### COMPMODE

sets the velocity controller design method for OPMODE 0, 1, 4 or 8 according to the following table.

COMPMODE Controller Type Loop Variables

> 0 - PI: GV, GVI
> 1 - PDFF: KV, KVI, KVFR
> 2 - Standard Pole Placement (low-frequency): MKT , MJ , BW, LMJR, TF
> 3 - Advanced Pole Placement: VD, VF, VH, VR , VFI , VG
> 4 - Standard Pole Placement (high-frequency): MKT , MJ , BW, LMJR, TF

Note: COMPMODE 3 is not available in version 1 firmware.

COMPMODE 4 is available in firmware versions 2.1.0 and later.

Firmware Versions: see Note
Type: switch mode (R/W) Range: 0 - 4
Units: n/a Default: 2
Opmodes: 0,1,4,8 Drive Status: dis EEPROM: yes