Ukukhawulezisa/ukunciphisa isantya se-S-curve eyakhelwe ngaphakathi ukuze intshukumo ihambe kakuhle
Ixhasa iindlela ze-PP, i-PV, kunye ne-Homing ngokweCiA402 nganye
Unxibelelwano lwe-CANopen (oluhambelana ne-CiA301)
Ukudluliselwa komyalelo okuthembekileyo, okungenasiphazamiso
Ucingo olulula xa luthelekiswa needrayivu zohlobo lwe-pulse zendabuko