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The cascaded PID controller is generally preferable over the simple PID controller. It is activated by default and
apart from academic purposes there are few reasons to switch to the simple PID controller. However, the user
can decide which position control structure is preferable for the particular application scenario.
3.1.8.1.3.2.1 Parameters related to Simple PID Controller
0x2010 Torque Controller Values Kp, Ki and Kd for Torque Controller
0x2012 Simple PID Controller Values Kp, Ki and Kd for Simple PID Controller
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