Force Control Mode Block Diagram


I was looking through the RMCtools Help webpage and found the position control PID diagram on this page and was wondering if the diagram for force control is the same with Pos replaced with Frc?

It isn’t a direct replacement of Position with Force, but it is not too complicated. Notice that the Force PID algorithm uses a rate term (analogous to a Velocity), but there are no additional derivative terms.

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Perfect! Thats exactly what i need!