IL.FRICTION

Description

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


  • 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. For information on SynqNet parameters see SynqNet Supported Parameters.

EtherCAT CoE and CANopen
Index/Subindex Object Start Version
3422h/0 M_01-00-00-000
PROFINET and Sercos® III
Fieldbus Address Attributes Signed?

PROFINET

2221 DWord No
Sercos® III 4 Octets
EtherNet/IP
Instance Data Size Data Type
222 4 Byte Float
Modbus
Register Address Is 64 bit? Attributes Signed? Object Start Version

442

No 32 bit No M_01-03-00-000

Related Topics

"Current Loop"