Feedback compensator configuration word. Its bit definitions are as follows:

   bit 0:1 - feedforward source:
       0 = (default) accel/velocity ffwd
       1 = adaptive ffwd
   bit 2:3 - velocity error source
       0 = (default) position error derivative
       1 = use difference between velocity command and feedback
   bit 4 - clear integrator state in current mode, 1 = clear (default)
   bit 5 - enable envelope error check, 1 = enable (default).  This bit is automatically set or cleared as the value of "Soft envelope error limit" (DataID 10302) is set to 0 or non-zero.
   bit 6 - set the integrator value to zero during the duration of each motion or when the robot is tracking a conveyor belt or in Real-time Modification mode   The integrator is permitted to charge up when the commanded speed is zero, so it can assist in reducing the final positioning errors. See the "Integrator clear rate limit" (DataID 10370) for adjusting the rate that the integrator is zeroed. This mode is not recommended if the axis is subject to gravity loading.  1 = zero, 0 = don't zero (default)
   bit 7 - set to latch the integrator value during the duration of each motion.  This is useful for axes subject to significant gravity loading since it permits the integrator gain to be set high to quickly null final positioning errors without adversely affecting motion tracking.
   bit 8 - set to quickly zero the integrator value when a motion starts or reverses direction.  The integrator is reduced over a period of 8 servo cycles (4 msec for the default servo rate).  This reduction will only occur if the position tracking error and the integrator torque have an opposite sense, i.e. the integrator is increasing the tracking error rather than decreasing it.
   bit 9 - set to delay clearing the friction feedforward torque until the start of the next motion. Normally, at the end of a motion, the robot stops and the friction feedforward torque is zeroed. If this bit is set and the next motion is in the same direction, the friction compensation torque is continuously applied. For high accuracy applications such as laser cutting, this can avoid a small deviation between two sequential motions in the same direction. Also see the "Feedforward torque rate limit" (ID 10348). This is an independent parameter can be used to reduce a sudden change in output torque at the end of a motion due to the friction feedforward being zeroed.
   bit 10 - set to disable updating of the current integrator torque value.  This can be used in combination with the "Integrator torque preload" (DataID 10350) to set a specific integral torque value and have it remain in effect without being altered.  As soon as this bit is cleared, the integral torque will again be updated in the standard fashion.  Note, the "zero integrator during motion bit" (6) and the "latch integrator during motion bit" (7) supersede the function defined by bit (10).
   bit 11 - set to preload the integrator with the negative value of the "Position feedforward" (DataIDs 10342-10346) when motor power is enabled. This is a special feature used by the Precise electric (spring) gripper to maintain its grip on objects when motor power is enabled.
   bit 12 - set to preload the integrator with the negative value of the "Friction feedforward torque" (DataID 10347) when motor power is enabled.
   bit 13:31 - (reserved)

Soft and hard envelope error limits. If a limit value is set to 0 then the specific check is disabled. The soft envelope error limit must always be less than the hard envelope error limit.

A soft envelope error will trigger the system to perform a RapidDecel, which will ramp down any motions to a stop ASAP, but still keep the arm power ON in the end.

A hard envelope error will trigger an error sequence that will cause the arm power to be immediately disabled with no controlled deceleration.

The soft and hard envelope error limits default to 1024 and 4096 respectively.

Envelope error qualification duration time.  This is the length of time that either the soft or hard envelope error limits must be consistently violated before the correspond error is signaled.