Feedback compensator status. This word reflects the status of position loop compensator, which may be a convention PID compensator or other type of compensation scheme. The bit definitions are as follows:

   bit 0 - position tracking in tolerance
   bit 1 - output torque has saturated against the limit
   bit 2 - commanded motion has ended.  Does not indicate if the axis is within its tolerance range, only that the command stream has stopped. This is the same as bit 2 of the "Command status word" (12400).
   bit 3 - integrator is preloaded with "Integrator torque preload" (DataID 10350).
   bit 4 - integrator is preloaded with the negative of the "Position feedforward" (DataIDs 10342-10346).
   bit 5 - integrator is preloaded with negative of the "Friction feedforward torque" (DataID 10347).
   bit 6:15 - (reserved)
   bit 16 - soft envelope error has occurred
   bit 17 - hard envelope error has occurred
   bit 18:31 - (reserved)

Position, velocity and acceleration commands used by the feedback compensator. Note that there are different command sources, e.g. the trajectory interpolator or the wave generator.  For the input command selected (see DataID 12102), the proper trajectory commands are copied into the feedback compensator.

Compensator output torque.  Normally, this value reflects the sum of the values generated by the PID feedback compensator.  Specifically, this value is equal to the sum of:

   PID torque (DataIDs 12325, 12326, 12327)
   + accel error torque (DataID 12329)
   + filtered feedforward torque (DataID 12331)
   + external feedforward torque (DataID 12333)

The output torque is limited to a maximum of +/- 32767 "torque counts", or tcnt. This range of values represents the maximum current that the amplifier can provide. Typically, the maximum motor current should be less than the amplifier current limit.

(Dual-Loop) For a dual-loop setup, this is the motor velocity of the minor axis, which is scaled into the major axis space.

(Dual-Loop) A blended motor velocity for a dual encoder (dual-loop) setup. See DataID 10305 for an explanation of the blending factor.