Parameters/control modes changes using simplemotion

Hello,

I would like to have a few precisions on the IONI driver using the simplemotion library:

  • is it possible to change in real time the torque, speed and position limits on the IONI driver using the simplemotion library. For instance if, the IONI driver is in position control, is it possible to adjust in real-time the torque limit ?
  • is it possible to switch from position control mode to torque control mode (and vice-versa) in real-time and what is the delay for the change ?