The controller parameters (Kp, Ki, Kd) can be set using object 2067h through the SDO protocol. Each controller parameter (Kp, Ki and Kd) is represented internally with 2 parameters, i.e. the proportional part of position controller, KP, is represented with KPP and SFTKPP variables. The KPx, KIx and KDx parameters have a range between 0 and 32767, while the SFTKPx, SFTKIx and [...]