Which Control Parameters Can Be Used in Each Mode?

Note

This table describes Python API 2.0.0 control-mode terminology and the matching actuator firmware family. It is aligned with the public real and virtual actuator API stubs.

Not all public control parameters are relevant to every control mode. The table below summarizes parameters that directly tune mode behavior. For runnable examples, follow the Python API Examples; the examples repository includes dedicated notebooks for real and virtual actuators covering mode changes and control-parameter changes.

Special-purpose voltage-injection and debug modes are intentionally not documented here.

Parameter or setpoint argument	Public API name	Torque (Mode.TORQUE)	Speed (Mode.SPEED)	Position (Mode.POSITION)	Impedance (Mode.IMPEDANCE)
Main setpoint	SETPOINT change_setpoint(...)	Yes, torque in Nm	Yes, speed in rad/s	Yes, position in rad	Yes, position in rad
Torque performance preset	TORQUE_PERFORMANCE set_torque_performance(...)	Yes	Yes	Yes	Yes
Speed performance preset	SPEED_PERFORMANCE set_speed_performance(...)	No	Yes	Yes	No
Current-loop gains	id_Kp, id_Ki iq_Kp, iq_Ki in change_torque_setpoint(...)	Yes	No	No	No
Speed-loop gains	KP_SPEED, KI_SPEED spd_Kp, spd_Ki	No	Yes	Yes	No
Position-loop gain	KP_POSITION pos_Kp	No	No	Yes	No
Impedance stiffness	K_STIFFNESS K_stiff	No	No	No	Yes
Impedance damping	K_DAMPING K_damp	No	No	No	Yes
Impedance inertia	J_imp	No	No	No	Yes
Feed-forward torque	TORQUE_FF ref_ff_torque	N/A, main setpoint is torque	Yes	Yes	Yes
Feed-forward gain	FF_GAIN	No	Yes	Yes	Yes
Symmetric torque limit	LIM_TORQUE PROFILE_TORQUE_MAX_NM	Yes	Yes	Yes	Yes
Speed limits	LIM_SPEED_MAX LIM_SPEED_MIN	No	Yes	Yes	No
Position limits	LIM_POSITION_MAX LIM_POSITION_MIN	No	No	Yes	Yes
Position-profile speed limits	PROFILE_POSITION_MAX PROFILE_POSITION_MIN	No	No	Yes	No
Speed-profile acceleration limits	PROFILE_SPEED_MAX PROFILE_SPEED_MIN	No	Yes	Yes	No
Maximum profile speed	PROFILE_SPEED_MAX_RAD_S	No	Yes	Yes	No
Speed filter cutoff	PCP_PARAM_SPEED_CUTOFF	No	Yes	Yes	Yes
Current filter cutoff	PCP_PARAM_CURRENT_CUTOFF	Yes	Yes	Yes	Yes

The API also exposes mode-agnostic or device-level parameters. These are not mode-tuning parameters, so they are not included in the compatibility matrix above:

• MODE
• INVERT_FLAG
• FIRMWARE_VERSION
• PCP_ADDRESS
• SERIAL_NUMBER
• DEVICE_MODEL
• CONTROL_VERSION
• CAN_HIGH_SPEED