AXIS#.IL.FF

Description

AXIS#.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 AXIS#.IL.KACCFF)
Velocity feed-forward (determined by AXIS#.VL.KVFF )
Friction feed-forward (determined by AXIS#.IL.FRICTION)
Gravity offset feed-forward (determined by AXIS#.IL.OFFSET)
Bus network feed-forward (determined by AXIS#.FBUS.IL.FF)

AXIS#.IL.FF is calculated using the following variables' values at the time it is called:

AXIS#.IL.FF = AXIS#.IL.KACCFF * Acceleration Command + AXIS#.VL.KVFF * Velocity Command + AXIS#.IL.FRICTION (if motion is currently commanded) + AXIS#.IL.OFFSET (always) + * AXIS#.FBUS.IL.FF (if fieldbus connected)

For EtherCAT:

AXIS#.FBUS.IL.FF 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 AXIS#.ICONT will be commanded in AXIS#.FBUS.IL.FF (if AXIS#.IL.KBUSFF is set to 1).

AXIS#.IL.KBUSSFF is a gain setting for the feedforward value AXIS#.FBUS.IL.FF. It needs to be set to greater zero to let AXIS#.FBUS.IL.FF take effect. AXIS#.IL.KBUSFF can be accessed by SDO object 50E2h/0.

The AXIS#.FBUS.IL.FF gain can be commanded through EtherCAT in all DS402 operating modes.

Versions

Action	Version	Notes
Implemented	02-00-00-000

General Information

Type	Read Only
Units	Arms
Range	N/A
Default Value	N/A
Data Type	Float
See Also	AXIS#.IL.KVFF, AXIS#.IL.OFFSET, AXIS#.IL.FRICTION, AXIS#.IL.KACCFF
Stored in Non-Volatile Memory	No

Variants Supported

All variants are supported.

Fieldbus Information

EtherNet/IP
Name	ID	Hex	Data Type	Access	Units
AXIS1.IL.FF	5804	16AC	Signed32	Read Only	-
AXIS2.IL.FF	71340	116A	Signed32	Read Only	-

PROFINET
Parameter	PNU	Data Type	Access	Units
AXIS#.IL.FF	5804	Float	Read Only	-