Description
IL.FF reads the present current loop overall feed-forward value. It is the sum of the following feed-forward paths:
- Acceleration feed-forward (determined by IL.KACCFF)
- Velocity feed-forward (determined by VL.KVFF)
- Friction feed-forward (determined by IL.FRICTION)
- Gravity offset feed-forward (determined by IL.OFFSET)
- Bus network feed-forward (determined by IL.BUSFF)
IL.FF is calculated using the following variables' values at the time it is called:
IL.FF = IL.KACCFF * Accelration Command + VL.KVFF * Velocity Command + IL.FRICTION (if motion is currently commanded) + IL.OFFSET (always) + IL.KBUSFF * IL.BUSFF (if fieldbus connected)
For EtherCAT
IL.BUSFF is the injected current feedforward, which corresponds to Object 60B2h: Torque Offset. The scaling for the torque offset is done with 1/1000 rated torque. In AKD, a value of 1000 means DRV.ICONT will be commanded in IL.BUSFF (if IL.KBUSFF is set to 1).
IL.KBUSSFF is a gain setting for the feedforward value IL.BUSFF. It needs to be set to greater zero to let IL.BUSFF take effect. IL.KBUSFF can be access by SDO object 50E2h /0.
The IL.BUSFF gain can be commanded through EtherCAT in all DS402 operating modes.
General Information
|
Type |
R/O Parameter |
|
Units |
Arms |
|
Range |
N/A |
|
Default Value |
N/A |
|
Data Type |
Float |
|
See Also |
|
|
Start Version |
M_01-00-00-000 |
Variants Supported
| Variant | Supported |
|---|---|
| AKD Base | Yes |
| AKD with Position Indexer | Yes |
| AKD EtherCAT | Yes |
| AKD CANopen | Yes |
| AKD BASIC | Yes |
| AKD SynqNet | Yes* |
| AKD EtherNet/IP | Yes |
| AKD PROFINET | Yes |
| AKD Sercos® III | Yes |
| AKD-N | Yes |
| AKD-C | No |
*In SynqNet, a parameter may be available in the firmware but have no effect on the system. See SynqNet Supported Parameters.
Fieldbus Information
If your drive type is listed as supported but no index, address, or instance number is listed, then this parameter is accessible through WorkBench, but not over your fieldbus type.
| Fieldbus | Address | Attributes | Signed? |
|---|---|---|---|
|
PROFINET |
2217 | DWord | No |
| Sercos® III | 4 Octets |
| Instance | Data Size | Data Type |
|---|---|---|
| 218 | 4 Byte | Float |
| Regiester Address | Is 64 bit? | Attributes | Signed? | Object Start Version |
|---|---|---|---|---|
| 434 | No | 32 bit | No | M_01-03-00-000 |
Related Topics
