AXIS#.IL.KVFF

Description

This parameter sets the gain for the velocity loop feedforward. It is used when you want to add a pure torque component scaled by the velocity command.

Resulting Torque Feedforward = AXIS#.VL.CMD * AXIS#.IL.KVFF

This parameter is only used in velocity and position mode (AXIS#.OPMODE = 1 and 2).

Versions

Action Version Notes
Implemented 02-00-00-000

General Information

Type

Read/Write

Units

mArms / (rad/s)

Range

0 to 1000

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.KVFF 0x500A 0xE DINT 1000:1 - RW False
AXIS2.IL.KVFF 0x510A 0xE DINT 1000:1 - RW False