Jerk - rate of change of acceleration - units of distance/sec³

COFF - Common Object File Format.  Format used for compiled and linked user programs

Large Value - to effectively eliminate a limit, a large value such as 1e30 may be specified.

Following Error - difference between the commanded destination for an axis and it's measured position.

Position - The measured position for an axis.  Depending on the input mode, the position might represent the encoder position, or the absolute position of a resolver or ADC reading.

locked anti-phase mode - PWM mode where + and - supply voltage is applied resulting in smooth transitions through zero.

recirculate mode - PWM mode where either + or - and then 0 volts (short circuit or recirculation) is alternately applied.  This results in true off with no current ripple when values near zero are applied.