AXIS#.IL.FRICTION

Description

Position command derivative sign is multiplied by this value to be injected to the current command.


  • AXIS#.IL.FRICTION is active in Position and Velocity modes (OPMODE = 1, 2), but not active in Torque mode (OPMODE = 0).

Versions

Action Version Notes
Implemented 02-00-00-000

General Information

Type

Read/Write

Units

A

Range

0 to the minimum of user positive current limit (AXIS#.IL.LIMITP ) and motor peak current (AXIS#.MOTOR.IPEAK ).

Default Value

0

Data Type

Float

See Also

AXIS#.IL.FF

Stored in Non Volatile Memory

Yes

Variants Supported

All variants are supported.

Fieldbus Information

Fieldbus Parameter Index Sub-Index Data Type Float Scale Units Access PDO Mappable
EtherCAT COE and CANopen AXIS1.IL.FRICTION 0x500A 0xB DINT 1000:1 - RW False
AXIS2.IL.FRICTION 0x510A 0xB DINT 1000:1 - RW False