AXIS#.IL.FRICTION

Description

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


  • AXIS#.IL.FRICTION is active in Position and Velocity modes (OPMODE = 1, 2), but not active in Torque mode (OPMODE = 0).

Versions

Action Version Notes
Implemented 02-00-00-000

General Information

Type

Read/Write

Units

A

Range

0 to the minimum of user positive current limit (AXIS#.IL.LIMITP ) and motor peak current (AXIS#.MOTOR.IPEAK ).

Default Value

0

Data Type

Float

See Also

AXIS#.IL.FF

Stored in Non-Volatile Memory

Yes

Variants Supported

All variants are supported.

Fieldbus Information

EtherCAT CoE and CANopen

Command

Index

SubIndex

Data Type

Units

Float Scale

Access

PDO Mappable

AXIS1.IL.FRICTION

500ah

0bh

Signed32

-

1000:1

Read/Write

No

AXIS2.IL.FRICTION

510ah

0bh

Signed32

-

1000:1

Read/Write

No

EtherNet/IP

Name

ID

Hex

Data Type

Access

Units

AXIS1.IL.FRICTION

5808

16B0

Signed32

Read/Write

-

AXIS2.IL.FRICTION

71344

116B

Signed32

Read/Write

-

PROFINET

Parameter

PNU

Data Type

Access

Units

AXIS#.IL.FRICTION

5808

Float

Read/Write

-