AXIS#.IL.FF

Description

AXIS#.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 AXIS#.IL.KACCFF)
Velocity feed-forward (determined by AXIS#.VL.KVFF )
Friction feed-forward (determined by AXIS#.IL.FRICTION)
Gravity offset feed-forward (determined by AXIS#.IL.OFFSET)
Bus network feed-forward (determined by AXIS#.FBUS.IL.FF)

AXIS#.IL.FF is calculated using the following variables' values at the time it is called:

AXIS#.IL.FF = AXIS#.IL.KACCFF * Acceleration Command + AXIS#.VL.KVFF * Velocity Command + AXIS#.IL.FRICTION (if motion is currently commanded) + AXIS#.IL.OFFSET (always) + * AXIS#.FBUS.IL.FF (if fieldbus connected)

For EtherCAT:

AXIS#.FBUS.IL.FF 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 AXIS#.ICONT will be commanded in AXIS#.FBUS.IL.FF (if AXIS#.IL.KBUSFF is set to 1).

AXIS#.IL.KBUSSFF is a gain setting for the feedforward value AXIS#.FBUS.IL.FF. It needs to be set to greater zero to let AXIS#.FBUS.IL.FF take effect. AXIS#.IL.KBUSFF can be accessed by SDO object 50E2h/0.

The AXIS#.FBUS.IL.FF gain can be commanded through EtherCAT in all DS402 operating modes.

Versions

Action	Version	Notes
Implemented	02-00-00-000

General Information

Type	Read Only
Units	Arms
Range	N/A
Default Value	N/A
Data Type	Float
See Also	AXIS#.IL.KVFF, AXIS#.IL.OFFSET, AXIS#.IL.FRICTION, AXIS#.IL.KACCFF
Stored in Non-Volatile Memory	No

Variants Supported

All variants are supported.

Industrial Ethernet Information

EtherCAT CoE and CANopen
Command	Index	SubIndex	Data Type	Units	Float Scale	Access	PDO Mappable
AXIS1.IL.FF	500ah	2dh	Signed32	-	1000:1	Read only	No

EtherNet/IP
ID	Instance	Attribute	Name	Data Type	Access	User Mappable
5804	1	5804 (0x16ac)	AXIS1.IL.FF	Signed32	Read Only	Yes

PROFINET
Parameter	PNU	Data Type	Access	Units
AXIS1.IL.FF	5804	Float	Read Only	-