0x053 - Torque demand
This register shows the input of the torque control block.
The torque demand shows the input of the torque control block only when a torque operation mode is being used. In velocity modes, the input of the torque control block is retrieved from the velocity loop output instead. The value of the torque demand can come directly from the network, or internally from the trajectories generated by the profilers. The source of the torque demand depends on the operation mode.