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.)
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)
Name | Index:Sub | Type | Bit Size | Options | Unit | Access | PDO Mapping | ||||||
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Position control strategy | 0x2002:0 | UINT | 16 |
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readwrite | ||||||||