0x2002

0x2002:0 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

Object Type OBJECT_TYPE_VAR
Index 0x2002
SubIndex 0
Type UINT
Bit Size 16
Deftype DEFTYPE_UNSIGNED16
Min Data 1
Max Data 2
Default Data 2
Unit
Access readwrite
Category mandatory
PDO Mapping
Options
Simple PID 1
Cascaded PID 2