Velocity estimator from position Sensor
Since velocity is a magnitude of position and time, and commercial high-resolution position encoders are commonplace in industrial and motion applications, it makes sense to estimate velocity directly as the rate of variation of the position. Hence, the velocity loop can be closed using a velocity estimate provided by the position sensor.
The option to estimate velocity from the position sensor can be activated through through the 0x2310 - Feedbacks register. More information about available position feedbacks and their configuration can be obtained in the position feedbacks page.