Which are the equations of the position/velocity/torque loops?

Which are the equations of the position/velocity/torque loops?

Problem

I am trying to get a dynamic model of the different motion loops of the Ingenia servo drives but I can't manage to figure out the exact equations of each loop. What are the exact equations and control schemes of each loop and what are the units in which they operate?

Solution

The different equations and control schemes of the different dynamics loops that operate within the firmware inside our drives can be found in the following 4 links: