To improve the positioning performance when the position reference is changing dynamically, an additional velocity offset is available in the cascaded controller.
This velocity offset must be computed by the master, it is not computed on the slave.
As this value should be fed dynamically with continuously updated values, it is not accessible in OBLAC Drives, but through the EtherCAT parameter 0x60B1.
Values Kp, Ki and Kd for Torque Controller
Values Kp, Ki and Kd for Cascaded Position Controller (Both loops: Position and Velocity)
This object provides the offset for the velocity value.