SYNAPTICON SOMANET Circulo 7 - Page 621

the user can decide which position control structure is preferable for the particular application scenario.
3.1.8.1.3.2.1 Parameters
0x2010 Torque Controller Values Kp, Ki and Kd for Torque Controller
0x2012 Position Controller Values Kp, Ki and Kd for Simple PID Controller (Only subitems 1-4)
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