3.1.9.1.40 0x2002 Position control strategy
3.1.9.1.40.1 Selects the control structure used for position control:
1. Simple PID (A position PID controller directly generating the reference value for the torque controller.)
τ_offset
τ_ref
τ
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)
τ_offset
τ_ref
τ
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
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