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 |
| Variant | Supported |
|---|---|
| AKD EtherCAT | Yes |
| AKD-N | Yes |
| AKD-N | Yes |
| AKD-C | No |
| Index/Subindex | Object Start Version |
|---|---|
| 3422h/0 | M_01-00-00-000 |
Related Topics
