Feedback_Settings

0    = Reserved

1,2 = Position Feedback Mode

3,4 = Velocity Feedback Mode

5    = Torque Feedback Mode

Note : This parameter is forced directly from Modes of operation used and then it is not necessary to be set.

Define the managing of the feedforward current.

0 = Feedback Calibration Procedure is executed each time the Closed Loop has to be activated  (for example after the power is supplied or after an Reset Alarm that disabled the closed loop).

1 = Feedback Calibration procedure is executed only a first time the power is supplied or when happen an Alarm that require the Feedback Calibration (for instance encoder misalignment).

0 = Incremental encoder (Enc#0)

1 = Hall sensor

2 = Incremental encoder (Enc#0) + Hall sensors

3 = Incremental encoder (Enc#0) + Zero enc

4 = Multi-Turn Absolute encoder multi turn SSI

5 = Multi-Turn encoder SSI + incremental encoder

6 = Multi-Turn Absolute encoder BISS

7 = Multi-Turn Absolute encoder BISS + incremental encoder

8 = Single-Turn Magnetic encoder

9 to 15 Reserved

0 = Full Feedback Calibration procedure.

1 = Light Feedback Calibration procedure.

0= Torque Limit Speed disabled

1= Torque Limit Speed enabled

0 = The Sensor Calibration procedure for Absoluter encoder BiSS is performed every time.

1 = The calibrated values in NVRAM for Absoluter encoder BiSS can be used. No movement of the motor are performed.

Note : This bit was introduced for compatibility reasons with previous firmware versions (the default value of this bit is equal to 0) and is used only for ‘Sensor Type = 6’.