IL.FF

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

IL.KBUSFF, IL.KVFF, IL.OFFSET, IL.FRICTION, IL.KACCFF

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. For information on SynqNet parameters see SynqNet Supported Parameters.

PROFINET and Sercos® III
Fieldbus Address Attributes Signed?

PROFINET

2217 DWord No
Sercos® III 4 Octets
EtherNet/IP
Instance Data Size Data Type
218 4 Byte Float
Modbus
Regiester Address Is 64 bit? Attributes Signed? Object Start Version
434 No 32 bit No M_01-03-00-000

Related Topics

Current Loop