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 |
|
|
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.
|
Fieldbus |
Index/Subindex |
Object Start Version |
|---|---|---|
|
EtherCAT COE and CANopen |
3426h/0 |
M_01-00-00-000 |
|
Fieldbus |
Address |
Attributes | Signed? |
|---|---|---|---|
|
Profinet |
2225 |
DWord | Yes |
| sercos® III | 4 Octets |
| Fieldbus | Instance | Data Size | Data Type |
|---|---|---|---|
| EtherNet/IP | 226 | 4 Byte Signed | Float |
|
Fieldbus |
Index/Subindex |
Is 64 bit? | Attributes | Signed? |
Object Start Version |
|---|---|---|---|---|---|
|
Modbus |
450 |
No | 32 bit | Yes |
M_01-03-00-000 |
Related Topics
Current Loop
