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
Position control strategy	0x2002:0	UINT	16	Simple PID 1 Cascaded PID 2				readwrite