### HCMODE

Selects the harmonic correction mode of operation.
0 - Disabled
1 - Harmony HC1 corrects position feedback used for velocity, harmonics HC2, HC3 are summed and correct the torque command.
2 - All harmonies are summed and used for torque correction.
3 - All harmonies are summed and used for feedback correction (for velocity only.)
4 - Harmony HC1 and HC2 are summed to correct position feedback used for velocity, harmony HC3 corrects the torque command.

Firmware Version: 3.4
Type: switch (R/W) Range: 0 to 4
Units: n/a Default: 0
Opmode: all Drive Status: en/dis EEPROM: yes