torque is used by the motor to keep its speed.
If the shaft is released again, the motor may 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. However, if the shaft is blocked longer and then released erratically, this effect will be visible.
