0x2002 Position control strategy

Selects the control structure used for position control:

1. Simple PID (A position PID controller directly generating the reference value for the torque controller.)

 

image/svg+xml τ_offset τ_ref τ Simple PID

2. Cascaded PID (A position PID controller that generates the reference value for an underlying velocity controller - while that velocity controller generates the reference value for the torque controller)

image/svg+xml τ_offset τ_ref τ Cascaded PID

Name Index:Sub Type Bit Size Options Unit Access PDO Mapping
Position control strategy 0x2002:0 UINT 16
Simple PID 1
Cascaded PID 2
readwrite