|
Index |
Sub Index |
Name |
Data Type |
Acc. |
Pdo Map. |
NVM |
Value range |
Default value |
Units |
|---|---|---|---|---|---|---|---|---|---|
|
0x2510 |
0x00 |
Control loops feedback options |
UINT16 |
RW |
No |
Yes |
See below |
0x1B |
- |
This register allows configuring certain options related to the control loops.
This parameter has the following structure:
|
Bits |
15... 5 |
4 |
3 |
2 |
1 |
0 |
||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
Meaning |
Reserved |
Position feedback enabled |
Velocity feedback enabled |
Torque feedback enabled |
Quadrature current feedback enabled |
Direct current feedback enabled |
||||||
A bit set to high ("1") means the feedback is connected to the control loop. A bit set to low means the feedback is bypassed and a value of "0" is passed to the control loop.
The torque feedback enabled bit is not writable