Feed Forward Control [...] Motion version 4 [...] feed forward control

Position Control on the Controller with SM_Drive_PosControl See the PosControl

to control the robot [...] with version 0.12.5 or lower [...] by default in Version 0

Motion version 4 [...] of the controller Control loop [...] -real-time-capable controller

which controls the active [...] Motion version 4 [...] from the controller to the drive

version is enough [...] belt (controlled

of the controller used [...] version >= SP