Description
Position command derivative sign is multiplied by this value to be injected to the current command.
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IL.FRICTION is active in Position and Velocity modes (DRV.OPMODE = 1, 2), but not active in Torque mode (DRV.OPMODE = 0).
General Information
|
Type |
R/W Parameter |
|
Units |
A |
|
Range |
0 to the minimum of user positive current limit (IL.LIMITP) and motor peak current (MOTOR.IPEAK).IL.LIMITP |
|
Default Value |
0 |
|
Data Type |
Float |
|
See Also |
IL.FF |
|
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.
| Index/Subindex | Object Start Version |
|---|---|
| 3422h/0 | M_01-00-00-000 |
| Fieldbus | Address | Attributes | Signed? |
|---|---|---|---|
|
PROFINET |
2221 | DWord | No |
| Sercos® III | 4 Octets |
| Instance | Data Size | Data Type |
|---|---|---|
| 222 | 4 Byte | Float |
| Register Address | Is 64 bit? | Attributes | Signed? | Object Start Version |
|---|---|---|---|---|
|
442 |
No | 32 bit | No | M_01-03-00-000 |
Related Topics
