control modes with absolute position control pin (ENC_Z)

[Losi]

Hello.

I am using a B-G431B-ESC1 Board with an Quadrature Encoder. I have already managed to drive my motor using speed control and position control. But why is it that, when you activate "Use absolute position control pin (ENC_Z)" in the MC Workbench, you can't choose torque control or speed control anymore? 

Thanks for your help.
Losi

[GMA]

Hello @Losi and welcome to ST community,

As mentioned, "Use absolute position control pin (ENC_Z)" is fully dedicated to Position Control Mode.
Not selecting (ENC_Z) allows to select other modes.