Which control parameters can be used in each mode?

Not all the available parameters are useful in all the control modes, the following table shows a summary of which control parameters are compatibles with each control mode.

Table – Use of the parameters depending on the control type

Parameter	Torque control (CtrlType = 5)	Speed control (CtrlType = 6)	Position control (CtrlType = 7)	Impedance control (CtrlType = 8)	Calibration (CtrlType = 1)	FVI (CtrlType = 2)	Open loop (CtrlType = 3)	DVI (CtrlType = 4)
Torque loop performance	Yes	Yes	Yes	Yes	No	No	No	No
Speed loop performance	No	Yes	Yes	No	No	No	No	No
Kp position	No	No	Yes	No	No	No	No	No
Kp speed	No	Yes (if custom selected)	Yes (if custom selected)	No	No	No	No	No
Ki speed	No	Yes (if custom selected)	Yes (if custom selected)	No	No	No	No	No
Stiffness gain	No	No	No	Yes	No	No	No	No
Damping gain	No	No	No	Yes	No	No	No	No
FF torque	No	No	No	Yes	No	No	No	No
Max positive speed (rad/s) (Profile)	No	No	Yes	No	No	No	No	No
Min negative speed (rad/s) (Profile)	No	No	Yes	No	No	No	No	No
Max acceleration (rad/s²) (Profile)	No	Yes	Yes	No	No	No	No	No
Max deceleration (rad/s²) (Profile)	No	Yes	Yes	No	No	No	No	No
Max speed (rad/s)	No	Yes	Yes	No	No	No	No	No
Min speed (rad/s)	No	Yes	Yes	No	No	No	No	No
Max position (rad)	No	No	Yes	Yes	No	No	No	No
Min position (rad)	No	No	Yes	Yes	No	No	No	No
Max absolute torque (Nm)	Yes	Yes	Yes	Yes	Yes (for the debug bus)	Yes (for the debug bus)	Yes (for the debug bus)	Yes (for the debug bus)