Owner manual

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LARGE ERROR
The Large Position Error Recovery Algorithm (LPERA) is included in the CX-1200 to provide a way to
gracefully recover from sudden occurrences of "large position error" while the controller is running the
position loop. Under normal operation, without this special algorithm, the CX-1200 would recover the the
position error via PID compensation. This would result in a very aggressive recovery, since the PID has no
limits other than the control output voltage, and is most likely tuned fairly tight in order to hold position.