Control loops option code
This register allows configuring certain options related to the control loops.
This parameter has the following structure
|31 ... 2
|Velocity loop continuity
|Position loop continuity
A bit set to high ("1") means activated.
When activating a control loop of higher order that was previously inactive, the output of this higher order control loop is unknown (for example, entering a profile position mode while the drive is moving in velocity mode would enable a higher order control loop that was previously not running). Activating this loop's continuity option would prevent instantaneous undesired PID outputs. Also, changing the PID constants can cause discontinuities in the control output.
This parameter allows the user to configure whether the control integral term should be reset upon a change of operation mode or PID constants, or whether it should maintain continuity.
- If continuity is going to be used, it is recommended to have a non-zero integral constant.
- Do not use this feature while tuning the system since it could be misleading.