IL.KACCFF

Description

This value sets the gain for the acceleration feedforward (a scaled second derivative of the position command is added to the current command value) .

This parameter is valid only in the position mode (DRV.OPMODE = 2).

General Information

Type

R/W Parameter

Units

mArms/(rad/s²) 

Range

0 to 39113.288 mArms/(rad/s^2)

Default Value

0 mArms/(rad/s²) 

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
3426h/0 M_01-00-00-000
PROFINET
Fieldbus Address Attributes Signed?

PROFINET

2225 DWord Yes
Sercos® III 4 Octets
EtherNet/IP
Instance Data Size Data Type
226 4 Byte Signed Float
Modbus
Register Address Is 64 bit? Attributes Signed? Object Start Version

450

No 32 bit Yes M_01-03-00-000

Related Topics

"Current Loop"