Commutation reference angle determination method specification:

   bit 0:3 - code that indicates the method to be used to set the commutation reference angle:
        0 = PAF (pole-angle finder method)
        1 = twang-reference
        2 = TECO motor Hall-effect sensor
        3 = Hall-effect sensor
        4 = Serial absolute encoder
        5 = Binary search reference finder
   bit 4:6 - commutation adjustment method:
        0 = use incremental encoder index (DataID 16653)
        1 = use first Hall sensor signal transition (DataID's 10744 to 10749)
        2 - use both the incremental encoder's index signal and the first Hall sensor signal transition
   bit 7 - disable commutation adjustment tolerance check
        0 = enable
        1 = disable
   bit 8 - invoke twang check at the commutation angle at the end of the PAF operation:
        0 = enable
        1 = disable
   bit 9:15 - (reserved)

Note that the purpose of commutation adjustment is to compensate for any reference setup inaccuracy caused by coarse Hall-effect sensor readings and by external forces, such as gravity and/or friction. The "Commutation position at zero index" (DataID 16653) must be setup first in order for the adjustment to occur.

Maximum # of allowed twangs during the PAF operation.

During the PAF zooming process, this is the angle adjustment amount used at each step of the twang.

As the twang angle starts to converge, the fine angle adjustment is used in order to accurately find the motor shaft position.

Per the description of DataID 10712, as the twang torque amount is adjusted, the twang is left ON for a very short period of time to allow the following:

   - For an axis with a brake, allow the position to settle.
   - For an axis without a brake, allow the position to barely change before turning twang off.

Typically, the duration time is only about 50 msec.

Amount of time to allow twang to be turned OFF. This is typically in the range of 20 to 50 msec. Note that if an axis does not have a brake, this duration time cannot be too long since if the axis friction is small, the motor shaft may "drift off".

At the end of the PAF operation, the axis may be optionally twanged to its current position. If this step is executed, then the brake will be release to allow the axis to settle into the twang position. Next, the brake is engaged.  Finally, after a short wait period, the twang operation is turned OFF.

This convergence factor determines the search range of the motor angle each time the PAF finds a potential candidate location.

Torque value used during PAF twangs. Note that the torque should be set based on the following guidelines:

   - For an axis with a brake, the torque should be large enough to overcome the brake friction and cause a small delta change in the position.
   - For an axis without a brake, the torque should be small enough to not cause excess motion.

This torque is defined as a % of the "RMS rated motor torque, tcnt" (DataID 10612). By default, this value is set to 50%.

This is a fixed torque offset that is applied to the "PAF twang torque %" (DataID 10712).  This is to allow the PAF process to work well with axes that are subject to significant gravity loading.

This torque is defined as a % of the "RMS rated motor torque, tcnt" (DataID 10612). By default, this value is set to 0%.