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6.1 Motion Systems .................................................................................. 6-1
6.2.2 Error .......................................................................................... 6-3
6.2.3 Accuracy .................................................................................. 6-3
6.2.5 Resolution ................................................................................ 6-4
6.2.7 Repeatability ............................................................................ 6-6
6.2.10 Wobble ..................................................................................... 6-8
6.3 Control Loops ................................................................................... 6-11
6.4 Motion Profiles .................................................................................. 6-15
6.4.1 Move ....................................................................................... 6-15
6.4.2 Jog ........................................................................................... 6-16
6.4.3 Home Search .......................................................................... 6-17
6.5 Encoders ............................................................................................ 6-19
6.6 Motors ................................................................................................ 6-22
6.6.2 DC Motors .............................................................................. 6-27
6.7 Drivers ................................................................................................ 6-28
7.1 Tuning Principles ............................................................................... 7-1
8.2 UniDrive6000 ....................................................................................... 8-7
.............................................. 6-1
..................................................................... 7-1
...................................................... 8-1