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.
Fieldbus Information
Name |
ID |
Hex |
Data Type |
Access |
Units |
---|---|---|---|---|---|
AXIS1.IL.FF |
5804 |
16AC |
Signed32 |
Read Only |
- |
AXIS2.IL.FF |
71340 |
116A |
Signed32 |
Read Only |
- |
Parameter |
PNU |
Data Type |
Access |
Units |
---|---|---|---|---|
AXIS#.IL.FF |
5804 |
Float |
Read Only |
- |
Related Topics